余卓平　熊璐　鄧永強(qiáng)　金馳

摘 要：主要研究分布式驅(qū)動(dòng)電動(dòng)汽車滑移率自適應(yīng)控制問(wèn)題。由于被研究車輪動(dòng)態(tài)系統(tǒng)具有很強(qiáng)的非線性，滑移率控制需要一個(gè)魯棒性較強(qiáng)的控制器。該研究設(shè)計(jì)了基于PI控制算法的滑移率控制器，目標(biāo)在于不管路面如何變化都能將車輪滑移率控制在設(shè)定最優(yōu)滑移率上。與此同時(shí)，本研究還設(shè)計(jì)了一個(gè)在線路面估計(jì)器，估計(jì)器實(shí)時(shí)為滑移率PI控制器提供路面最優(yōu)滑移率值。PI控制器和在線路面估計(jì)器結(jié)合路面自適應(yīng)控制律就構(gòu)建了滑移率自適應(yīng)控制器。PI控制器和在線路面估計(jì)器的設(shè)計(jì)保證了其具有李雅普諾夫穩(wěn)定性。最后，基于分布式驅(qū)動(dòng)電動(dòng)汽車仿真平臺(tái)對(duì)滑移率自適應(yīng)控制器性能進(jìn)行了仿真驗(yàn)證。仿真結(jié)果表明，滑移率自適應(yīng)控制器性能優(yōu)良，大大地提高了車輛的驅(qū)動(dòng)性能和驅(qū)動(dòng)效率。

關(guān)鍵詞：自適應(yīng)控制 路面估計(jì) 滑移率 電動(dòng)汽車

Abstract： This project conducts a research on wheel slip ratio control for distributed drive electric vehicles. In consideration of wheel rotation dynamics and its strong nonlinear properties， a Proportional-Integral controller is designed in this paper aimed at regulating the wheel slip ratio to a constant value regardless of the road adhesion conditions. At the same time， an on-line road coefficient estimator is proposed to provide optimal slip ratio for the designed wheel slip ratio controller. The global asymptotic stability of the system is proved by the Lyapunov stability theory. In addition， a distributed drive electric vehicle model is established for performance assessment due to its precise and fast-response torque control. Simulation results show that the proposed controller adaptively regulates the wheel slip ratio to the optimal value of current road with fast convergence speed and high accuracy. Generally， the proposed adaptive controller greatly improves the driving performance of the electric vehicle.

Key Words： Adaptive control；Road adhesion estimation；Wheel slip ratio；Electric vehicle

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