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动力转向系统对电动汽车的设计与装配具有重要的影响。动力转向系统具有典型的不确定性、未建模动态、测量噪声和干扰等非线性动力学特征,是包含离散事件与连续事件的混杂动力学系统。分析了分布式驱动电动汽车动力转向系统的控制结构、控制功能及其动力学行为,建立了反映连续和离散控制行为的混杂控制系统模型;建立了动力转向系统的切换控制结构,进行了20 km/h和40 km/h下的蛇形实验。结果表明:在20 km/h下,转向系统转矩的峰值和平均值分别降低了40.93%和40.99%;在40 km/h下,转向系统转矩的峰值和平均值分别降低了31.11%和32.12%,转向轻便性得到明显改善。不仅改善了动力转向系统的鲁棒性能,而且对电动汽车控制性能的改善、性能的优化及安全性能的提高都具有重要的实用价值。
Power steering systems have a major impact on the design and assembly of electric vehicles. The power steering system has the characteristics of non-linear dynamics such as typical uncertainty, unmodeled dynamics, measurement noise and interference. It is a hybrid dynamic system with discrete events and continuous events. The control structure, control function and dynamic behavior of distributed drive electric vehicle power steering system are analyzed. The hybrid control system model which reflects the continuous and discrete control behaviors is established. The switching control structure of power steering system is established and the control system of 20 km / h and snake experiment at 40 km / h. The results show that at 20 km / h, the peak value and the average value of the steering torque decrease by 40.93% and 40.99% respectively. At 40 km / h, the peak and average values of the steering torque decrease by 31.11% and 32.12%, shift to light weight has been significantly improved. Not only improves the robustness of the power steering system, but also has important practical value for improving the control performance, optimizing the performance and improving the safety performance of the electric vehicle.