轮毂电机驱动车辆线控差动转向的研究*

doi:10.19562/j.chinasae.qcgc.2019.012.006

摘要/Abstract

摘要： 针对轮毂电机驱动电动汽车各轮转矩独立可控且转矩响应迅速精确的特点,进行差动转向的相关研究。首先,构建了线控差动转向系统,并经过等效简化,建立了系统动力学方程。接着,进行了线控差动转向控制系统的设计。以系统模型为基础,以转向齿条位移为闭环控制量,分3步进行非线性控制器控制律的设计。确定转矩分配方案,实现各轮转矩的协调分配。然后,进行了经典工况下的仿真验证,结果表明,线控差动转向能较好地驱动车辆按照驾驶员意愿进行转向,所设计的非线性控制器控制效果良好,且差动转向的介入会影响车辆的稳定性和转向性能。最后,基于NI PXI实时平台和双轮毂电机试验台进行了硬件在环试验,验证了所构建线控差动转向系统的有效性。

关键词: 电动汽车, 轮毂电机驱动, 线控差动转向, 转矩分配

Abstract: Aiming at the features of the independently controllable and quick and accurate response of torque of each wheel in a hub motor-driven electric vehicle, differential steering is studied. Firstly, a differential steering by wire system is constructed, and through equivalent simplification, the dynamics equation of the system is established. Next, the control system for differential steering by wire is designed. Based on the system model, with the displacement of steering rack as the closed-loop control variable, the control law of nonlinear controller is designed in three steps. The torque distribution scheme is determined to realize the coordinated distribution of torque in each wheel. Then, simulation verifications under classical conditions are carried out. The results show that differential steering by wire can well drive the vehicle to make a turn following driver's intention, the nonlinear controller designed has good control effect, and the involvement of differential steering will affect the steering performance and stability of the vehicle. Finally, based on NI PXI real-time platform and dual-hub-motor test bench, a hardware-in-the-loop test is conducted to verify the effectiveness of the differential steering by wire system constructed.

Key words: electric vehicle, hub motor drive, differential steering by wire, torque distribution

王其东, 曹也, 陈无畏, 赵林峰, 谭洪亮, 谢有浩. 轮毂电机驱动车辆线控差动转向的研究^*[J]. 汽车工程, 2019, 41(12): 1384-1393.

Wang Qidong, Cao Ye, Chen Wuwei, Zhao Linfeng, Tan Hongliang, Xie Youhao. Research on Differential Steering by Wire in a Hub-motors-driven Vehicle[J]. Automotive Engineering, 2019, 41(12): 1384-1393.

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轮毂电机驱动车辆线控差动转向的研究^*

Research on Differential Steering by Wire in a Hub-motors-driven Vehicle

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