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Rollover prevention control for a four in-wheel motors drive electric vehicle on an uneven road

Science China(Technological Sciences) 2018年第6期61卷 934-948页

作者： ZHANG LiPeng LI Liang qi bingnan School of Vehicle and Energy Yanshan University Qinhuangdao 066004 China School of Electrical Engineering Yanshan University Qinhuangdao 066004 China

When a four in-wheel motors drive electric vehicle with a specific wheels mass is running on an uneven road and transient steering occurs in the meantime, the joint action of the large unsprung dynamic load and the centrifugal force may cause the vehicle to rollover. To avoid the above accident, a rollover prevention control method based on active distribution of the in-wheel motors driving torques is investigated. First, tile rollover evolution process of the four in-wheel motors drive electric vehicle under the described operating condition is analyzed. Next, a multiple degrees of freedom vehicle dynamics model including an uneven road tyre model is established, and the rollover warning threshold is determined according to the load transfer ratio. Then, the hypothesis of the effects of unsprung mass on the vehicle roll stability on a plat road and on an uneven road is verified respectively. Finally, a rollover prevention controller is designed based on the distribution of the four wheels driving torques with sliding mode control, and the control effect is verified by simulations. The conclusion shows that, once the wheels mass does not match road conditions, the large unsprung mass may play a detrimental role on the vehicle roll stability on an uneven road, which is different from the beneficial role of large unsprung mass on the vehicle roll stability on a plat road. With the aforementioned rollover prevention controller, the vehicle rollover, which is caused by the coupling effect between large unsprung dynamic load and suspension potential energy on an uneven road, can be avoided effectively.

关键词： electric vehicle in-wheel motor drive roll stability uneven road

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Combined Prediction for Vehicle Speed with Fixed Route

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Chinese Journal of Mechanical Engineering 2020年第4期33卷 113-125页

作者： Lipeng Zhang Wei Liu bingnan qi Hebei Key Laboratory of Special Delivery Equipment Yanshan UniversityQinhuangdao 066004China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L 3G1Canada Engineering Training Center Yanshan UniversityQinhuangdao 066004China

Achieving accurate speed prediction provides the most critical support parameter for high-level energy management of plug-in hybrid electric ***,people often drive a vehicle on fixed routes in their daily travels and accurate speed predictions of these routes are possible with random prediction and machine learning,but the prediction accuracy still needs to be *** prediction accuracy of traditional prediction algorithms is difficult to further improve after reaching a certain accuracy;problems,such as over fitting,occur in the process of improving prediction *** combined prediction model proposed in this paper can abandon the transitional dependence on a single *** combining the two prediction algorithms,the fusion of prediction performance is achieved,the limit of the single prediction performance is crossed,and the goal of improving vehicle speed prediction performance is *** this paper,an extraction method suitable for fixed route vehicle speed is *** application of Markov and back propagation(BP)neural network in predictions is *** new combined prediction methods,all named Markov and BP Neural Network(MBNN)combined prediction algorithm,are proposed,which make full use of the advantages of Markov and BP neural network ***,the comparison among the prediction methods has been carried *** results show that the three MBNN models have improved by about 19%,28%,and 29%compared with the Markov prediction model,which has better performance in the single prediction ***,the MBNN combined prediction models can improve the prediction accuracy by 25.3%on average,which provides important support for the possible optimization of plug-in hybrid electric vehicle energy consumption.

关键词： Plug-in hybrid electric vehicles Energy consumption Vehicle speed prediction Markov BP neural networks Combined prediction model

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Powertrain design and energy management of a novel coaxial series-parallel plug-in hybrid electric vehicle

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Science China(Technological Sciences) 2016年第4期59卷 618-630页

作者： ZHANG LiPeng qi bingnan ZHANG RunSheng LIU JingChao WANG Liqiang School of Automobile and Energy Engineering Yanshan UniversityQinhuangdao 066004China school of Electrical Engineering Yanshan UniversityQinhuangdao 060004China

