Stability Control of 4 Wheel Motored Electric Vehicle utilizing Electric Motor's Advanced Controllability

利用电动机先进可控性的四轮电动汽车稳定性控制

基本信息

批准号：
11450163
负责人：
HORI Yoichi
金额：
$ 9.15万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B).
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11450163/
关键词：
Electric Vehicle Traction Control Slip Ratio Control Road Condition Estimation Vehicle Dynamics Control Yaw Rate Control Four Wheel Drive Driving Force Distribution Control

项目摘要

Electric vehicles (EV) have much advantage which is not in gasoline engine vehicles, One is the traction control utilizing electric motor's quick torque response and another is the high performance vehicle attitude control by multi motored-wheel vehicles.On the first subject we developed novel adhesion control methods and good experimental results were obtained by using UOT March I, which is our first test vehicle. This time, we developed the second vehicle UOT March II, 4 motored wheel vehicle. and the following results have been obtained mainly on the two-dimensional vehicle attitude control.(1) adhesion controlWe investigated electric rail cars and ABS systems of gas engine vehicle, where adhesion control are being applied. We also studied generation mechanism of tire friction force and rolling resistance. We optimized some controller parameters of already proposed MFC, the optimal slip ratio control, etc.(2) road condition estimationWe proposed the driving force observer which is n … More eeded for adhesion control as the road condition estimator. We applied the fixed trace method to estimate the slope of the road friction curve form time derivatives of the slip ratio and the road friction coefficient. Also, we developed the maximum friction coefficient estimation technique using precise tire model and nonlinear search algorithm, skid detection method without using vehicle speed, and so on.(3) two-dimensional vehicle attitude controlWe developed various types of vehicle attitude stabilization techniques using nonlinear state equations expressing vehicle dynamics. For example, anti-windup yaw rate control considering traction force saturation, maximum braking force control at emergency and its application to anti-spin control with drivers' steering action, dynamic driving force dispatch control, and so on. 4 motored EV can generate the yaw moment force directly as the controlled input variable, which realizes a completely different system from the conventional 4WD or 4WS vehicles.(4) manufacturing of the real vehicle and experimentsWe took much effort in making the hand-made UOT March II.It was completed and we are still performing experiments on a tire maker's test course. We expect much more experimental results in the near future.When we will succeed in the above technology development, danger of tire slip will be reduced drastically, safety of drive on slippery road will be increased by high performance attitude control, and if we use lower loss tire we can increase the range of one battery charge. In summary, we can say that we have succeeded in basic experiments to show great advantage of electric vehicles in "control". Less

电动汽车（EV）具有很大的优势，这在汽油发动机车辆中没有，其中一个是使用电动机的快速扭矩响应的牵引力控制，而另一个是通过多机车车辆进行的高性能车辆态度控制。在我们开发的第一个主题中，我们开发了新颖的粘合剂控制方法，使用UOT March I是我们的第一个测试车，可以获得良好的实验结果。这次，我们开发了第二辆汽车3月II，4机动车辆车辆。并且主要在二维车辆态度控制上获得了以下结果。（1）粘附控制我们研究了用于应用粘合剂控制的燃气发动机车辆的电动铁路车和ABS系统。我们还研究了轮胎摩擦力和滚动电阻的生成机理。我们优化了已经提出的MFC的一些控制器参数，最佳的滑动比控制等。（2）道路状况估算我们提出了驱动力观察者，该观察者是N…更倾向于作为道路条件估计器进行广告控制。我们应用了固定的痕量方法来估计道路摩擦曲线的斜率形成滑动比和道路摩擦系数的时间导数。此外，我们使用精确轮胎模型和非线性搜索算法，不使用车辆速度的防滑检测方法开发了最大摩擦系数估计技术。例如，考虑牵引力饱和度，紧急情况下的最大制动力控制以及其在驱动器的转向动作，动态驱动力调度控制等方面，考虑牵引力饱和，最大制动力控制以及其应用于反旋转控制，等等。 4驱动EV可以直接产生偏航力矩力，因为受控输入变量与常规的4WD或4WS车辆完全不同的系统。（4）实际车辆的制造和实验我们竭尽全力使手工制作的UOT 3月II. IT完成了，并且我们仍在进行Tirire Maker Maker的测试人员的测试工具进行实验。我们预计在不久的将来会有更多的实验结果。当我们将在上述技术开发中取得成功时，轮胎滑移的危险将大大降低，在高性能的态度控制下，湿道道路上的驱动安全性将会提高，如果我们使用较低的损失轮胎，我们可以增加一次电池充电的范围。总而言之，我们可以说，我们已经成功地进行了基本实验，以在“控制”中显示出电动汽车的巨大优势。较少的