基于路面识别的四轮驱动电动汽车驱动防滑控制.doc

第 26 卷第7期重庆理工大学学报( 自然科学) 2012 年7月 Journal of Chongqing University of Technolog y ( Natural Sc ience ) Jul . 2012 Vol . 26 No .7 基于路面识别的四轮驱动电动汽车驱动防滑控制蒋振江,陈旭,李大伟( 重庆理工大学重庆汽车学院,重庆 4 00054 ) 摘要: 介绍了四轮独立驱动电动汽车的驱动防滑控制系统。采用路面识别方法, 识别不同路面的最佳滑转率,设计了以滑转率最优为控制目标的模糊- PID 联合控制器。为确定模糊- PID 联合控制器对提高汽车行驶性能的效用,结合车辆的驱动模型,对变附着系数路面行驶的汽车进行驱动防滑仿真分析。结果表明: 基于路面识别的驱动防滑控制系统能快速、准确地识别出路面状况的变化,实时地调整控制参数,并应用模糊- PID 联合控制方法,及时地调整驱动电机的输出转矩,使车轮滑转率基本控制在最佳滑转率附近,保证车辆在恶劣路况下行驶时仍可以获得较好的驱动防滑控制效果。关键词: 四轮驱动; 路面识别; 驱动防滑控制; 模糊- PID 联合控制中图分类号: U4 69 . 72 文献标识码:A 文章编号: 1674 - 84 25 ( 2012 ) 07 - 0017 - 05 Acceleration Slip Regulation of Four-wheel Drive Electric Vehicle Based on Road Automatic Identification JIANG Zhen-jian g ,C HEN Xu , LI Da-wei ( Chongqing Institute of Automobil e , Chongqing University of Technolog y , Chongqing 40005 4 , China ) Abstrac t : Acceleration Slip Regulat ion ( ASR ) system applied in the Four-wheel Drive Electrical vehi- cle was designed . The method of road status automatic identification was used to identify optima slip ra- tio of the different roads , and designed Fuzzy-PID Joint Controller that aimed at controlling the optima slip ratio . In order to determine the effectiveness that how Fuzzy-PID Joint Controller improves automo- bile driving performanc e , and bination with vehicle model , ASR test was simulated with variable attachment coefficient road . The results show that the ASR system based on Road Automatic Identifica- tion can rapidly and accurately identify the variation of road s tatus , adjust the control parameters in real tim e , apply Fuzzy-PID Joint Control method to adjust motor t orque , control the slip ratio close to the optima slip ratio , and ensure that vehicles driving in bad road conditions can get better ASR control re- sult . Key word s : four-wheel driv e ; road automatic identificatio n ; acceleration slip regul ation ; Fuzzy-PID joint control 收稿日期: 2011 - 03 - 06 基金项目: 重庆理工大学研究生创新基金资助项目( YCX2 011301 ) 作者简介: 蒋振江( 1985 —) ,男,硕士研究生,主要从事车辆工程方面研究。 8