分布式驱动电动汽车直线工况电机同步控制策略

Synchronous control strategy of electric vehicle motor for distributed drive

由于分布式驱动电动汽车将驱动电机直接安装在驱动轮内或驱动轮附近,四轮之间没有硬性连接,4个电机之间的同步只能通过控制算法实现,所以同步控制算法的效能对整车的控制尤为重要。传统PID控制算法显然难以满足车辆系统高响应速度和高精度的同步要求,为此,在相邻耦合控制策略的基础上,考虑车辆系统特性,通过赋予电机间同步误差不同的权值并结合单神经元PID算法,提出了基于加权相邻耦合的单神经元PID四电机同步控制策略。通过Carsim和Matlab/Simulink联合仿真验证车辆在直线加速工况下控制策略的可行性。实验结果表明:该控制策略相较于传统PID控制策略和相邻耦合控制策略,对车辆的稳定性有更好的控制效果,车辆最大横摆角速度减少了16.0%以上,0.8 s即可达到稳定状态,横摆角速度为0。

As distributed drive electric vehicles have drive motors installed directly in or near the drive wheels,there is no hard connection between the four wheels,and the synchronization between motors can only be realized by the control algorithm.So the efficiency of the control algorithm is particularly important for the control of the entire vehicle.The traditional PID control algorithm is obviously difficult to meet the high response speed and high precision synchronization requirements of the vehicle system.Considering the characteristics of the vehicle system,and assigning different weights to the synchronization error between motors and combining the single neuron PID algorithm,the singleneuron PID four-motor synchronous control strategy is proposed based on weighted adjacency coupling.A simulation test platform is established using Carsim and Matlab/Simulink to verify the feasibility of synchronous control strategy for vehicles under linear acceleration conditions.The experimental results show that the control strategy has better control effect on the stability of the vehicle compared with the traditional PID control strategy and the adjacent coupling control strategy,and the maximum transverse sway angular velocity of the vehicle is reduced by more than 16.0%,and the steady state transverse sway angular velocity of zero can be reached in 0.8 seconds.