四轮毂独立驱动电动汽车行驶稳定性的动态最优协调与多模解耦控制

项目名称： 四轮毂独立驱动电动汽车行驶稳定性的动态最优协调与多模解耦控制

项目编号： No.51305065

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 葛平淑

作者单位： 大连民族学院

项目金额： 25万元

中文摘要： 四轮毂独立驱动电动汽车以其在动力配置、操控性能及能源利用等方面的独特优势和巨大潜力，已经成为电动汽车研发的一个重要方向，而面向主动安全的行驶稳定性控制是其发展过程中需要探索和研究的重要课题之一。 针对轮毂电机驱动的电动汽车主动安全研究中"多目标控制耦合的描述过程"，运用系统辨识理论动态识别电动汽车的实时行驶参数，剖析其行车安全渐进稳定的主导因子；围绕主动转向与驱动/制动控制技术，基于现代控制理论建立四轮毂驱动电动汽车的非线性动力学数学模型；采用相平面法进行电动汽车的稳态/非稳态鲁棒在线镇定，并利用分层控制原理提出稳定性最优化协调控制结构；结合轮毂电机的动态特性及工作效率，基于动态控制分配方法进行各轮之间的解耦控制，最后运用仿真实验手段验证动态最优协调策略和鲁棒稳定控制算法的有效性。 研究成果对提高四轮独立驱动电动汽车的行驶稳定性及事故主动防控能力具有重要的科学价值和现实意义。

中文关键词： 电动汽车；四轮毂驱动；主动安全；动态最优分配；协调控制

英文摘要： Four in-wheel motors independently driving electric vehicle (EV) has become an important research orientation on EV. It possesses unique advantages and development potentials in terms of power allocation, controlling performance and energy utilization. Active safety oriented stability control is one of the significant issues to be explored and investigated for the evolution of four in-wheel motors driving EV. Facing "the description procedure of multi-target control coupling" during the research on active safety for four in-wheel motors driving EV, system identification theory is adopted to identify its real time running parameters dynamically and the asymptotic stability dominant factors affecting safety are analyzed. Focusing on the active steering and drive/brake control technology, the nonlinear dynamical mathematical model for four in-wheel motors driving EV is built using modern control theory. Phase plane method is utilized to discriminate its steady/unsteady online and the stability coordinated control architecture can be constructed according to hierarchical control theory. Combining the dynamic characteristics and efficiency of in-wheel motor, the multi-mode decoupling control between each wheel can be executed based on dynamic control allocation. Finally, the effectiveness of dynamic optimization coo

英文关键词： electric vehicle；four in-wheel motors driving；active safety；dynamic optimization allocation；coordinated control