关于轮边电机驱动汽车性能仿真与控制方法的研究.pdf

学兔兔 汽 车 工 程 2012年(第34卷)第5期 Automotive Engineering 2012077 轮边电机驱动汽车性能仿真与控制方法的研究米 智晋宁 ，项昌乐 ，朱丽君 ，马 越 ，徐 彬 ，李明喜 (1．北京理工大学机械与车辆学院，北京 100081；2．太原科技大学机械工程学院，太原 030024； 3．q-国兵器科学研究院，北京 100821) [摘要] 为多域车辆的陆地行驶，设计了轮边电机驱动系统，构建了基于轮边驱动系统的车辆模型，并对驱动 控制方法进行了研究。在转向动力学理论分析基础上，在ADAMS中建立了多体动力学模型；提出了车辆驱动与转 向的控制策略，在Matlab／Simulink环境建立了控制模型，运用联合仿真方法对车辆在直线加速、转向和制动等典型 工况下的行驶性能进行仿真验证。结果表明车辆的主要性能符合预期目标，驱动控制策略有效。 关键词：多域车辆；轮边驱动；控制策略；联合仿真 A Study on the Performance Simulation and Control Scheme for In．wheel Motor Driven Vehicles zlli Jinning ，Xiang Changle ，Zhu Lijun ，Ma Yue ，xu Bin ＆Li Mingxi 1．School ofMechanical Engineering，Be ng Institute of Technology，Beijing 100081； 2．College ofMechanicalEngineering，Taiyuan University ofScienceTechnology，Taiyuan 030024； 3．Ordnance Science Institute of China，BeOing 100821 [Abstract] An in—wheel motor drive system is designed for the land driving of multi-domain vehicle．A vehi— cle model is set up based on the in—wheel drive system and the drive control method is studied．On the basis of the theoretical analysis on steering dynamics，a multi—body dynamic model for vehicle is established with ADAMS．The driving and steering control strategies are proposed and the control model is developed with Matlab／Simulink．By U- sing co—simulation scheme the driving performances of vehicle in typical working conditions including accelerating， steering and braking are validated．The results show that the basic performances of vehicle meet the expected objec— tives and the driving