Electronic stability control for electric vehicle with four in-wheel motors

The electric vehicle with four direct-driven in-wheel motors is an over actuated system. A three-level control strategy of electronic stability control (ESC) is proposed to achieve optimal torque distribution for four in-wheel motors. The first level is a gain-scheduled linear quadratic regulator which is designed to generate the desired yaw moment command for ESC. Control allocation is the second level which is used to distribute the desired longitudinal tire forces according to the yaw moment command while satisfying the driver’s intent for acceleration and deceleration. The associated weighting matrix is designed using the work load ratio at each wheel to prevent saturating the tire. The third level is slip ratio control (SRC) which is employed at each wheel to generate the desired longitudinal tire force based on a combined-slip tire model. Simulation results show that the proposed method can enhance the ESC performance for the test maneuvers. Since the tire model is often unknown for practical implementation, the effectiveness of the SRC is studied using the sine with dwell test. It is found that the SRC is not crucial for achieving performance similar to the proposed method with SRC, if the slip ratio can be maintained in the stable region using traction control system/anti-lock braking system.     

System power loss optimization of electric vehicle driven by front and rear induction motors

Power loss optimization aiming at the high-efficiency drive of front-and-rear-induction-motor-drive electric vehicle (FRIMDEV) as an effective way to improve energy efficiency and extend driving range is of high importance. Different from the traditional look-up table method of motor efficiency, power loss optimization of the dual- motor system based on the loss mechanism of induction motor (IM) is proposed. First of all, based on the power loss characteristic of FRIMDEV from battery to wheels, the torque distribution optimization model aiming at the minimum system power loss is put forward. Secondly, referring to d-q axis equivalent model of IM, the power loss functions of the dual-IM system are modeled. Then, the optimal torque distribution coefficient (β _o) between the two IMs is derived, and the theoretical switching condition (T _sw) between the single- and dual-motor-drive mode (SMDM and DMDM) is confirmed. Finally, a dual-motor test platform is developed. The derived torque distribution strategy is verified. The influence of motor temperature on β _o and T _sw are tested, and the correction models based on temperature difference are proposed. Based on the system power loss analysis, it can be confirmed that, under low load conditions, the SMDM takes priority over the DMDM, and the controller of the idling motor should be shut down to avoid the additional excitation loss. While under middle to high load conditions, even torque distribution (β _o = 0.5) is preferred if the temperature difference between the two IMs is small; otherwise, β _o should be corrected based on dual-motor temperatures. The theoretical T _sw derived without dealing with temperature difference is a function only of motor speed, while temperature difference correction of it should be conducted in actual operations based on motor resistance changing with temperature.     

系统综合效率优化的插电式混合动力车辆的能量管理策略

为了提升插电式混合动力汽车(PHEV)的动力系统的真实能效,从综合能效最优的角度,研究了插电式混合动力系统能量管理策略.针对系统综合效率的时变性和耦合性,建立了系统效率评价模型,对电池储存电能的效率进行评价和动态修正,以系统综合效率最优为目标,结合粒子群优化算法,构建了能量管理策略.基于GT-Suite和Simulin...     

Vehicle velocity estimation using effective inertia for an in-wheel electric vehicle

In this study, a vehicle velocity estimation algorithm for an in-wheel electric vehicle is proposed. This algorithm estimates the vehicle velocity using the concept of effective inertia, which is based on the motor torque, the angular velocity of each wheel and vehicle acceleration. Effective inertia is a virtual mass that changes according to the state of a vehicle, such as acceleration, deceleration, turning or driving on a low friction road. The performance of the proposed vehicle velocity estimation algorithm was verified in various conditions that included straight driving, circle driving and low friction road driving using the in-wheel electric vehicle that was equipped with an in-wheel system in each of its rear wheels.     

