四驱电动赛车TCS滑模预测控制系统设计与实现
Design and Implementation of TCS Sliding Mode Predictive Control System for Four-wheel Drive Electric Racing Vehicle
杜蘅轩 1刘帅 1马云鹏 1孙泽堉1
作者信息
- 1. 哈尔滨工业大学(威海)信息科学与工程学院,山东威海 264209
- 折叠
摘要
针对四驱电动方程式赛车在不同路面工况下过度打滑的问题,设计了一种结合卡尔曼滤波车速估计和滑模控制的牵引力控制系统,以提高整车直线加速性能、减小车轮打滑以保证稳定性和快速加速中的安全性;控制器以车轮滑转率为控制变量,通过调整各驱动轮输出扭矩,以保证滑转率控制在最优范围内;考虑获取准确车速是得到最优滑转率的前提,设计卡尔曼滤波器,实现车速估计;针对滑模控制自身存在的抖振问题,采用改进的指数趋近律,提高稳定性;利用Matlab/Simulink和CAR-SIM联合仿真,验证了该控制系统的有效性;最终完成实车测试与应用,在实际应用中实现控制系统满足四驱电动方程式赛车的快速平稳加速的工程要求.
Abstract
To solve the problem that four-wheel drive formula electric racing vehicles excessively slip under different road condi-tions,a traction control system combining Kalman filter for estimating speed and sliding mode control is presented to improve acceler-ation performance on straight track,reduce the driving wheel slip to ensure the stability and safety of vehicles.The controller takes the slip rate as the variable,the torque of each driving wheel is adjusted to ensure that the slip rate is controlled within an optimal range.accurate vehicle speed is obtained a prerequisite for calculating the optimal slip rate,Kalman filter is designed to estimate the speed of vehicles.To solve the inherent chattering phenomenon of sliding mode control,this paper gives an improved exponential con-vergence rate to ensure the stability.Through the simulation between Matlab/Simulink and CARSIM,the effectiveness of the control system is verified.Finally,the test and application of vehicles are accomplished,the control system is ultimately verified to meet the requirements of rapid and stable acceleration for 4WD formula electric racing vehicle.
关键词
四驱电动赛车/卡尔曼滤波/TCS控制系统/滑模控制/抖振Key words
4WD four-wheel drive electric racing vehicle/Kalman filter/TCS control system/sliding mode control/buffeting引用本文复制引用
出版年
2024
NETL
NSTL
万方数据