文档名：轮毂电机电动汽车空气悬架阻尼GALQR控制研究
摘要：针对轮毂电机驱动电动汽车因电机内部不平衡电磁力引起的负面振动加剧等问题,提出一种基于遗传算法的线性二次型调节器(GA-LQR)的空气悬架阻尼控制方法.建立包含轮毂电机和空气悬架系统的轮毂电机驱动电动汽车8自由度半车动力学模型,并进行实车试验验证模型;仿真分析路面激励和不平衡电磁力两者对电动汽车垂向振动的影响;根据最优控制理论提出LQR控制策略,并通过遗传算法对LQR控制中的加权矩阵Q和R进行全局搜索优化,构建了GA-LQR阻尼控制器.仿真结果表明:相较于被动悬架和LQR控制的空气悬架,基于GA-LQR控制的空气悬架对电动汽车各评价指标的改善效果明显,可有效抑制轮毂电机因偏心引起的不良振动,极大地提高车辆的乘坐舒适性.
Abstract：Toaddressthechallengesofenergyshortagesandenvironmentalpollution,electricvehicles(Evs)haveemergedasenergy-efficient,andenvironmentallyfriendlytransportationsolutions.Evsusinghubmotorshavegainedkeenacademicinterestworldwidethankstotheircompactstructures,flexibledriving,andhightransmissionefficiency.However,theinstallationofhubmotorscausessuchissuesasincreasedunsprungmassandmotorexcitation,furtherunderminingtheperformancesofbothEvsandhubmotors.Addressingtheexacerbatednegativevibrationsinhubmotor-drivenEvscausedbytheoffsetoftherotoraxiswithinthemotorleadstochangesintheairgapmagneticfieldandunbalancedelectromagneticforces.ThispaperconductsresearchbyemployingEvsequippedwithhubmotorsandairsuspensionsystems.Ageneticalgorithm-basedLinearQuadraticRegulator(GA-LQR)airsuspensioncontrolmethodisproposedtomitigatethedeteriorationofsuspensionperformanceresultedfromtheintroductionofhubmotors.Basedonthetheoryofairgapmagneticfieldinhubmotorsandinconsiderationoftheeffectofroadconditionsontheeccentricityoftherotorinhubmotors,amodelofairgapmagneticfielddistributionisbuilttocalculatetheunbalancedelectromagneticforcesundereccentricconditions.Byanalyzingthecouplingmechanismbetweenthehubmotorandtheairsuspension,aneight-degree-of-freedomhalf-cardynamicmodelofahubmotor-drivenelectricvehicleincorporatingboththehubmotorandtheairsuspensionsystemisdeveloped.Consideringthelagofthevehicle'swheelbase,aroadexcitationmodelisestablished.Realvehicletestsareconductedonrandomlygeneratedroadsurfacestovalidatetheaccuracyofthedynamicmodel.Thetestdataarecomparedwithsimulationdatainboththetimeandfrequencydomains.SimulationsareconductedtostudytheverticalvibrationcharacteristicsoftheEvsunderdualexcitationfromunbalancedelectromagneticforcesandroadinputs,andtheimpactofunbalancedelectromagneticforcesontheverticalvibrationofthevehicleisanalyzed.Toimprovesuspensionperformanceandalleviateadversevibrationsfromthehubmotor,LinearQuadraticRegulator(LQR)controltheoryisproposedbasedonthehalf-carsystemdynamicmodelandoptimalcontrol.Themagneto-rheologicaldampersintheairsuspensionareemployedascontrolobjects,andacostfunctionisbuiltbyvehicleperformanceindicators,suspensiontravelanddamperdampingforceasconstraints.ToaddressthesubjectiveinfluenceontheweightingmatricesQandRintheLQRcontroller,ageneticalgorithmisemployedforglobalsearchoptimization.TheGA-LQRcontrollerforthehubmotor-drivenelectricvehicleisbuiltinMatlab/Simulink.Simulationanalysisofthecontrollerisconductedatdifferentroadsurfacegradesatconstantspeedsandunderdifferentspeedsonthesameroadsurfacegradetovalidatetheeffectivenessoftheproposedcontrolstrategy.ThesimulationresultsobtainedfromboththetimeandfrequencydomainsshowtheGA-LQR-controlledairsuspensionsignificantlyimprovestheverticalaccelerationofthevehiclebody,hubmotoreccentricity,tiredynamicload,andpitchaccelerationofthevehiclecomparedwiththoseofpassivesuspensionandLQR-controlledairsuspension.IteffectivelysuppressestheadversevibrationscausedbyhubmotoreccentricityandgreatlyenhancesEvs'travelcomforts.
作者：李仲兴 王雪 程淇谦 虞屹Author：LIZhongxing WANGXue CHENGQiqian YUYi
作者单位：江苏大学汽车与交通工程学院,江苏镇江212013
刊名：重庆理工大学学报 PKU
Journal：JournalofChongqingInstituteofTechnology
年，卷(期)：2024, 38(5)
分类号：U463.33TH113.1
关键词：空气悬架 轮毂电机 不平衡电磁力 GA-LQR控制 电动汽车
Keywords：airsuspension hubmotor unbalancedelectromagneticforces GA-LQRcontrol EVs
机标分类号：U463.33TP391.9TM311
在线出版日期：2024年5月24日
基金项目：国家自然科学基金轮毂电机电动汽车空气悬架阻尼GA-LQR控制研究[
期刊论文] 重庆理工大学学报--2024, 38(5)李仲兴 王雪 程淇谦 虞屹针对轮毂电机驱动电动汽车因电机内部不平衡电磁力引起的负面振动加剧等问题,提出一种基于遗传算法的线性二次型调节器(GA-LQR)的空气悬架阻尼控制方法.建立包含轮毂电机和空气悬架系统的轮毂电机驱动电动汽车8自由度半...参考文献和引证文献
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轮毂电机电动汽车空气悬架阻尼GA-LQR控制研究 Research on GA-LQR control of air suspension damping for hub motor-driven electric vehicles
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