两轮独立驱动电动车驱动控制系统的研究

文章以两轮独立驱动的电动车为研究对象,探讨了整车的驱动控制系统。系统以汽车稳定性为控制目标,基于横摆力矩实现车轮驱动力矩的分配,并在MATLAB环境下,建立了整车驱动控制系统的仿真模型,验证了控制系统的有效性。结果表明:基于横摆力矩的整车控制系统较好的跟踪目标参数,能有效提高汽车操纵稳定性。     

Cooperative control of the motor and the electric booster brake to improve the stability of an in-wheel electric vehicle

A cooperative control algorithm for an in-wheel motor and an electric booster brake is proposed to improve the stability of an in-wheel electric vehicle. The in-wheel system was modeled by dividing it into motor and mechanical parts, and the electric booster brake was modeled through tests. In addition, the response characteristics of the in-wheel system and the electric booster brake were compared through a frequency response analysis. In the cooperative control, the road friction coefficient was estimated using the wheel speed, motor torque, and braking torque of each wheel, and the torque limit of the wheel to the road was determined using the estimated road friction coefficient. Based on the estimated road friction coefficient and torque limit, a cooperative algorithm to control the motor and the electric booster brake was proposed to improve the stability of the in-wheel electric vehicle. The performance of the proposed cooperative control algorithm was evaluated through a hardware-in-the-loop simulation (HILS). Furthermore, to verify the performance of the proposed cooperative control algorithm, a test environment was constructed for the anti-lock braking system (ABS) hydraulic module hardware, and the performance of the cooperative control algorithm was compared with that of the ABS by means of a HILS test.     

后轮轮毂电机驱动电动汽车的液压复合制动系统匹配方法

根据某电动汽车的总体设计要求,提出了该类型电动汽车的液压复合制动系统前、后制动力分配和匹配原则,分析了后轮轮毂电机特性对液压复合制动系统设计的影响.以满足理想制动力分配为目标,利用非线性最小二乘法优化方法对该液压复合制动系统前、后制动力分配和匹配进行了优化设计,并在不同循环工况、整车质量及电机外特性情况下评估了优化结果.     

Cooling performance of 25 kW in-wheel motor for electric vehicles

The in-wheel motor used in electric vehicles was designed and constructed for an electric direct-drive traction system. It is difficult to connect cooling water piping to the in-wheel motor because the in-wheel motor is located within the wheel structure. In the air cooling structure for the in-wheel motor, an outer surface on the housing is provided with cooling grooves to increase the heat transfer area. In this study, we carried out the analysis on the fluid flow and thermal characteristics of the in-wheel motor for various motor speeds and heat generations. In order to resolve heat release, the analysis has been performed using conjugate heat transfer (conduction and convection). As a result, flow fields and temperature distribution inside the in-wheel motor were obtained for base speed condition (1250 rpm) and maximum speed condition (5000 rpm). The thermo-flow analysis of the in-wheel motor for vehicles was performed in consideration of ram air effect. Also, in order to improve cooling effect of the motor, we variously changed geometries of housing. Therefore, we confirmed the feasibility of the air cooling for the motors of 25 kW capacity with housing geometry having cooling grooves and investigated the cooling performance enhancement. We found that the cooling effect was most excellent, in case that cooling groove direction was same with air flow direction and arranged densely.     

电动汽车电池架的耐撞性仿真设计与优化

电动汽车发生碰撞时可能诱发一系列由电池系统引起的危害,如对人体的电伤害、电解液泄漏等。合理的电池架设计能够保护电池系统,避免由此带来的危害。用计算机仿真方法对新开发的菱形电动汽车电池架进行耐撞性能的设计与优化,提高了电动汽车的碰撞安全性。     

Energy recovery based on pedal situation for regenerative braking system of electric vehicle

