智能电动汽车自适应巡航与再生制动多目标协同控制*

doi:10.19562/j.chinasae.qcgc.2020.12.005

汽车工程 ›› 2020, Vol. 42 ›› Issue (12): 1638-1646.doi: 10.19562/j.chinasae.qcgc.2020.12.005

智能电动汽车自适应巡航与再生制动多目标协同控制^*

郭景华¹, 李文昌¹, 王靖瑶¹, 李克强²

1.厦门大学航空航天学院,厦门 361005;
2.清华大学车辆与运载学院,北京 100084

收稿日期:2020-03-10 修回日期:2020-05-02 出版日期:2020-12-25 发布日期:2021-01-13
通讯作者: 郭景华,副教授,博士,E-mail:guojh@xmu.edu.cn
基金资助:
*国家重点研发计划项目(2016YFB0100900)、中央高校基本科研业务费专项资金(20720190015)和厦门市重大科技项目(3502Z20201015)资助。

Multi-objective Integrated Adaptive Cruise and Regenerative Braking Control of Intelligent Electric Vehicles

Guo Jinghua¹, Li Wenchang¹, Wang Jingyao¹, Li Keqiang²

1. School of Aerospace Engineering, Xiamen University, Xiamen 361005;
2. School of Vehicle and Mobility, Tsinghua University, Beijing 100084

Received:2020-03-10 Revised:2020-05-02 Online:2020-12-25 Published:2021-01-13

摘要/Abstract

摘要： 为提升智能电动汽车安全性、舒适性和经济性等多种性能,本文中提出一种智能电动汽车自适应巡航与再生制动协同控制的方法。首先,建立了可描述智能电动汽车纵向行驶动力学行为特征的非线性耦合模型,该模型由整车模型、动力电池、电机、单速变速器和液压制动系统组成。然后,针对智能电动汽车非线性耦合和参数不确定性等特征,设计了自适应模糊滑模上层控制器,实时求解出自适应巡航过程中智能电动汽车的期望加速度,采用模糊理论逼近滑模控制切换项,以降低抖振。最后,设计了智能电动汽车驱动/制动控制律,提出了一种再生制动控制策略,有效协调再生制动系统与液压制动系统,使智能电动汽车制动能量回收最大化。试验结果表明:所提出的自适应巡航与再生制动协同控制方法在确保智能电动汽车安全性、舒适性的同时,有效提升了制动能量回收效率。

关键词: 智能电动汽车, 自适应巡航, 再生制动, 协同控制, 纵向动力学

Abstract: In order to improve the safety, comfort and economy of intelligent electric vehicles (IEVs), this paper proposes an integrated control method of adaptive cruise and regenerative braking of IEVs. Firstly, a nonlinear coupling model describing the longitudinal driving dynamic behavior of IEVs is established, which consists of vehicle model, power battery, motor, single-speed transmission and hydraulic braking system. Then, in view of the features of nonlinear coupling and parameter uncertainties of IEVs, an adaptive fuzzy sliding mode upper controller is designed to calculate the desired acceleration of IEVs in the process of adaptive cruise in real time. Fuzzy theory is used to approximate the switching term of sliding mode control to reduce shake. Finally, a drive/braking control law is designed, and a regenerative braking control strategy is proposed to effectively coordinate the regenerative braking system with the hydraulic braking system to maximize the braking energy recovery of IEVs. The test results show that the proposed integrated control method of adaptive cruise and regenerative braking can effectively improve the efficiency of braking energy recovery while ensuring the safety and comfort of IEVs

Key words: intelligent electric vehicles, adaptive cruise, regenerative braking, integrated control, longitudinal dynamics

郭景华, 李文昌, 王靖瑶, 李克强. 智能电动汽车自适应巡航与再生制动多目标协同控制^*[J]. 汽车工程, 2020, 42(12): 1638-1646.

Guo Jinghua, Li Wenchang, Wang Jingyao, Li Keqiang. Multi-objective Integrated Adaptive Cruise and Regenerative Braking Control of Intelligent Electric Vehicles[J]. Automotive Engineering, 2020, 42(12): 1638-1646.

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智能电动汽车自适应巡航与再生制动多目标协同控制^*

Multi-objective Integrated Adaptive Cruise and Regenerative Braking Control of Intelligent Electric Vehicles

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