For a series plug-in hybrid electric vehicle,higher working efficiency can be achieved by the drive system with two small motors in parallel than that with one big motor ***,the overly complex structure will inevitably lead to a substantial increase in the development *** improve the system price-performance ratio,a new kind of series-parallel hybrid system evolved from the series plug-in hybrid system is *** to the technical parameters of the selected components,the system model is established,and the vehicle dynamic property and pure electric drive economy are *** on the dynamic programming,the energy management strategy for the drive system under the city driving cycle is developed,and the superiority validation of the system is *** the studied vehicle driven by the designed series-parallel plug-in hybrid system,compared with the one driven by the described series plug-in hybrid system,the dynamic property is significantly improved because of the multi-power coupling,and the fuel consumption is reduced by 11.4%with 10 city driving *** a word,with the flexible configuration of the designed hybrid system and the optimized control strategy of the energy management,the vehicle performance can be obviously improved.

关键词： plug-in hybrid electric vehicle series-parallel hybrid system multi-power coupling dynamic programming energymanagement

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Adaptive Fault-Tolerant Control During the Mode Switching for Electric Vehicle Dual-Mode Coupling Drive System

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Automotive Innovation 2021年第1期4卷 56-69页

作者： bingnan qi Liuquan Yang Lipeng Zhang Runsheng Zhang Engineering Training Center Yanshan UniversityQinhuangdao 066004China Hebei Key Laboratory of Special Delivery Equipment Yanshan UniversityQinhuangdao 066004China School of Vehicle and Energy Yanshan UniversityQinhuangdao 066004China

As a new drive system for electric vehicles,the dual-mode coupling drive system can automatically switch between centralized and distributed drive modes and realize two-speed gear *** the actuator’s displacement signal affects the mode-switching control,when failure occurs at the angle-displacement sensor,the mode-shifting quality is likely to drop greatly,even possibly leading to shift *** address the angle-displacement sensor failure and improve the reliability of the shift control,an adaptive fault-tolerant control method is proposed and ***,the effect of the output signal of the angle-displacement sensor in the mode-switching control process is ***,an adaptive mode-switching fault-tolerant control method is designed based on the Kalman filter and fuzzy ***,the feasibility of the control effect is verified through simulations and vehicle *** results indicate that the proposed method can effectively eliminate the signal noise of the angle-displacement sensor and successfully switch the modes when the sensor *** provides a reference for ensuring the working quality of similar electric drive systems under sensor failures.

关键词： Electric vehicle Dual-mode coupling drive system Mode-switching control Kalman filtering Sensor fault-tolerant control

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Parameters optimum matching of pure electric vehicle dual-mode coupling drive system

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Science China(Technological Sciences) 2014年第11期57卷 2265-2277页

作者： ZHANG LiPeng LI Liang qi bingnan WANG Chong ZHANG YaHui SONG Jian State Key Laboratory of Automotive Safety and Energy Tsinghua University School of Mechanical and Automotive Engineering Liaocheng University

As an important development direction of pure electric vehicle drive system,the distributed drive system has the advantages of compact structure,high transmission efficiency,and flexible control,but there are some serious problems such as high performance requirements to the drive motors,complex control strategies,and poor *** solve these problems,a two motors dual-mode coupling drive system has been developed at first,which not only has the capacity of two-speed gear shifting,but also can automatically switch between the distributed drive and the centralized drive by means of modes change ***,the performance requirements to the drive motors can be reduced,the problem of abnormal running caused by the fault of unilateral distributed drive systems also can be resolved by replacing the drive mode with centralized ***,the system parameters primary and the optimum matching under the principle of efficiency optimization have been carried out,which makes the drive system achieve predetermined functions and meet the actual demands of different operating *** last,the economic comparison of a pure electric vehicle installation with a dual-mode coupling drive sytem,a single-motor centralized drive system or a dual-motor distributed drive system in the simulation conditions has been *** with other systems,the driving range of the electric vehicle driven by the designed system is significantly increased,which proves the better efficiency and application value of the system.

