双转子轮毂电机驱动汽车变压充电再生制动与液压ABS协调控制

Aiming at the coordinated control strategy of braking energy recovery and antilock braking system (ABS) control for the composite regenerative- hydraulic braking system under emergency braking situation, a double rotor hub motor drive car is taken for object of study，an integrated structure scheme of regenerative- hydraulic braking system based on double rotor hub motor is proposed, and the longitudinal dynamics model of double rotor hub motor driven electric vehicle including regenerative and hydraulic braking system will be established, based on it, its coupling rule of combined action will be researched. The generation mechanism of regenerative braking torque based on a novel voltage variable charging control method will be analyzed and the corresponding rule base will be designed. The mathematical description method of the dynamic evolution process during the switching process between the regenerative braking mode and hydraulic braking mode will be studied; meanwhile, the discriminate method and criterion of mode switching stability will be established. The coordinated control strategy of composite braking system for double rotor hub motor driven electric vehicle will be researched under both non-emergency and emergency braking situations. The coupling mechanism of composite ABS control based on the regenerative-hydraulic braking system under the emergency braking situation will be ascertained; and the composite ABS control strategy for regenerative-hydraulic braking system, considering both braking safety and energy recovery efficiency, will be proposed. This research will provide significant academic significance and engineering application value to improve both braking performances and energy utilization efficiency for electric vehicle, as well as to promote the industrialization process of electric vehicle.

针对电动汽车在紧急制动工况下再生制动和液压制动复合系统面临的再生制动能量回收与制动防抱死ABS协调控制问题，本项目提出一种基于双转子轮毂电机的再生制动与液压制动系统集成方案，建立包括再生制动系统与液压制动系统的轮毂电机驱动汽车纵向动力学模型，基于模型研究再生制动与液压制动、ABS联合作用的耦合规律；解析变压充电控制下轮毂电机再生制动力矩的产生机理，构造轮毂电机再生制动变压充电控制的规则库；研究再生制动与液压制动切换过程中动力学演化过程的数学描述方法，确定制动模式切换过程中稳定性判别方法和判据；研究双转子轮毂电机驱动汽车复合制动系统在非紧急/紧急制动工况下的协调控制策略，明确紧急制动工况下再生制动与液压制动联合防抱死控制的耦合机理，提出兼顾制动安全性和能量回收效率的再生制动与液压ABS复合控制方法。研究对于提高电动汽车制动稳定性和能量利用率，促进电动汽车产业化具有重要学术意义与工程应用价值。

面对复杂的汽车驱动/制动工况，传统单内转子或者单外转子电机驱动的电动汽车很难在满足复杂驱动/制动工况下保持电机高效率运转。. 针对双转子轮毂电机驱动汽车再生制动与液压制动复合系统协调控制问题，课题组发明了一种适用于电动汽车的双转子轮毂电机集成结构，构建了基于单个车轮的双转子轮毂电机电动汽车纵向动力学模型及其关键子系统模型，解析变压充电控制下轮毂电机再生制动力矩的产生机理，探讨紧急制动工况下汽车再生制动与液压制动联合防抱死控制的耦合机理，研究双转子轮毂电机驱动汽车复合制动系统在非紧急/紧急制动工况下的协调控制策略，提出兼顾制动安全性和能量回收效率的再生制动与液压ABS复合控制方法。. 通过项目研究，课题组确定一种基于双转子轮毂电机再生制动与液压制动集成系统结构方案，研制出2台双转子轮毂电机样机。设计了一种基于双动力电池组的双转子轮毂电机变压充电再生制动结构，提出了基于综合加权变异系数的双转子轮毂电机的变压充电控制方法。通过构造虚拟阻尼量以及无穷小量来建立黎卡提方程的方法，设计一种最优滑模控制改进算法，克服现有最优滑模控制算法无法应用于车辆防抱死控制的缺陷。设计了基于分层控制的双转子轮毂电机再生制动与液压ABS协调控制策略。提出了一种适用于双转子轮毂电机的防抱死制动模式判别方法及其模式切换控制策略。提出了基于轮毂电机电动汽车电磁、再生及摩擦制动的复合制动系统非紧急制动工况制动响应一致性协调控制策略，利用泰勒级数和跟踪微分器预估电子液压制动系统的迟滞补偿量，采用电磁制动力矩进行迟滞补偿。. 在双转子轮毂电机复合制动试验平台上进行了双转子轮毂电机变压充电再生制动的稳态特性试验、动态特性试验以及双转子轮毂电机与液压ABS协调防抱死制动试验。. 项目研究对提高电动汽车制动稳定性和能量利用率、推进电动汽车产业化具有重要学术意义与工程应用价值。