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为了研究四轮独立驱动(4 Wheels Independent Drive,4WID)电动车的驱动防滑系统,需要实时计算车轮附着系数。提出一种基于扩张状态观测器的估算方法,对4WID电动车的利用附着系数进行实时估计。首先对车辆的滑转状态进行动力学分析,将含有纵向力的项视为滑转系统的扩张状态,设计了二阶非线性扩张状态观测器。然后将轮毂电机转速信号和扭矩信号作为输入信号,实时估算车轮的纵向力,进而计算出车轮的利用附着系数。最后设计了4WID电动车四轮低附着系数路面实车打滑试验对该方法进行验证。结果表明:该方法能够实时估算出车轮的纵向力,计算出的利用附着系数与实际值相近。
In order to study the driving non-slip system of a 4 Wheels Independent Drive (4WID) electric vehicle, the wheel attachment coefficient needs to be calculated in real time. An estimation method based on the extended state observer is proposed to estimate the utilization coefficient of 4WID electric vehicles in real time. Firstly, the dynamic state of the vehicle’s slip state is analyzed, and the term with longitudinal force is considered as the expansion state of the slip system. A second order nonlinear expansion state observer is designed. Then the wheel hub motor speed signal and torque signal as input signals, real-time estimation of wheel longitudinal force, and then calculate the use of the wheel adhesion coefficient. Finally, a 4WID electric vehicle four-wheel low adhesion coefficient pavement real car slip test was designed to verify the method. The results show that this method can estimate the longitudinal force of the wheel in real time, and the calculated utilization adhesion coefficient is close to the actual value.