关键词： pure electric vehicle dual-mode coupling drive system parameter optimum matching genetic algorithm

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轮毂电机驱动电动汽车侧倾稳定性解耦控制

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机械工程学报 2017年第16期53卷 94-104页

作者：张利鹏李亮祁炳楠燕山大学车辆与能源学院秦皇岛066004 清华大学汽车安全与节能国家重点实验室北京100084 燕山大学电气工程学院秦皇岛066004

基于轮毂电机的力矩主动分配实现电动汽车的侧倾稳定性控制。建立轮毂电机驱动整车虚拟样机模型并通过了试验验证;以横摆角速度和质心侧偏角为状态变量,设计基于模型预测控制的横摆稳定性控制器,以侧倾角速度和侧倾角为状态变量,设计基... 详细信息

基于轮毂电机的力矩主动分配实现电动汽车的侧倾稳定性控制。建立轮毂电机驱动整车虚拟样机模型并通过了试验验证;以横摆角速度和质心侧偏角为状态变量,设计基于模型预测控制的横摆稳定性控制器,以侧倾角速度和侧倾角为状态变量,设计基于反馈最优控制的侧倾稳定性控制器;基于空间运动解耦进行四轮驱动转矩的底层协调分配,在此基础上实现了兼顾整车横摆运动的轮毂电机驱动电动汽车的侧倾稳定性控制。研究表明,轮毂电机驱动具有常规半轴驱动所不具备的整车空间稳定性大强度控制能力,利用所提出的横摆和侧倾运动联合解耦控制方法,可以在保证横摆稳定性的前提下有效控制侧倾运动,从而大幅提高整车的空间稳定性。

关键词：电动汽车轮毂电机驱动侧倾稳定性解耦控制

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双电机分布式驱动汽车高速稳定性机电耦合控制

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机械工程学报 2015年第16期51卷 29-40页

作者：张利鹏李亮祁炳楠宋健燕山大学车辆与能源学院秦皇岛066004 清华大学汽车安全与节能国家重点实验室北京100084 燕山大学电气工程学院秦皇岛066004

为了利用所设计的双电机防滑差速驱动系统来提高分布式驱动汽车的动力学性能,在前期同轴耦合驱动控制理论研究的基础上,开展该车的高速稳定性机电耦合控制研究。建立并验证包含所设计驱动系统在内的分布式驱动汽车的人-车系统14自由度... 详细信息

为了利用所设计的双电机防滑差速驱动系统来提高分布式驱动汽车的动力学性能,在前期同轴耦合驱动控制理论研究的基础上,开展该车的高速稳定性机电耦合控制研究。建立并验证包含所设计驱动系统在内的分布式驱动汽车的人-车系统14自由度空间动力学模型;以横摆角速度和质心侧偏角为状态变量,基于模糊规则设计动力学稳定性控制器;制定整车失稳的判定条件,辨识控制系统参数;利用施加机电耦合控制所产生的附加直接横摆力矩,实现极限工况下的整车高速稳定性控制。结果表明,采用机电耦合控制,除了可以实现两侧分布式驱动系统的动力耦合,起到增强车辆高速稳定性的作用,还能够协调两侧驱动系统的转矩输出,抑制驱动力矩波动,降低电机和控制器的工作强度。

关键词：电动汽车分布式驱动机电耦合稳定性控制

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电动汽车双模耦合驱动系统变模冲击抑制方法

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机械工程学报 2018年第8期54卷 165-176页

作者：张利鹏谷定杰祁炳楠董闯闯燕山大学车辆与能源学院清华大学汽车安全与节能国家重点实验室燕山大学电气工程学院

电动汽车双模耦合驱动系统实现集中式驱动系统与分布式驱动系统的一体化集成,可以大幅提高整车的动力学性能,但其驱动模式切换会造成车辆的平顺性下降。为解决上述问题,提出并验证基于机电耦合控制的变模冲击抑制方法。针对双模耦合驱... 详细信息

电动汽车双模耦合驱动系统实现集中式驱动系统与分布式驱动系统的一体化集成,可以大幅提高整车的动力学性能,但其驱动模式切换会造成车辆的平顺性下降。为解决上述问题,提出并验证基于机电耦合控制的变模冲击抑制方法。针对双模耦合驱动系统的独特构型,建立其传动总成模型,揭示出加装扭转减振器以减小变模冲击的动力学机理;综合考虑变模时间限制和冲击度要求,根据前期系统参数优化结果拟合得到变模执行机构驱动电机的角位移曲线;建立变模过程的预测函数控制器,实现对变模执行机构驱动电机拟合角位移的跟踪控制,完成了驱动模式的平滑切换。研究结果表明,将扭转减振器与预测函数控制器相结合进行机电耦合控制,可以在保证变模时间需求的前提下大幅减小系统冲击,达到所需的变模平顺性指标要求。

