电动轮汽车电液复合制动方向稳定性分层控制*

doi:10.19562/j.chinasae.qcgc.2019.03.012

汽车工程 ›› 2019, Vol. 41 ›› Issue (3): 320-326.doi: 10.19562/j.chinasae.qcgc.2019.03.012

电动轮汽车电液复合制动方向稳定性分层控制^*

马金麟¹,王新飞¹,张厚忠²,江浩斌¹,徐兴²

1.江苏大学汽车与交通工程学院,镇江 212013;
2.江苏大学汽车工程研究院,镇江 212013

收稿日期:2018-02-27 出版日期:2019-03-25 发布日期:2019-03-25
通讯作者: 王新飞,硕士研究生,E-mail:1970473063@qq.com
基金资助:
江苏省重点研发计划竞争项目(BE2017129)和江苏省第十四批“六大人才高峰”高层次人才项目(JXQC-042)资助

A Study on Hierarchical Control of Directional Stability of Electric-wheel Vehicle with Electro-hydraulic Braking

Ma Jinlin¹, Wang Xinfei¹, Zhang Houzhong², Jiang Haobin¹ & Xu Xing²

1.School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013;
2.Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013

Received:2018-02-27 Online:2019-03-25 Published:2019-03-25

摘要/Abstract

摘要： 针对分布式驱动电动汽车(电动轮汽车)在复杂工况下紧急制动时易发生侧滑、甩尾和激转等问题,提出了电动轮汽车电液复合制动方向稳定性分层控制策略。该策略的决策层包含总制动转矩和修正横摆力矩的计算,分配层包含制动转矩最优分配和修正横摆力矩分配算法;协调层则对分配结果进行稳定协调。通过Simulink与Carsim联合仿真,分别对低附着路面转弯制动和对开路面紧急制动两种工况进行验证。结果表明,提出的分层控制策略在保证车辆制动效能的基础上,能有效地改善车辆制动时的方向稳定性。

关键词: 电动轮, 电液复合制动, 方向稳定性, 分层控制

Abstract: For the problems of sideslipping, drift and spinning in emergency braking of distributed drive electric vehicles in complicated working conditions, a hierarchical control strategy enhancing the braking stability of EVs with electro-hydraulic composite braking is proposed. The decision-making level of this strategy includes the calculation of total braking torque and corrected yawing moment; the allocation layer contains the algorithm of optimal allocation of braking torque and allocation of corrected yawing moment; the coordination layer coordinates the distribution results ensuring the stability. With the vehicle dynamics simulation platform of Simulink & Carsim, braking in μ-lowturn test and μ-split road are simulated and tested respectively. The results show that the proposed hierarchical control strategy can not only guarantee the braking effectiveness,but also improve the stability of the braking of vehicle

Key words: electric-wheel vehicle, electro-hydraulic braking, directional stability, hierarchical control

马金麟,王新飞,张厚忠,江浩斌,徐兴. 电动轮汽车电液复合制动方向稳定性分层控制^*[J]. 汽车工程, 2019, 41(3): 320-326.

Ma Jinlin, Wang Xinfei, Zhang Houzhong, Jiang Haobin & Xu Xing. A Study on Hierarchical Control of Directional Stability of Electric-wheel Vehicle with Electro-hydraulic Braking[J]. , 2019, 41(3): 320-326.

参考文献

[1] 赵国柱,杨正林,魏民祥,等.电动微型客车的机电复合制动稳定性分析[J].汽车工程,2006,28(7):681-685.
[2] GAO Y, EHSANI M. Electronic braking system of EV and HEV-integration of regenerative braking, automatic braking force control and ABS[C]. SAE Paper 2001-01-2478.
[3] 张建龙,张建武,袁明,等.混合动力汽车操纵稳定性模糊控制仿真研究[J].系统仿真学报,2009,21(20):6600-6607.
[4] PEEIE M H B, OGINO H, OSHINOYA Y. Skid control of a small electric vehicle with two in-wheel motors: simulation model of ABS and regenerative brake control[J]. International Journal of Crashworthiness,2016,21(5):1-11.
[5] 陈庆樟,何仁,赵连生.汽车能量再生制动防抱死集成控制方法研究[J].中国机械工程,2009,20(2):245-248.
[6] 潘宁,于良耀,张雷,等.电液复合制动系统防抱控制的舒适性[J].浙江大学学报:工学版,2017(1):9-16.
[7] KIM Donghyun, KIM Hyunsoo. Vehicle stability control with regenerative braking and electronic brake force distribution for a four-wheel drive hybrid electric vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2006,220(6):683-693.
[8] KIM D H, KIM J M, HWANG S H, et al. Optimal brake torque distribution for a four-wheel-drive hybrid electric vehicle stability enhancement[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering,2007,221(11):1357-1366.
[9] DUGOFF H, FANCHER P S. An analysis of tire traction properties and their influence on vehicle dynamic performance[C]. SAE Paper 700377.
[10] 张建龙.混合动力汽车机电复合制动制动力分配与稳定性控制策略研究[D].上海:上海交通大学,2009.
[11] 皮大伟,陈南,张丙军.基于主动制动的车辆稳定性系统最优控制策略[J].农业机械学报,2009,40(11):1-6.
[12] 喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2012:123-125.
[13] 杨建森.面向主动安全的汽车底盘集成控制策略研究[D].长春:吉林大学,2012.

电动轮汽车电液复合制动方向稳定性分层控制^*

A Study on Hierarchical Control of Directional Stability of Electric-wheel Vehicle with Electro-hydraulic Braking

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

Metrics

本文评价

推荐阅读 10

[1]	张钰,徐明帆,白光宇,董明明,高利,秦也辰. 考虑稳定性约束的智能车辆切换控制方法[J]. 汽车工程, 2023, 45(5): 709-718.
[2]	陈浩, 袁良信, 孙涛, 郑四发, 连小珉. 电动轮汽车车速与道路坡度估计^*[J]. 汽车工程, 2020, 42(2): 199-205.
[3]	兰凤崇, 余蒙, 李诗成, 陈吉清. 考虑预碰撞时间的自动紧急制动系统分层控制策略研究^*[J]. 汽车工程, 2020, 42(2): 206-214.
[4]	任玥, 郑玲, 张巍, 杨威, 熊周兵. 基于模型预测控制的智能车辆主动避撞控制研究^*[J]. 汽车工程, 2019, 41(4): 404-410.
[5]	张亮修,吴光强,郭晓晓. 车辆自适应巡航控制系统的建模与分层控制[J]. 汽车工程, 2018, 40(5): 547-553.