Summary of Research on Electronic Differential Control Technology of Electric Vehicle
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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.Abstract: Firstly, the research describes the arrangement structures of electric vehicle (EV) driving systems. So does the principles, the advantages and disadvantages of differential control for EV. 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.
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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
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
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
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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