关键词：电动汽车双模耦合驱动模式切换扭转减振器预测函数控制

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分布式驱动电动汽车转矩自适应驱动防滑控制

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机械工程学报 2013年第14期49卷 106-113页

作者：张利鹏李亮祁炳楠宋健徐海港清华大学汽车安全与节能国家重点实验室北京100084 聊城大学汽车与交通工程学院聊城252059 山东时风(集团)有限责任公司聊城252800

分布式驱动电动汽车为每个驱动轮匹配一套驱动系统且各套驱动系统均可单独控制,这为精确的底盘动力学控制提供了便利条件。但当该车在低附着系数路面上强驱动时,其左右两侧驱动力若不均衡则极易造成整车的横向失稳,所以需要在动态的等... 详细信息

分布式驱动电动汽车为每个驱动轮匹配一套驱动系统且各套驱动系统均可单独控制,这为精确的底盘动力学控制提供了便利条件。但当该车在低附着系数路面上强驱动时,其左右两侧驱动力若不均衡则极易造成整车的横向失稳,所以需要在动态的等转矩控制基础上实现驱动防滑,以保证整车的行驶稳定性。基于轮胎驱动力-路面附着非线性特性,提出一种利用驱动电动机的转速和转矩反馈实现驱动防滑的直接限制转矩控制方法,并将其与最佳滑转率比例积分(Proportional-integral,PI)控制和动态等转矩驱动控制相结合,开发分布式驱动电动汽车电动机转矩自适应驱动防滑控制器,并进行对开路面车辆驱动性能仿真和实车道路试验验证。结果表明,所开发的控制器在使低附着系数路面上的驱动轮的滑转率接近最佳值的同时,实现了电动机转矩的平滑控制,降低了电动机的控制强度和对传动系统造成的冲击,有效保障了分布式驱动电动汽车的横向稳定性。

关键词：电动汽车分布式驱动驱动防滑控制直接限制转矩

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基于能量法的分布式驱动电动汽车防侧翻控制

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机械工程学报 2019年第22期55卷 183-192页

作者：祁炳楠王胜张思龙任晨辉张利鹏燕山大电气1程院秦皇岛066004 燕山大学河北省特种运载装备重点实验室秦皇岛066004 北京航空航天大学i科与工程院北京100191

分布式驱动电动汽车具有优越的侧倾稳定性控制功能,但基于横向载荷转移率评价进行控制并不能充分发挥其技术优势。为提升该类车型恶劣工况下的防侧翻控制能力,针对当前侧翻评价指标的不足,开展基于能量转化评价的稳定性控制研究。针对... 详细信息

分布式驱动电动汽车具有优越的侧倾稳定性控制功能,但基于横向载荷转移率评价进行控制并不能充分发挥其技术优势。为提升该类车型恶劣工况下的防侧翻控制能力,针对当前侧翻评价指标的不足,开展基于能量转化评价的稳定性控制研究。针对该类车型的结构特点,建立车辆系统坐标系,借助欧拉旋转角法推导了整车在侧翻运动过程中动能、势能和耗散能的表达方程;通过计算车辆失稳能量阈值与车辆实时失稳能量,提出综合多因素的车辆稳定性评价指标;基于侧翻动力学模型设计出防侧翻滑模控制器;通过在分布式驱动系统力矩阈值范围内开展基于驱动轮力矩分配的差动驱动,实现了整车的防侧翻控制。研究表明,基于能量法制定的空间失稳评价指标相较于横向载荷转移率而言,更能准确、灵敏地反映整车侧倾运动状态的变化趋势,基于其设计的防侧翻控制方法通过主动分配两侧驱动力矩,削弱了相关能量转化,有效抑制了整车侧倾运动,显著提高了侧倾稳定性。

关键词：电动汽车分布式驱动能量转化侧倾稳定性防侧翻控制

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