电动汽车电子差速控制技术研究综述

姚芳; 林祥辉; 吴正斌; 李贵强

doi:10.16383/j.aas.c190293

电动汽车电子差速控制技术研究综述

doi: 10.16383/j.aas.c190293

姚芳^1,,
林祥辉^{1, 2,},
吴正斌^{2, 3,},
李贵强^{2, 3,}

1.
河北工业大学省部共建电工装备可靠性与智能化国家重点实验室天津 300131
2.
天津中科先进技术研究院有限公司天津 300392
3.
中国科学院深圳先进技术研究院深圳 518055

基金项目: 河北省自然科学基金 (E2019202481), 面向传感器智能制造的高速高精机器人的关键技术研发基金 (天津市科委18YFZNGX00030)资助

详细信息

作者简介:
姚芳：河北工业大学电气工程学院教授, 博士后. 主要研究方向为电工装备可靠性. 本文通信作者. E-mail: yaofang@hebut.edu.cn

林祥辉：河北工业大学电气工程学院硕士研究生. 主要研究方向为电子差速控制, 电机控制. E-mail: MiLinxh@126.com

吴正斌：中国科学院深圳先进技术研究院研究员, 天津中科先进技术研究院有限公司院长. 主要研究方向为新型能量转换材料和器件的设计应用技术. E-mail: zb.wu@tiat.ac.cn

李贵强：中国科学院深圳先进技术研究院博士研究生. 主要研究方向为电动汽车电机控制.E-mail: gq.li@siat.ac.cn

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出版历程
- 收稿日期: 2019-04-11
- 录用日期: 2019-09-24
- 网络出版日期: 2020-12-29
- 刊出日期: 2021-08-20

Summary of Research on Electronic Differential Control Technology of Electric Vehicle

YAO Fang^1
,,
LIN Xiang-Hui^{1, 2
,},
WU Zheng-Bin^{2, 3
,},
LI Gui-Qiang^{2, 3
,}

1.
State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300131
2.
Tianjin Advanced Technology Research Institute Co., Ltd., Tianjin 300392
3.
Shenzhen Advanced Technology Research Institute, Chinese Academy of Sciences, Shenzhen 518055

Funds: Supported by Hebei Natural Science Foundation (E2019202481), Research and Development of Key Technologies for High Speed and High Precision Robot Oriented to Sensor Intelligent Manufacturing (Tianjin Science and Technology Commission 18YFZNGX00030)

More Information

Author Bio:
YAO Fang　Ph.D., professor of Hebei University of Technology. Her main research interest is reliability of electrical equipment. Corresponding author of this paper

LIN Xiang-Hui　Master student at the Electrical Engineering College, Hebei University of Technology. His research interest covers electronic differential control and motor control technology

WU Zheng-Bin　Professor at Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, and president of Tianjin Chinese Academy of Sciences Insititute of Adbanced Technology Co., Ltd..His research interest covers design and aoolication technology of new energy conversion materials and devices

LI Gui-Qiang　Ph.D. candidate of Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences. His main research interest is electric vehicle motor control

摘要

摘要:
首先, 阐述电动汽车(Electric vehicle, EV)驱动系统的布置结构以及差速控制的原理和优缺点, 并介绍用于电子差速控制(Electronic differential control, EDC)的Acekermann转向模型和3自由度整车动力学模型, 进而剖析非线性扰动和整车模型的设计理念; 其次, 重点综述电动汽车分布式驱动结构的电子差速控制策略、多机抗扰控制及优化算法的相关研究成果, 并从成果走向、局限性及可能的发展空间分析其发展态势; 最后, 从整车模型、控制策略、抗扰算法和效果验证等四个方面, 总结电动汽车电子差速控制技术的现状, 并展望未来发展可能.
- 电子差速控制 /
- 分布式驱动 /
- 整车模型 /
- 抗扰算法
Abstract:
Firstly, the arrangement structure of electric vehicle (EV) driving system and the principle, advantages and disadvantages of differential control are expounded. It also introduces the Ackermann steering model and the 3-DOF (degree of freedom) dynamic model used for electronic differential control (EDC) of EV. Based on the two models above mentioned, the nonlinear perturbation of vehicle dynamic system is explained deeply, and the concept of vehicle design is explored; Secondly, the research focuses on achievements reviewing on EDC strategies, multi-motor disturbance rejection control methods and optimization algorithm for EVs whose drive systems are of the distributed framework. Then, by scanning related researches, the EDC development state is summarized and EDC development trend is forecasted from points of the results tendency, application limitations and the possible development opportunities. Finally, it summarizes the status and forecasts the prospect of EV＇ s EDC technology from four aspects including vehicle model, control strategy, disturbance rejection method and verification mode for EDC effect.
- Electronic differential control (EDC) /
- distributed drive /
- the vehicle mode /
- anti-interference algorithm

HTML全文

图 1 集中驱动结构

Fig. 1 Centralized drive structure

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图 2 多电动机分布驱动结构

Fig. 2 Multi-motor distributed drive structure

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图 3 Ackermann转向几何模型

Fig. 3 Ackermann steering geometric model

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图 4 汽车转向时整车受力示意图

Fig. 4 Schematic diagram of force acting on the whole vehicle during steering

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图 5 基于转速的电子差速控制策略原理

Fig. 5 Principle of electronic differential control strategy based on speed

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图 6 基于转矩的电子差速控制策略原理

Fig. 6 Principle of electronic differential control strategy based on torque

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图 7 文献成果统计

Fig. 7 Statistics of literature achievements

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图 8 多机PID抗扰控制原理

Fig. 8 Principle of multi-machine pid disturbance rejection control

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图 9 多机模糊抗扰控制原理

Fig. 9 Principle of multi-machine fuzzy disturbance rejection control

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图 10 多机神经网络抗扰控制原理

Fig. 10 Principle of disturbance rejection control based on multi-machine neural network

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图 11 滑模变结构控制原理

Fig. 11 Sliding mode variable structure control principle

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