基于摄动法的轮毂电机分布式驱动车体姿态动力学分析与控制

项目名称： 基于摄动法的轮毂电机分布式驱动车体姿态动力学分析与控制

项目编号： No.61573315

项目类型： 面上项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 屈稳太

作者单位： 浙江大学宁波理工学院

项目金额： 16万元

中文摘要： 轮毂电机分布式驱动的电动汽车是今后电动汽车的主要发展方向。然而由于轮毂电机分布式驱动的电动汽车车体是多体耦合的复杂机电系统，其动力学模型表现为多变量，多参数，非线性，造成工程应用中对车体姿态控制的盲目性和不确定性。项目采用多尺度变换和参数摄动方法对车体动力学模型进行分析，从而可实现复杂动力学模型的简化。将采取拉格朗日方程和凯恩方程等方法对车体进行机理建模，对模型进行规范化和无量纲化变换，找出方程中的小参数，进行渐进展开和摄动分析，分析车体姿态变化的主要性态和变化规律，进而分析控制车体姿态变化的主项因子，确立车体姿态与轮毂电机驱动力之间的对应关系，建立面向车体姿态控制的动力学模型，探索基于误差矩阵的协调补偿控制策略。项目的提出是在多个相关项目研究的基础上凝练而成的。该项目的研究对工程应用具有重要的理论支撑，同时也具有重要的科学意义。

中文关键词： 电动汽车；分布式驱动；轮毂电机；鲁棒控制；滑膜控制

英文摘要： The distributed In-wheel motor driving is the main development direction of electric vehicle in the future. However, because the electric vehicle with distributed In-wheel motor driving is a multi-body coupling and complex electromechanical system whose dynamic model is multi-variable, multi-parameter and nonlinear. These model features can result in the blindness and uncertainty in the engineering application of vehicle attitude control. In this proposal, the multi-scale transform and parameter perturbation method are introduced to simplify the complex vehicle dynamic model. Specifically, we employ the Lagrange equation and Kane equation to build a mechanism model for vehicle body, then perform normalization and dimensionless transform over the model and finally find the small parameter in the equations. Meanwhile, asymptotical expansion and perturbation analysis are introduced to the equations to derive the main behaviors and change law of vehicle attitude, discuss the major factors to control the attitude of vehicle body, determine the correspondence between the vehicle attitude and the driving force of In-wheel motor, and then build a vehicle attitude oriented dynamical model, explore error matrix-based coordinate compensation control strategy. The proposal originates from a number of related engineering pro

英文关键词： Electric Vehicles；distributed drive；In-Wheel-Motor；robust control；sliding mode control