Stability Control of 4 Wheel Motored Electric Vehicle utilizing Electric Motor's Advanced Controllability

利用电动机先进可控性的四轮电动汽车稳定性控制

• 批准号: 11450163
• 负责人: HORI Yoichi
• 金额: $ 9.15万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-11450163/
• 关键词: Electric Vehicle; Traction Control; Slip Ratio Control; Road Condition Estimation; Vehicle Dynamics Control; Yaw Rate Control; Four Wheel Drive; Driving Force Distribution Control

Electric vehicles (EV) have much advantage which is not in gasoline engine vehicles, One is the traction control utilizing electric motor's quick torque response and another is the high performance vehicle attitude control by multi motored-wheel vehicles.On the first subject we developed novel adhesion control methods and good experimental results were obtained by using UOT March I, which is our first test vehicle. This time, we developed the second vehicle UOT March II, 4 motored wheel vehicle. and the following results have been obtained mainly on the two-dimensional vehicle attitude control.(1) adhesion controlWe investigated electric rail cars and ABS systems of gas engine vehicle, where adhesion control are being applied. We also studied generation mechanism of tire friction force and rolling resistance. We optimized some controller parameters of already proposed MFC, the optimal slip ratio control, etc.(2) road condition estimationWe proposed the driving force observer which is n … More eeded for adhesion control as the road condition estimator. We applied the fixed trace method to estimate the slope of the road friction curve form time derivatives of the slip ratio and the road friction coefficient. Also, we developed the maximum friction coefficient estimation technique using precise tire model and nonlinear search algorithm, skid detection method without using vehicle speed, and so on.(3) two-dimensional vehicle attitude controlWe developed various types of vehicle attitude stabilization techniques using nonlinear state equations expressing vehicle dynamics. For example, anti-windup yaw rate control considering traction force saturation, maximum braking force control at emergency and its application to anti-spin control with drivers' steering action, dynamic driving force dispatch control, and so on. 4 motored EV can generate the yaw moment force directly as the controlled input variable, which realizes a completely different system from the conventional 4WD or 4WS vehicles.(4) manufacturing of the real vehicle and experimentsWe took much effort in making the hand-made UOT March II.It was completed and we are still performing experiments on a tire maker's test course. We expect much more experimental results in the near future.When we will succeed in the above technology development, danger of tire slip will be reduced drastically, safety of drive on slippery road will be increased by high performance attitude control, and if we use lower loss tire we can increase the range of one battery charge. In summary, we can say that we have succeeded in basic experiments to show great advantage of electric vehicles in "control". Less

电动汽车具有汽油发动机汽车所不具备的优点，一是利用电动机的快速转矩响应实现牵引力控制，二是利用多电动轮汽车实现高性能的车辆姿态控制，在第一个课题中，我们开发了新的附着力控制方法，并在UOT March I试验车上进行了试验，取得了良好的试验结果。这一次，我们开发了第二辆车UOT March II，4电动轮车。主要在二维飞行器姿态控制方面取得了以下结果。(1)粘着控制研究了应用粘着控制的电轨汽车和内燃机车ABS系统。研究了轮胎摩擦力和滚动阻力的产生机理。对已经提出的MFC、最优滑移率控制等控制器参数进行了优化。(2)道路状况估计我们提出了驱动力观测器， ...更多信息 用于附着力控制的控制器作为道路状况估计器。应用固定迹法，由滑移率和路面摩擦系数的时间导数估计路面摩擦力曲线的斜率。另外，我们还开发了使用精确轮胎模型和非线性搜索算法的最大摩擦系数估计技术，不使用车辆速度的打滑检测方法等。(3)二维飞行器姿态控制我们利用表示飞行器动力学的非线性状态方程开发了各种类型的飞行器姿态稳定技术。例如，考虑牵引力饱和的抗饱和横摆角速度控制、紧急情况下的最大制动力控制及其在带有驾驶员转向动作的抗旋转控制中的应用、动态驱动力分配控制等。4电动机电动汽车可以直接产生横摆力矩力作为控制输入变量，实现了与传统的4WD或4WS车辆完全不同的系统。(4)真实的车辆的制造和实验我们花了很大的努力来制作手工UOT March II。它已经完成，我们仍然在轮胎制造商的测试课程上进行实验。我们期待在不久的将来有更多的实验结果。当我们在上述技术开发中取得成功时，轮胎打滑的危险将大大降低，高性能的姿态控制将增加在湿滑路面上行驶的安全性，如果我们使用低损耗轮胎，我们可以增加一次电池充电的范围。综上所述，我们可以说，我们已经成功地在基础实验中显示出电动汽车在“控制”方面的巨大优势。少

项目成果

堀洋一 他: "家田仁 編修:それは足からはじまった(モビリティの科学)/1.5電気モータのしくみ,5.3電気自動車の将来性"技報堂出版. (2000)

Yoichi Hori 等人：“由 Hitoshi Ieda 编辑：一切都从脚开始（移动科学）/1.5 电动马达的机制，5.3 电动汽车的未来潜力”Gihodo Publishing（2000 年）。

Yoichi Hori, Shin-ichiro Sakai and Hiroaki Kataoka: "Novel Motion Control of Electric Vehicles"System/Control/Information. Vol.45 No.5. (2001)

Yoichi Hori、Shin-ichiro Sakai 和 Hiroaki Kataoka：“电动汽车的新型运动控制”系统/控制/信息。

片岡寛暁,佐渡秀夫,坂井真一郎,堀洋一: "ファジィ推論を用いた電気自動車用トラクションコントロールシステムのための最適スリップ率推定器"電気学会産業応用部門誌. Vol.120-D No.4. 581-586 (2000)

Hiroaki Kataoka、Hideo Sado、Shinichiro Sakai、Yoichi Hori：“使用模糊推理的电动汽车牵引力控制系统的最佳滑移率估计器”IEEJ 工业应用分部期刊 Vol.120-D No.4 (2000)。

坂井真一郎,佐渡秀夫,堀 洋一: "電気自動車における車速情報を必要としないタイヤ空転検出法"自動車技術会1999年春季大会学術講演会. No.99. (1999)

Shinichiro Sakai、Hideo Sado、Yoichi Hori：“不需要车速信息的电动汽车的轮胎打滑检测方法”日本汽车工程学会1999年春季会议学术会议第99号。（1999）

Shin'ichiro Sakai,Hideo Sado and Yoichi Hori: "Novel Skid Detection Method without Vehicle Chassis Speed for Electric Vehicle"JSAE Review (Elsevier Science). Vol.21 No.4. 503-510 (2000)

Shinichiro Sakai、Hideo Sado 和 Yoichi Hori：“电动汽车无需车辆底盘速度的新颖防滑检测方法”JSAE 评论（爱思唯尔科学）。