具备差动助力转向功能的电动轮独立驱动汽车转矩协调控制机理研究

项目名称： 具备差动助力转向功能的电动轮独立驱动汽车转矩协调控制机理研究

项目编号： No.51205153

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 王军年

作者单位： 吉林大学

项目金额： 25万元

中文摘要： 电动轮驱动技术是未来汽车传动技术的发展方向。差动助力转向技术是由各轮独立驱动特点催生的新技术。依据驾驶员对转向助力特性的需求，在汽车转弯时增加外侧减小内侧车轮驱动转矩，由左右驱动力差产生助力转向的作用。肩负驱动车辆行驶的驱动轮不仅要满足差动助力转向系统的转矩需求，还要兼顾汽车行驶稳定性控制的转矩指令，为此驱动轮转矩的协调控制尤为关键。本项目拟在研究差动助力转向系统助力和路感保持机理的基础上，建立以多目标规划为理论基础的分层转矩协调控制策略。上层由差动助力转向控制和横摆力偶矩稳定性控制系统组成，下层由四轮最佳滑转率控制和轮毂电机抗积分饱和补偿系统组成。上层优化分配各轮的目标转矩，下层根据路面附着和电机工作情况修正各轮转矩指令。通过自主研发的四轮独立驱动电动车和硬件在环仿真平台，研究转向助力和转矩协调控制机理，验证控制理论和方法。本项目研究成果将为电动轮汽车差动助力转向系统的应用提供理论基础。

中文关键词： 轮毂电机；差动；助力转向；协调控制；稳定性

英文摘要： Motorized wheel drive technology is developing orientation of power train of future vehicle. And differential drvie assist steering technology is a novel technology based on the characteristic of independent wheel drive of these kind of electric vehicle with in-wheel motor drive. According to the driver's demand of property of power steering, the traction force difference will generate the steering assist force when the outer wheel has greater drive torque, and the inner one has less drive torque. However, with the responsibility of providing traction force for the car, the drive wheels not only have to meet the demand of differential drive assist steering system to improve steering portability, but also it must take account of the torque demand of vehicle stability control system. It can be concluded that torque coordination control is particularly critical. Based on the study on the mechanisum of power assist steering and road feel keeping of differential drive assist steering system, a novel hierarchical strategy of torque coordination control is estabilished on the basis of the theory of multi-objective programming. the top-level is composed of differential drive assist steering system and yaw moment stability control, the low-level is composed of optimal slip-ratio traction control and anti-windup compensat

英文关键词： in-wheel motor；differential drive；power assisted steering；coordination control；stability