电子学报 ›› 2020, Vol. 48 ›› Issue (5): 953-959.DOI: 10.3969/j.issn.0372-2112.2020.05.016

• 学术论文 • 上一篇    下一篇

基于模型预测控制的电动汽车轮毂电机转矩控制研究

肖祥慧1, 史可2, 袁小芳2   

  1. 1. 佛山科学技术学院, 广东佛山 528000;
    2. 湖南大学电气与信息工程学院, 湖南长沙 410082
  • 收稿日期:2018-12-05 修回日期:2019-10-26 出版日期:2020-05-25 发布日期:2020-05-25
  • 通讯作者: 肖祥慧
  • 作者简介:史可 男,1993年生.博士生,研究方向为分布式电动汽车及其控制.E-mail:samkieth@hnu.edu.cn;袁小芳 男,1979年生.教授,博士生导师,研究方向为电机系统及智能控制.E-mail:yuanxiaofang@hnu.edu.cn
  • 基金资助:
    国家重点研发计划(No.2017YFB1300903,No.2018YFB1308200);湖南省科学研究项目(No.16C0039)

Model Predictive Controller-Based in-Wheel Motor Torque Control System for Distributed Drive Electric Vehicle

XIAO Xiang-hui1, SHI Ke2, YUAN Xiao-fang2   

  1. 1. Foshan University of Science and Technology, Foshan, Guangdong 528000, China;
    2. College of Electrical and Information Engineering, Hunan University, Changsha, Hunan 410082, China
  • Received:2018-12-05 Revised:2019-10-26 Online:2020-05-25 Published:2020-05-25

摘要: 分布式驱动电动汽车(Distributed Drive Electric Vehicles,DDEV)采用内嵌式轮毂电机,使各车轮独立可控,具有调节形式多样化等突出优点.合理的轮毂电机转矩分配是保证DDEV稳定性的关键.本文为提高DDEV稳定性,分析了轮毂电机转矩分配与稳定性的关系,提出一种基于模型预测控制器的DDEV轮毂电机转矩分配控制系统.所提出的控制系统由上层控制器和下层控制器两个主要部分组成.上层控制器设计了基于拉盖尔函数的模型预测控制器,综合分析保证DDEV稳定性所需的轮毂电机转矩约束条件,实现轮毂电机最优转矩分配,提高DDEV稳定性.下层控制器对四个轮毂电机进行实时控制,执行上层控制器设计的最优转矩分配方案.最后在搭建的Matlab/Simulink环境下进行仿真验证.

关键词: 分布式驱动电动汽车, 稳定性, 轮毂电机, 转矩分配, 模型预测控制

Abstract: Distributed drive electric vehicles (DDEV) adopts in-wheel motor,which makes each wheel independently controllable.DDEV has advantages such as the diversified adjustment modes.Reasonable in-wheel motor torque distribution is a key factor to guarantee the stability of DDEV.In this paper,the relationship between in-wheel motor torque distribution and stability of DDEV is analyzed,and a model predictive controller-based in-wheel motor torque control system is proposed to improve the stability of DDEV.The proposed control system consists of two parts,including the upper controller and the lower controller.In the upper controller,a raguel function-based model predictive controller is designed to obtain the optimal torque distribution scheme,by analyzing the constraints of in-wheel motor torque comprehensively.The lower controller implements the optimal torque distribution scheme of the upper controller in real time.Finally,the simulation under the Matlab/Simulink is implemented.

Key words: distributed drive, stability, in-wheel motor, torque distribution, model predictive control

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