考虑轮胎弛豫特性的轮毂电机驱动电动汽车鲁棒自适应驱动防滑控制

Robust Adaptive ASR Control for In-wheel Motor Driving Electric Vehicle Considering Longitudinal Tire Lag

针对轮毂电机驱动电动汽车驱动防滑控制问题,充分考虑轮胎弛豫特性对加速舒适性的影响,提出一种基于线性参数时变-鲁棒保性能极点配置的驱动防滑控制方法。阐述轮胎弛豫特性与传统稳态车轮旋转动力学的耦合机理,指出弛豫特性是造成的滑移率振荡的原因,并依此建立弛豫车轮旋转动力学模型。为了抑制车轮滑转的同时降低弛豫特性对纵向舒适性的影响,基于保性能极点配置方法设计驱动防滑控制系统。针对模型中存在的摄动参数与时变参数,构建鲁棒控制-增益调度策略保证滑移率跟踪的稳定性。数值仿真和实车试验结果表明,所设计的驱动防滑控制系统可以实现任意路面附着与初始车速下车轮滑移率的自适应控制,具有较强的鲁棒性。与传统的驱动防滑控制系统相比,其对车身加速度振荡的抑制更加明显,提高轮毂电机驱动电动汽车的纵向稳定性和加速舒适性。

It is more likely for In-wheel motor driving electric vehicle to skid at the start,and the body shock is more serious during acceleration.Considering the influence of tire lag,LPV-based Robust performance-guaranteed pole-placement ASR controller is proposed to solve these problems.Combining the traditional wheel dynamic model and the tire lag,the lagged wheel dynamic model is established.It is proved that the tire lag contributes to the oscillation of wheel slip ratio.For the purpose of preventing the wheel skid as well as alleviating the oscillation of the slip ratio,the performance-guaranteed pole-placement algorithm is adopted for the design of anti-skid strategy.Considering the influence of perturbation parameters and time-varying parameters,robust control and gain-scheduled methods are used to guarantee the stability of slip ratio tracking.Simulation and experiment results confirm the robustness and adaptiveness of the designed ASR controller.Compared with the traditional ASR controller,the oscillation of slip ratio is alleviated and the longitudinal comfort is improved during acceleration.