ABSTRACT

Energy recovery is a key technology to improve energy efficiency and extend driving range of electric vehicle. It is still a challenging issue to maximise energy recovery. We present an energy recovery mode (mode A) which recovers braking energy under all situations that accelerator pedal (AP) is lifted, brake pedal (BP) is depressed, as well as AP and BP are released completely; and propose a control strategy of regenerative braking based on driver's intention identified by a fuzzy recognition method. Other two modes: (1) recovery braking energy only the BP is depressed (mode B), (2) no energy recovery, have been studied to compare with mode A. Simulations are carried out on different adhesion conditions. Recovered energy and driving range are also obtained under FTP75 driving cycle. Road test is implemented to validate simulation results. Results show that mode A can improve energy recovery by almost 15.8% compared with mode B, and extend driving range by almost 8.81% compared with mode B and 20.39% with the mode of no energy recovery; the control strategy of regenerative braking can balance energy recovery and braking stability. The proposed energy recovery mode provides a possibility to achieve a single-pedal design of the electric vehicle.     

Development of the performance simulator for electric scooters with an in-wheel motor

Due to the increasing use of fossil fuel, carbon dioxide emission also increased and environmental problems have emerged as social issues. Accordingly, the research about electric vehicles as personal transportation has been actively performed. An electric scooter is not as complex as an automobile, but it takes a lot of time and costs to design and develop a new vehicle due to trial and error in selecting the specifications of core components according to consumer’s requirements. In this paper, a performance simulator for an electric scooter with an in-wheel motor at the rear wheel was developed and the simulation results were verified through experiments. For a longer travelling distance with the same energy source, the regenerative braking algorithm that converts kinetic energy into electric energy during braking was applied. The usefulness of the regenerative braking control algorithm was verified through various simulation results.     

SX6120GDSHEVN增程式电动客车方案概述

介绍SX6120GDSHEVN增程式电动客车方案。介绍方案布置过程中的难点。     

Combined power management/design optimization for a fuel cell/battery plug-in hybrid electric vehicle using multi-objective particle swarm optimization

In this paper, the combined power management/design optimization problem is investigated for a fuel cell/Liion battery PHEV. Formulated as a constrained multi-objective optimization problem (MOP), the combined optimization problem simultaneously minimizes the vehicle cost and fuel consumption subject to the vehicle performance requirements. With an emphasis on developing a generic optimization algorithm to find the Pareto front for the synthesized MOP, the Pareto based multi-objective particle swarm optimization (PMOPSO) algorithm is developed, which solely depends on the concept of Pareto dominance. Three approaches are introduced to the PMOPSO method to address the constrained MOP. They are: (i) by incorporating system constraints in the original objective functions, the constrained MOP is transformed to an unconstrained MOP; (ii) to avoid being trapped in local minima, a disturbance operator with a decaying mutation possibility is introduced; (iii) to generate a sparsely distributed Pareto front, the concept of crowding distance is utilized to determine the global guidance for the particles. Finally, under the Matlab/Simulink software environment, simulation results are presented to demonstrate the effectiveness of the PMOPSO in the derivation of the true Pareto front.     

电动汽车驱动控制策略研究综述

驱动系统是电动汽车研制的关键技术之一,它直接决定电动汽车的性能。矢量控制通过坐标变换将定子电流矢量分解为转子磁场定向的两个直流分量并分别加以控制,从而实现异步电动机磁通和转矩的解耦控制,达到直流电动机的控制效果。直接转矩控制,并不需要观测转子磁链,它基于定子磁场控制磁场定向以转距作为被控量,思路清晰,手段直接。本文根据电动机矢量控制及直接转矩控制理论,结合电动汽车的实际要求,对其的现状及优缺点进行了分析及说明,介绍了改进的控制措施及发展趋势。     

电动汽车充电接口的电子锁的研究

充电接口的电子锁是电动汽车推广的前提条件之一,电子锁是电动汽车充电的安全性保证。本文介绍了国外充电接口电子锁的发展和现状,结合中国电网行业和电动汽车行业的实际情况,本文分别对国内车辆端、桩端的电子锁的应用和技术细节做了简要描述。     

