余卓平　熊璐　鄧永強　金馳

摘 要：主要研究分布式驅動電動汽車滑移率自適應控制問題。由于被研究車輪動態(tài)系統(tǒng)具有很強的非線性，滑移率控制需要一個魯棒性較強的控制器。該研究設計了基于PI控制算法的滑移率控制器，目標在于不管路面如何變化都能將車輪滑移率控制在設定最優(yōu)滑移率上。與此同時，本研究還設計了一個在線路面估計器，估計器實時為滑移率PI控制器提供路面最優(yōu)滑移率值。PI控制器和在線路面估計器結合路面自適應控制律就構建了滑移率自適應控制器。PI控制器和在線路面估計器的設計保證了其具有李雅普諾夫穩(wěn)定性。最后，基于分布式驅動電動汽車仿真平臺對滑移率自適應控制器性能進行了仿真驗證。仿真結果表明，滑移率自適應控制器性能優(yōu)良，大大地提高了車輛的驅動性能和驅動效率。

關鍵詞：自適應控制 路面估計 滑移率 電動汽車

Abstract： This project conducts a research on wheel slip ratio control for distributed drive electric vehicles. In consideration of wheel rotation dynamics and its strong nonlinear properties， a Proportional-Integral controller is designed in this paper aimed at regulating the wheel slip ratio to a constant value regardless of the road adhesion conditions. At the same time， an on-line road coefficient estimator is proposed to provide optimal slip ratio for the designed wheel slip ratio controller. The global asymptotic stability of the system is proved by the Lyapunov stability theory. In addition， a distributed drive electric vehicle model is established for performance assessment due to its precise and fast-response torque control. Simulation results show that the proposed controller adaptively regulates the wheel slip ratio to the optimal value of current road with fast convergence speed and high accuracy. Generally， the proposed adaptive controller greatly improves the driving performance of the electric vehicle.

Key Words： Adaptive control；Road adhesion estimation；Wheel slip ratio；Electric vehicle

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