Direct yaw moment control and power consumption of in-wheel motor vehicle in steady-state turning

Driving force distribution control is one of the characteristic performance aspects of in-wheel motor vehicles and various methods have been developed to control direct yaw moment while turning. However, while these controls significantly enhance vehicle dynamic performance, the additional power required to control vehicle motion still remains to be clarified. This paper constructed new formulae of the mechanism by which direct yaw moment alters the cornering resistance and mechanical power of all wheels based on a simple bicycle model, including the electric loss of the motors and the inverters. These formulation results were validated by an actual test vehicle equipped with in-wheel motors in steady-state turning. The validated theory was also applied to a comparison of several different driving force distribution mechanisms from the standpoint of innate mechanical power.     

轮毂电机驱动电动汽车3种构型的平顺性分析

针对轮毂电机驱动电动汽车3种构型,对其平顺性问题展开研究。分别采用滤波白噪声方法和三角形凸块描述随机路面激励和脉冲路面激励。建立了轮毂电机驱动电动汽车3种构型的振动模型,确定了相应的平顺性评价指标。在随机路面和脉冲路面下,采用Matlab/Simulink仿真了轮毂电机驱动电动汽车3种构型的平顺性。研究结果表明,具有吸振结构的构型2和具有悬置结构的构型3与传统悬架的构型1相比,降低了轮毂电机驱动电动汽车随机路面和脉冲路面的平顺性评价指标。     

节能多速异步机的质量评估

本文论述了多速异步机的四项主要质量指标,评估多速异步机质量优劣的方法,以及节能多速步机的应用领域.     

Modelling and control of a new differential steering concept

This paper presents a new steer-by-wire concept using an all-wheel drive vehicle layout with in-wheel motors while completely omitting the application of any dedicated steering device. Steering is based on the so-called differential steering principle which generates the necessary steering moment about the kingpins by a traction force difference between left and right sides of the vehicle. In order to investigate the behaviour of the vehicle and to design the underlying control algorithms, a planar vehicle model is presented, where the vehicle is described as constrained non-holonomic system requiring a special treatment. A state feedback linear controller for controlling of the lateral dynamics of the vehicle at higher speeds and a simple PI angle controller for low-speed manoeuvring are developed. The resulting behaviour of the system is investigated by various simulation experiments demonstrating a comparable steering performance of the new steering concept as that of conventional passenger cars.     

Decoupled 3D moment control using in-wheel motors

Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement.     

基于Prony算法的感应电动机转子故障检测方法

分析Prony算法及其高分辨率谱估计的特点,在此基础上,提出一种基于Prony算法的感应电动机转子故障检测方法,仿真研究结果表明,在短数据情况下,相对FFT分析技术而言,该方法频率分辨率更高,故障检测更为准确,且计算量小,有利于电机故障实时状态监测。实验证明,将该方法应用于感应电机转子故障检测,可准确检测出转子故障时在定子电流中的故障特征成分。     

串联式混合动力公交车的参数选择

根据城市公交车的工作特点,对串联式混合动力公交车动力系统主要部件发动机、电动机、电池组等,提出了选择和设计原则,实现优化匹配,提高动力性、燃油经济性以及降低排放性能.     

Design of safety-oriented control allocation strategies for overactuated electric vehicles

The new vehicle platforms for electric vehicles (EVs) that are becoming available are characterised by actuator redundancy, which makes it possible to jointly optimise different aspects of the vehicle motion. To do this, high-level control objectives are first specified and solved with appropriate control strategies. Then, the resulting virtual control action must be translated into actual actuator commands by a control allocation layer that takes care of computing the forces to be applied at the wheels. This step, in general, is quite demanding as far as computational complexity is considered. In this work, a safety-oriented approach to this problem is proposed. Specifically, a four-wheel steer EV with four in-wheel motors is considered, and the high-level motion controller is designed within a sliding mode framework with conditional integrators. For distributing the forces among the tyres, two control allocation approaches are investigated. The first, based on the extension of the cascading generalised inverse method, is computationally efficient but shows some limitations in dealing with unfeasible force values. To solve the problem, a second allocation algorithm is proposed, which relies on the linearisation of the tyre–road friction constraints. Extensive tests, carried out in the CarSim simulation environment, demonstrate the effectiveness of the proposed approach.     

吊舱式电力推进系统的特点与应用

对目前流行的吊舱式船舶电力推进系统的特点进行了简要的分析和对比,指出船舶电力推进广泛应用已是一个必然的趋势;随后,对船舶电力推进系统应用的几个问题谈了几点思考。     

气隙长度对三相感应电机性能的影响分析

电机的气隙磁场是电机进行机电能量转换的重要场所,而气隙长度是其主要影响因素之一。使用Ansoft Maxwell软件建立三相异步电机模型并进行有限元仿真分析,得出电机在不同气隙长度时的性能曲线,通过比较这些曲线分析出气隙长度对电机性能的影响。