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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

姚芳, 林祥辉, 吴正斌, 李贵强. 电动汽车电子差速控制技术研究综述. 自动化学报, 2021, 47(3): 1−14 doi: 10.16383/j.aas.c190293
引用本文: 姚芳, 林祥辉, 吴正斌, 李贵强. 电动汽车电子差速控制技术研究综述. 自动化学报, 2021, 47(3): 1−14 doi: 10.16383/j.aas.c190293
Yao Fang, Lin Xiang-Hui, Wu Zheng-Bin, Li Gui-Qiang. Summary of research on electronic differential control technology of electric vehicle. Acta Automatica Sinica, 2021, 47(3): 1−14 doi: 10.16383/j.aas.c190293
Citation: Yao Fang, Lin Xiang-Hui, Wu Zheng-Bin, Li Gui-Qiang. Summary of research on electronic differential control technology of electric vehicle. Acta Automatica Sinica, 2021, 47(3): 1−14 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
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:天津中科先进技术研究院院长. 广东省高校新能源汽车与节能减排工程技术开发中心技术委员会主任. 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. E-mail: gq.li@siat.ac.cn

Summary of Research on Electronic Differential Control Technology of Electric Vehicle

Funds: Supported by Hebei Natural Science Foundation (E2019202481) and Research and Development of Key Technologies for High Speed and High Precision Robot Oriented to Sensor Intelligent Manufacturing (Tianjin Science and Technology Commission 18YFZNGX00030)
  • 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.
  • 图  1  集中驱动结构

    Fig.  1  Centralized drive structure

    图  2  多电动机分布驱动结构

    Fig.  2  Multi-motor distributed drive structure

    图  3  Ackermann转向几何模型

    Fig.  3  Ackermann steering geometric model

    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  7  文献成果统计

    Fig.  7  Statistics of literature achievements

    图  8  多机PID抗扰控制原理

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

    图  9  多机模糊抗扰控制原理

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

    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

    图  11  滑模变结构控制原理

    Fig.  11  Sliding mode variable structure control principle

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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

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