混合动力电动汽车性能试验与仿真

混合动力汽车因其兼有电动车的低排放优点与内燃机汽车的高比能量优点而越来越受到关注,成为竞相研发的新型车辆之一,本通过在一款富康款车上并用混合动力的实例,对汽车的各项性能指标与能量消耗的各项试验数据与车辆仿真程序计算结果进行了详细的分析,提出了锂电池混合动力电动汽车在中国城市内运行的可能性。     

纯电动汽车动力系统故障分析

随着新能源汽车的发展,纯电动汽车的市场保有量愈来愈高,随着而来的新能源汽车后服市场也逐渐新起。纯电动汽车动力系统是纯电动汽车的核心部件,包括能源系统和驱动系统两个大的子系统。能源系统的主要组成部分为动力电池和动力电池管理系统。驱动系统的主要组成部分为驱动电机及电机控制器。文章归纳总结了动力系统的故障现象,对现象进行故障等级和故障类型的划分。并选取了三个典型案例进行故障排除,为维修人员提供参考。     

电动汽车的动力电池技术

当前节能和环保正日益受到重视，因此，电动汽车已经成为各国政府和汽车企业关注的热点，正在初步形成朝阳产业。动力电池技术是电动汽车开发中需要解决的关键技术。分析国内外动力电池技术及其发展；在比较了各类动力电池的优缺点和综合性能的基础上，指出全密封铅酸蓄电池、MH-Ni蓄电池、锂离子蓄电池、锌空气蓄电池、质子交换膜燃料电池超大容量电容器和飞轮蓄电池将是21世纪动力电池技术发展的目标。     

Cooperative regenerative braking control for front-wheel-drive hybrid electric vehicle based on adaptive regenerative brake torque optimization using under-steer index

In this study, cooperative regenerative braking control of front-wheel-drive hybrid electric vehicle is proposed to recover optimal braking energy while guaranteeing the vehicle lateral stability. In front-wheel-drive hybrid electric vehicle, excessive regenerative braking for recuperation of the maximum braking energy can cause under-steer problem. This is due to the fact that the resultant lateral force on front tire saturates and starts to decrease. Therefore, cost function with constraints is newly defined to determine optimum distribution of brake torques including the regenerative brake torque for improving the braking energy recovery as well as the vehicle lateral stability. This cost function includes trade-off relation of two objectives. The physical meaning of first objective of cost function is to maximize the regenerative brake torque for improving the fuel economy and that of second objective is to increase the mechanical-friction brake torques at rear wheels rather than regenerative brake torque at front wheels for preventing front tire saturation. And weighting factor in cost function is also proposed as a function of under-steer index representing current state of the vehicle lateral motion in order to generalize the constrained optimization problem including both normal and severe cornering situation. For example, as the vehicle approaches its handling limits, adaptation of weighting factor is possible to prioritize front tire saturation over increasing the recuperation of braking energy for driver safety and vehicle lateral stability. Finally, computer simulation of closed loop driver-vehicle system based on Carsim? performed to verify the effectiveness of adaptation method in proposed controller and the vehicle performance of the proposed controller in comparison with the conventional controller for only considering the vehicle lateral stability. Simulation results indicate that the proposed controller improved the performance of braking energy recovery as well as guaranteed the vehicle lateral stability similar to the conventional controller.     

氢电混合动力车动力系统结构布置研究

随着能源危机和环境恶化,汽车工业的进一步发展受到极大的挑战,发展新能源汽车成为未来汽车工业的发展方向。氢电混合动力车是一种新能源车,其动力系统的性能对汽车的整体性能起着至关重要的作用,为了更好地实现其性能,对其结构布置进行研究很有必要。通过与传统汽车、油电混合动力车以及纯燃料电池车的动力系统进行对比,研究了氢电混合动力车动力系统的组成与特点;并详细研究了动力系统的结构布置及其特点和各自适合的工况条件。通过以上的研究,为后续动力系统结构布置的选择提供了参考,并指出了其未来发展的方向。