分布式驱动电动汽车多电机的协调控制与优化分配方法

项目名称： 分布式驱动电动汽车多电机的协调控制与优化分配方法

项目编号： No.61203019

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 张细政

作者单位： 湖南工程学院

项目金额： 24万元

中文摘要： 随着轮毂电机等集成动力装置不断成熟，新型分布式驱动以其控制灵活、响应快速、效率高等优点成为下一代纯电动汽车的首选驱动方式。项目以分布式驱动电动汽车为研究对象，分析多电机间耦合效应对车辆性能的影响规律，构建新型驱动方式下的整车动力学解耦模型；研究基于模型分解的子空间辨识方法，建立执行器动力学的非线性时变模型；设计分层控制策略，采用非线性鲁棒技术设计上层控制器实现整车鲁棒运动控制，综合考虑执行器动态和回馈能量等限制，构建多目标、有约束、非线性动态控制分配模型，并采用基于仿电磁机制算法的混合智能优化方法进行驱动/制动力矩和转向角的最优分配，实现复杂工况下电动汽车的安全稳定行驶和高效节能运行。通过对两层控制策略的深入研究，解决多电机系统协调控制和最优分配关键技术难题，取得耦合动力学建模与控制力动态分配创新性成果，能极大提高电动汽车的操纵稳定性、安全性和能量利用率，促进我国电动汽车的推广应用。

中文关键词： 电动汽车；协调控制；控制分配；车辆动力学；再生充电

英文摘要： With the rapid development of integrated power plants such as the in-wheel motor, the novel distributed-driven style becomes the preferred mode for pure electric vehicles in the next generation on accout of its flexible control, rapid response and high efficiency. The rules of the interconnected coupling effect of the multi-motors on the vehicle performance are firstly analysed and revealed as well as the decoupled model for the total vehicle dynamics is derived. With the model-decomposition-based subspace identification method, the actuators' nonlinear dynamics are accordingly predicted in a state-space form. Meanwhile, under the hierarchical structure the robust motion controller in upper layer is designed to obtain the total forces/moment, and the nonlinear dynamic control allocation with actuator constraints in lower layer is also designed to optimally distribute thoses to 4 in-wheel motors. Moreover, the control allocation problem with muti-objectives is solved by the hybrid intelligent optimization method based on the modified Electromagnetism-like Mechanism algorithm. The electric vehicle can perform well in a more safely, more efficient and more smoothly way even in complex operating modes. Through the intensive study on the hierarchical control strategy, the project will result a economic control scheme

英文关键词： electric vehicle；coordinated control；control allocation；vehicle dynamics；regenerative charging