四轮轮毂电机电动车集成控制算法实车验证

为了实车验证四轮独立驱动轮毂电机电动车驱动转向集成控制算法,开发了线控转向四轮轮毂电机驱动实验车并进行了集成控制算法实车实验。介绍了线控转向四轮轮毂电机驱动实验车部件组成和控制系统结构。根据集成控制算法验证需要,对实验车进行了转向差速功能实验和四轮独立驱动功能实验;并对基于模型预测控制理论的驱动转向集成控制算法选择方向盘角正弦输入实验进行了实车验证。实车实验结果表明:实验车具有满足集成控制实验验证所需功能;驱动转向集成控制算法够控制实车较好跟踪期望运动。

Integrated Control Experiment Verification for Electric Vehicle with Four Driven In-Wheel Motors

For drive and steer integrated control experiment verification of electric vehicle with four independently driven in-wheel motors, the steer-by-wire electric experiment vehicle with four in-wheel motors was developed and used to verify the integrated control algorithms. The experimental vehicle components and control system architecture were introduced in this paper. According to the verification need of integrated control algorithms based on MPC, the steer differential function test and four wheel independent drive function test were carried out on this experiment vehicle. The steering wheel angle sinusoidal input experiment was selected to verify the drive and steer integrated control algorithms. The experiments showed that the experiment vehicle can satisfied the verification need and the integrated control algorithms can make the experiment vehicle follow the expectation movement.