电动汽车动力学控制.pdf

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1、ShanghaiJiaoTongUniversityUniversityofMichigan-ShanghaiJiaoTongUniversityJointInstituteDynamicsControlofElectricVehiclesbyLuLiuAthesissubmittedinpartialfulfillmentoftherequirementsforthedegreeofMasterofScienceinElectricalandComputerEngineeringatShanghaiJiaoTong

2、UniversityCommitteeincharge:ShanghaiProf.ChengbinMa,ChairMarch,2014Prof.MianLiProf.DavidHung万方数据万方数据AbstractAnelectricmotorcangeneratefastandaccuratetorqueanditsvaluecanbemeasuredprecisely,whichisimpossibleforaninternalcombustionengine.Moreoveranelectricmotorc

3、ansupplynegativetorqueandbemountedwithinasinglewheel.Thereforeelectricvehicleshavemanyothersignificantadvantagesoverinternalcombustionenginevehiclesfromviewpointofcontrolengineering,suchasadvanceddynamicscontrolandhybridbrakingcontrol.Henceinthisthesis,advanced

4、longitudinalandlateraldynamicscontrolofarear-driveelectricvehicleareinvestigatedbytakingfulladvantagesofaccurateandfasttorquegenerationandfeedbackofanelectricmotor.First,asimulationmodelbasedonMATLAB/Simulinkisbuiltasanimportanttooltoverifytheeffectivenessofpro

5、posedlongitudinalandlateraldynamicscontrolalgorithms.Thismodelisbasedonmathematicalandgeometricanalysis.MagicFormulaisusedtoemulateinteractionsbetweentireandroad.Alsoachassismotionwiththreedegreesoffreedom,whicharelongitudinalmotion,lateralmotionandyawmotion,i

6、sbuilt.Thephenomenonofverticalloadtransferbetweenwheelswhenavehiclemovesisalsotakenintoaccount.Thisphenomenonisasignificantfactorthatleadstolateralinstabilityofavehicle.Moreoverthevehicletrajectoryisplottedtogivereadersanintuitiveview.Atlast,forabrushlessDCmoto

7、r,thereisalimitontorqueoutputfordifferentangularspeedofamotor.Henceamotormodelisadoptedtonarrowdifferencesbetweensimulationandreality.Thenbyusingthemeritofmotortorquefeedback,anovellongitudinaltractioncontrolofanelectricvehicleisproposedbasedonthemeasurementandc

8、ontrolofanewadoptedparametercalledmotorequivalentinertiaJeq,whichisdefinedasratioofmotortorquetowheelacceleration.Itisprovedthatthereisalowboundforthisparametersothatavehicleislongi