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针对四轮驱动电动轮车的研发,设计了基于驱动力和电机转矩相对变化关系的车轮打滑观测器,建立了车轮滑移率估算器;对用于驱动防滑的模型跟踪控制算法(MFC)和最优滑移率PI控制算法进行了深入的分析比较及优化,依据车辆单轮动力学模型对这两种驱动防滑控制算法进行了仿真分析,仿真结果表明最优滑移率PI控制算法和模型跟踪控制算法可充分利用路面附着条件,使车辆具有较好动力性。
Aiming at the research and development of four-wheel drive electric wheel vehicle, a wheel slip observer based on the relationship between driving force and motor torque is designed and the wheel slip rate estimator is established. The model tracking control algorithm (MFC) And the optimal slip ratio (PI) control algorithm are analyzed and compared in depth. According to the vehicle single-wheel dynamics model, the two anti-skid control algorithms are simulated. The simulation results show that the optimal slip ratio PI control algorithm and Model tracking control algorithm can make full use of road conditions, so that the vehicle has good power.