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基于滑模观测器的电动汽车最大牵引力估计
引用本文:王晓玉,廉宇峰,赵云,田彦涛. 基于滑模观测器的电动汽车最大牵引力估计[J]. 吉林大学学报(信息科学版), 2015, 33(3): 251-260. DOI: 10.3969/j.issn.1671-5896.2015.03.006
作者姓名:王晓玉  廉宇峰  赵云  田彦涛
作者单位:吉林大学 a. 通信工程学院; b. 工程仿生教育部重点实验室, 长春 130022
基金项目:中国电动汽车国家重点科技计划基金资助项目(JS-102),吉林大学“985工程”科技创新平台(JS-102)
摘    要:为实现双电机四轮驱动电动车在不同路面的最大驱动力, 提出了基于LuGre摩擦动力学模型和滑模观测器(SMO: Sliding Mode Observer)的牵引力控制策略。利用LuGre动力学模型中反应路面条件的参数θ, 实现路面条件在线辨识。通过SMO对电动汽车在纵向行车工况下、 轮胎小滑移率时, 主动估计路面条件参数θ, 进而估算其最佳滑移率, 获得路面可提供的最大牵引力。同时采用动态饱和非线性控制策略限制电机的最大输出力矩, 保证电动车在不同路面条件下防滑行驶。仿真实验表明, 基于滑模观测器的最佳滑移率估计方法可在不同路面条件下提供电动汽车最大牵引力, 对汽车行驶的主动安全性有重要意义。

关 键 词:电动车  LuGre摩擦动力学  滑模观测器  牵引力控制  
收稿时间:2014-10-28

Maximum Traction Estimation for Electric Vehicles Based on Sliding Mode Observer
WANG Xiaoyu,LIAN Yufeng,ZHAO Yun,TIAN Yantao. Maximum Traction Estimation for Electric Vehicles Based on Sliding Mode Observer[J]. Journal of Jilin University:Information Sci Ed, 2015, 33(3): 251-260. DOI: 10.3969/j.issn.1671-5896.2015.03.006
Authors:WANG Xiaoyu  LIAN Yufeng  ZHAO Yun  TIAN Yantao
Affiliation:a. College of Communication Engineering; b. Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun 130022, China
Abstract:In order to obtain the double motor four wheel driving electricvehicles maximum driving force in different road surface, this paper proposesa traction control strategy based on LuGre friction dynamic model and a SMO(Sliding Mode Observer). Using LuGre dynamic model's parameter θ that react pavement condition to realize the pavement conditions online identification. By designing the SMO initiatively estimate the road condition parameters θ with small tire slip ratio while the electric vehicles in the vertical driving conditions. With the estimation optimal slip ratio, we can achieve the maximum traction provided by the road. We design dynamic saturated nonlinear control strategy to limit the maximum output torque of motor and to ensure the electric vehiclesanti-skidding under the different pavement conditions. The simulation results show that the optimal slip ratio estimation method based on sliding mode observer can provide maximum traction for electric vehicles under the different road conditions. The strategy is important in active safety of the electric vehicles driving.
Keywords:electric vehicle  LuGre friction dynamics  sliding mode observer  traction control
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