学术论文

      电动轮汽车电液复合ESP的协调控制研究

      Research on coordinated control of electro-hydraulic compound ESP for electric wheel

      摘要:
      传统车辆的车身电子稳定系统(Electronic Stability Program,简称ESP)通常采用液压系统进行控制,液压控制虽有承载能力大的优点,但其在动态响应性能上存在局限性.针对纯液压ESP在动态控制上的不足,鉴于轮毂电机具有优秀的动态控制性能,从提升车辆ESP性能这角度出发,在电动轮汽车上开展电液复合ESP的协调控制方法研究.应用Matlab/Simulink和CarSim两软件分别建立了电动轮汽车的理想二自由度参考模型、CarSim整车模型、轮毂电机模型、失稳状态判断模型、双层控制器模型,在双移线行驶工况下,分别对无ESP、纯液压ESP、电液复合ESP这三类情况进行联合仿真.仿真结果对比后表明:在电动轮汽车上,电液复合ESP比无ESP及纯液压ESP具有更佳控制效果,如横摆角速度响应精度提升15%以上,响应速度缩短27%,车轮滑移率保持在比较合理的范围内(低于20%),防滑性与行驶安全性更好.此项研究将为电动轮汽车电液复合ESP的协调控制进一步研究提供理论依据.
      Abstract:
      The traditional Electronic Stability Program (ESP) is usually controlled by hydraulic system.Although hydraulic system has an advantage of large carrying capacity, it has a limitation on the dynamic response performance.Aiming at the deficiency of the pure hydraulic ESP on dynamic control and in view of the excellent dynamic performance of in-wheel motor, the coordinated control method of electro-hydraulic compound ESP on in-wheel motor driven vehicle is studied to improve the dynamic response performance of ESP.The ideal in-wheel motor driven vehicle model of two degrees, CarSim vehicle model, vehicle in-wheel motor model, the instability state judgment model, double-layer control model is built by applying Matlab/Simulink and CarSim, respectively.Under the double line driving condition, the co-simulation on in-wheel motor driven vehicle without ESP, with pure hydraulic ESP and with electro-hydraulic compound ESP were conducted.Comparing the simulation results, it indicates that in-wheel motor driven vehicle with electro-hydraulic compound ESP has a better control effect than without ESP and with pure hydraulic ESP, its response accuracy of yaw rate is increased more than 15%, the response speed is decreased 27%, the wheel slip ratio is kept in a reasonable range(less than 20%), and the skid resistance and driving safety are improved.The study will provide the theory basis for further research on the coordinated control of electro-hydraulic compound ESP on in-wheel motor driven vehicle.
      作者: 张厚忠 [1] 苏健 [2] 张田 [2]
      Author: ZHANG Hou-zhong [1] SU Jian [2] ZHANG Tian [2]
      作者单位: 江苏大学汽车工程研究院,江苏镇江,212013 江苏大学汽车与交通工程学院,江苏镇江,212013
      年,卷(期): 2017, 42(2)
      分类号: U469.72 U463.4.02
      在线出版日期: 2017年5月16日
      基金项目: 国家自然科学基金青年项目,江苏省高校自然科学研究面上项目,江苏大学校基金资助项目,江苏省电动车辆驱动与智能控制重点实验室开放研究课题