力与位移耦合控制的新型电动轮汽车差速转向机理研究

A novel differential steering for in-wheel motor EV with force and displacement coupled control is researched. With force and displacement coupled control of the two wheel motors, the novel differential steering system can not only achieve perfect combination of steering road feel and steering portable, but also realize harmonization of automotive safety and flexibility. Therefore, it is an ideal technology of automotive power steering.. Firstly, based on the force and displacement coupled control mechanism, the danamic models of driver-vehicle-road closed-loop system for the novel differential steering and vehicle are built through multi-body system dynamics and modern control theory. Secondly, the control strategy of driving torque distribution and coordination for the wheel motors are studied. Thirdly, the variable ratio control strategy and active steering intervention control strategy are researched, and its influencies on the power characteristic control strategy, aligning control strategy and damping control strategy are studied. Then, by analyzing the matching relations of the force and displacement characteristics, the integrated optimization method is designed for the novel differential steering system based on quality engineering. Finally, the subjective and objective evaluations of drivers’ steering road feel for the novel differential steering system are studied, thus the indexes and methods of comprehensive evaluation are proposed. . In a word, researching the problems mentioned above, a theoretical basis can be provided for the novel differential steering system with force and displacement coupled control.

研究一种力与位移耦合控制的新型电动轮汽车差速转向（以下简称新型差速转向）。通过左右车轮轮毂电机的力与位移耦合控制，使新型差速转向不仅实现汽车转向轻便性和转向路感的完美融合，而且实现汽车安全性与灵活性的协调统一，是一种理想的汽车动力转向技术。. 围绕新型差速转向力与位移耦合控制机理，运用多体系统动力学与现代控制理论，建立基于人-车-路闭环的新型差速转向与整车系统动力学模型；研究轮毂电机驱动力矩分配及协调控制规律，探索变传动比控制规律和主动转向干预稳定性控制规律，及其影响下的助力、回正和阻尼控制规律；研究新型差速转向力与位移传递特性的匹配关系，提出基于质量工程的新型差速转向集成优化方法；综合驾驶员主观感觉和客观评价结果，建立新型差速转向驾驶员路感综合评价体系。通过研究上述问题，为力与位移耦合控制的新型差速转向的开发设计提供理论基础。

研究一种力与位移耦合控制的新型电动轮汽车差速转向（以下简称新型差速转向）。通过左右车轮轮毂电机的力与位移耦合控制，使新型差速转向不仅实现汽车转向轻便性和转向路感的完美融合，而且实现汽车安全性与灵活性的协调统一，是一种理想的汽车动力转向技术。. 围绕新型差速转向力与位移耦合控制机理，运用多体系统动力学与现代控制理论，建立基于人-车-路闭环的新型差速转向与整车系统动力学模型；研究轮毂电机驱动力矩分配及协调控制规律，探索变传动比控制规律和主动转向干预稳定性控制规律，及其影响下的助力、回正和阻尼控制规律；研究车辆状态参数估计方法，提出新型差速转向容错控制策略，探索基于差速转向的主动避撞控制策略和主动防侧翻控制策略；研究新型差速转向力与位移传递特性的匹配关系，提出新型差速转向集成优化方法；综合驾驶员主观感觉和客观评价结果，建立新型差速转向驾驶员路感综合评价体系。通过研究上述问题，为力与位移耦合控制的新型差速转向的开发设计提供理论基础。. 该项目发表论文51篇（均标注基金号），其中SCI检索论文22篇，项目负责人为第一作者和通讯作者论文34篇。申请和授权发明专利67件，其中已授权发明专利15件。依托该项目，项目负责人为第一完成人获得教育部科学技术二等奖、江苏省科学技术二等奖、中国国际博览会高校展区一等奖等多项成果奖励。该项目培养博士生和硕士生14人，其中博士生5人，1人获得江苏省优秀硕士学位论文（李怿骏）；培养博士后1名。