轮毂电机驱动车辆多源激励耦合机制与垂向-纵向动力学优化控制研究

Developments of the in-wheel motor (IWM) driven vehicles are severely restricted by the lack of recognition of the vibration mechanism when such vehicles with multiple DOFs traveling under complex excitations. The study on the mechanism of the coupled excitation induced vibration and the corresponding control methods are thus highly desired to improve IWMVs’ ride comfort and handling performance. To this end, this project plans to investigate the dynamic characteristics and the law of vibration transmission of IWM driven vehicles. It firstly models the vertical-longitudinal coupled suspension-IWM system and then derives system coupling effects and mechanism of action for multi-fields induced vibration under complex excitations. Based on the vibration mechanism and coupling effects, an optimization problem for the vertical-longitudinal coupled suspension-IWM system is finally formulated and solved. This project exhibits significant academic and engineering application values, and its results can provide new perspectives for IWM driven vehicle design, especially in term of dynamics control.

对复杂行驶工况下轮毂电机驱动车辆多自由度强非线性耦合诱导振动形成机理认知的缺乏，制约了高舒适性、高稳定性轮毂电机驱动车辆的发展，因此迫切需要对其在多源耦合激励下的振动形成机理与优化控制方法开展深入研究。本项目针对这一难题，拟以基于动力吸振构型的悬架-轮毂电机系统为研究对象，研究其在多源激励下的动力学特性与振动传递规律，通过构建悬架-轮毂电机系统垂向-纵向耦合动力学精细化模型，揭示复杂行驶工况下系统多源激励耦合作用机制，阐明悬架-轮毂电机系统在多场耦合诱导作用下的振动形成机理，并从振动传递路径以及振动对车辆动力学性能影响规律等方面入手，提出悬架-轮毂电机系统垂向-纵向动力学优化控制方法。本项目的研究成果有望为进一步提升轮毂驱动车辆的动力学性能提供理论基础，具有较显著的科学意义和工程应用价值。

针对轮毂电机应用后车辆非簧载质量增加以及轮毂电机在路面激励等多变条件下诱导振动导致车辆动力学响应恶化的问题，开展轮毂电机驱动车辆多源激励耦合机制与垂向-纵向动力学优化控制方法研究。完成了轮毂电机解析动力学模型的建立，基于轮毂电机机-电-磁耦合关系，研究电机输出转矩与关键控制参数的映射关系并实现电机波动抑制，利用有限元仿真验证了气隙磁场和不平衡磁拉力模型准确性。建立了考虑轮毂电机机-电-磁耦合特性的悬架-轮毂电机垂向-纵向耦合动力学精细化模型，对悬架-轮毂电机系统的垂向-纵向耦合动力学特性进行了阐述；针对轮毂电机的多场耦合振动特点，探索悬架-轮毂电机系统参数与响应耦合关系，研究悬架-轮毂电机系统参数优化匹配方法；基于所建立的悬架-轮毂电机系统，研究了垂向-纵向耦合动力学在不同路面不平度等级以及车速影响下的系统响应变化规律。提出了基于车辆系统动力学响应的路面不平度输入特征辨识方法，针对车辆制动过程，研究了悬架-轮毂电机闭环控制系统动力学耦合特性对车辆响应的影响规律；考虑输入约束以及悬架特性，提出了悬架-轮毂电机系统动力学控制算法，实现了悬架-轮毂电机系统垂向-纵向动力学性能优化。