分布式驱动电动汽车动力学仿真软件集成开发与应用

Problems in vehicle dynamics involve object modeling in mechanical, electric, hydraulic, gas and control domain, and simulation is an indispensable key way to carry out research projects. Established dynamics simulation softwares, however, are not suitable for multi-body, multi-field coupling modeling and simulation of distributed drive electric vehicles with special structure, which are operated in complex environment and conditions. This project aims to developing a dynamics simulation software platform for distributed drive electric vehicle. The physical models, calculation methods and program structure of existed vehicle dynamics simulation software will be made thorough analyzed. By integrated innovation, a software architecture will be designed, by which the complex dynamic behavior of distributed drive electric vehicle could be decomposed and analyzed. And the component model library could be extended. By learning from the latest achievements in vehicle dynamics, the control oriented libraries on nonlinear dynamics key parameters observation method and stability control algorithms will be developed. Then, the dynamic simulation software for distributed drive electric vehicle will be integrated and applied. This project, guided by the demands of engineering application, explores a new method of engineering application software research. Paying attention to opening, it allows the users to add independent models and new control method or algorithm into itself. So, the project could provide further development foundation and software support for the user's individualized study. Therefore, it has important theoretical and application value.

车辆动力学问题涵盖机、电、液、气、控制等多领域对象建模，仿真是开展相关研究的一个不可或缺的关键手段。然而，现有动力学仿真软件难以满足分布式驱动电动汽车特殊结构、复杂多变使用环境与工况下的多体多场耦合建模与仿真需求。本项目将深入剖析现有汽车动力学仿真软件的物理模型、计算方法与程序结构，集成创新，设计能分解和分析分布式驱动电动汽车复杂动力学行为的软件体系架构；扩展分布式驱动电动汽车部件模型库；汲取汽车动力学研究的最新成果，研制面向控制的非线性动力学关键参数观测方法库和稳定性控制算法库，集成开发分布式驱动电动汽车动力学仿真软件平台并进行应用验证。项目以工程应用需求为导向，探索工程应用软件研发的新思路、新方法，注重开放性，允许用户加入自主模型和新的控制方法与算法，为用户的个性化研究提供二次开发基础和软件支撑，有重要理论意义和应用价值。

在节能环保重大需求驱动下，分布式驱动电动汽车是公路运载工具电动化发展的重要方向。项目建立了分布式驱动电动汽车复杂动力学行为仿真软件体系架构；扩展了分布式驱动电动汽车部件模型库，包括无刷直流外转子电机的有限元模型、无刷直流电机输出转矩估计模型、改进的RC蓄电池模型、永磁同步电机模型；研制了面向控制的非线性动力学关键参数观测方法库，可对纵向车速、横向车速、横摆角速度以及纵、横向加速度、路面附着系数等关键参数进行估计；研制了稳定性控制算法库，设计了三层式整车横摆稳定性控制策略：动力学建模层计算变量实际值和参考值，补偿力矩制定层结合可拓控制与滑模变控制的优势，协调各参数控制的权重并制定合适的补偿力矩，车轮力矩分配层为补偿力矩提供约束并将其适当分配给四个电机；提出了一种改进型二阶滑模控制的永磁同步电机稳定性控制算法，改进后的SMC系统抖振得到了明显的抑制，控制系统鲁棒性强；项目设计制造了永磁同步电机驱动-制动试验台，轮毂电机测试试验台和四轮驱动电动试验车，进入湖南省高校大型仪器开放共享平台，可为科研院所和企业提供服务；项目提出了一种基于自耦PID的永磁同步电机电流环控制策略，设计了自适应速度因子模型，所提方法控制精度高、鲁棒性强、方便工程应用、实用价值较高。项目涉及较深入的理论分析和实验技术，在一定程度上可为我国电动汽车仿真、设计、实验规范的完善补充提供理论参考和实验依据。