轮毂电机驱动电动汽车的电制动特性研究
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摘要
目前，国内外轮毂电机驱动技术的研究主要集中在轮毂电机的设计和针对采用轮毂电机直接驱动电动汽车的悬架设计上，也有部分学者对轮毂电机对车辆平顺性的影响、轮毂电机与整车性能的匹配、轮毂电机的驱动和制动控制进行了研究。长期从事节能与新能源汽车研究的吉林大学电动汽车及混合动力汽车关键技术创新团队对轮毂电机驱动汽车的防滑驱动技术、自适应差速控制和复合制动等核心课题进行了系统的研究，并且在路面附着识别、电动汽车差动转向和再生制动等方面取得了一定的科研成果。随着线控技术的发展和底盘控制系统集成度的提高，传统的液压制动系统和机械式驻车制动系统势必会被淘汰，开发出一套适合轮毂电机直接驱动电动汽车并兼顾行车制动与驻车制动功能且安全有效的制动系统成为亟待解决的问题。本文以轮毂电机驱动电动汽车的电制动特性为研究内容，对应用轮毂电机制动转矩的行车制动控制策略和驻车制动控制策略进行了深入的研究：
本文首先分析了轮毂电机驱动技术的优势，同时对国内外轮毂电机驱动技术的应用现状和研究现状做了简要介绍。
在AMESim中建立了采用盘式制动器的液压制动系统模型，其中包括真空助力器模型、制动主缸模型和制动钳模型；然后根据轮毂电机的数学模型，建立了基于滞环比较控制方法的轮毂电机控制模型；基于所建立模型，应用离线仿真的方法，对比分析了液压制动系统和轮毂电机电制动在阶跃输入下的瞬态响应特性和常规制动工况下的稳态响应特性，仿真结果表明：应用轮毂电机的转矩进行电制动不但可以大大提高制动系统的响应速度，而且每个车轮的制动力矩都可以进行独立控制，提高了电动汽车的制动性能，同时也充分证实了轮毂电机电制动方案的可行性。
对于轮毂电机直接驱动的电动汽车，提出基于轮毂电机动态响应特性的防抱死制动控制方法，以提高制动性能和制动时的行驶稳定性。在AMESim15自由度底盘模型的基础上加入轮毂电机模型、悬架模型（包括弹簧，减震器，防倾杆模型等）车身空气动力学模型，传感器模型，轮胎地面模型等，建立了轮毂电机驱动电动汽车的整车模型，并基于逻辑门限值算法设计了轮毂电机电制动防抱死控制策略，通过AMESim与Simulink联合仿真的方法对该控制策略进行了仿真验证，仿真结果表明，本文设计的防抱死控制算法充分发挥了轮毂电机电制动响应速度快，单一车轮制动转矩独立可控的特点，提升了电动汽车在紧急制动工况下的制动性能，同时也提高了电动汽车的主动安全性。
通过分析驻车制动系统的发展趋势，提出了以轮毂电机电制动转矩进行驻车制动的方案，并对比制动钳集成式电子驻车制动系统，对轮毂电机的电制动驻车控制方案的可行性进行了分析。在AMESim中建立了螺杆螺母螺旋副模型及制动钳集成式电子驻车制动系统执行机构的仿真模型；又根据永磁同步电机滞环比较控制模型，对比仿真分析了电子驻车制动系统与轮毂电机电制动驻车控制的瞬态与稳态响应特性，得出结论：螺杆螺母摩擦副的非线性运动规律是制约制动钳集成式电子驻车制动系统瞬态响应性能的主要因素，并且随负荷的增加，螺母输出力的波动也增大，影响了制动系统的稳定性。最后，通过对路面附着系数的估算和车辆状态信息的获取，设计了轮毂电机实现短时间驻车的控制策略，从而精确控制轮毂电机的输出转矩，并通过离线仿真的方式进行了验证。
分析了目前智能化驻车制动系统的功能性需求，并基于这些需求，应用轮毂电机的制动转矩对车轮施加制动力矩的方式，在常规的驻车功能基础上，对轮毂电机电制动驻车控制进行了功能上的扩展，设计了基于轮毂电机电制动方案的智能驻车系统：首先，针对由于驾驶经验的不足或对路况判断的失误，引起车辆在坡路上起步困难或者不平稳的现象，本文设计了坡路起步功能，通过对路面附着及坡度的识别，智能协调前后轮毂电机的输出转矩，辅助驾驶员坡路起车；再次，为了应对由于液压制动系统失灵或无法操作行车制动系统等突发的紧急状况，设计了紧急制动功能，通过电制动驻车控制使车辆按照一定的减速度制动，为了保证紧急制动时车辆的操作稳定性，本文还创新性地将防抱死控制策略应用于轮毂电机电制动，并得到了良好的制动效果；最后，为了辅助驾驶员制动，使驾驶员在拥堵的交通环境下或山路上行车时更加轻松，本文设计了自动驻车功能。通过离线仿真的方法对电制动驻车方案进行了功能上的验证。
最后通过软件在环研究，对轮毂电机电制动控制器功能进行验证，将控制策略模型下载到dSPACE处理器板卡中，进行与真实环境交互的实时仿真分析，验证了控制模型在受控环境下的可行性，并根据仿真结果对模型进行调整。基于dSPACESimulator液压制动系统和轮毂电机的半实物仿真平台，以TTC200为整车控制器进行了轮毂电机电制动硬件在环仿真实验，实验结果验证了轮毂电机电制动控制的功能性：轮毂电机电制动控制器可以准确有效地实现智能驻车控制，提升车辆的安全性，同时也验证了轮毂电机电制动防抱死控制算法在紧急制动工况下的有效性。
Nowadays, hub motor driving technology mainly focused on hub motor design andsuspension design worldwide, but researches involved with matches between hub motorsand EV (electric vehicle), driving and braking control of hub motors were rarely presented,which is also an obstacle in applications of hub motors. Dedicated to the research onenergy-saving and New-energy Vehicle with so many years, Professor WANG.Qingnian,led his team-the innovation research team of EV&HEV Key Technology, carried outanti-skid driving technology, adaptive differential control and blend braking control of hubmotor drive electric vehicles, also some scientific achievement: road adhesion recognizing,diferential steering and regenerative braking. As X-by-wire and chassis integrated controltechnology develop, conventional hydraulic brake system and parking brake systembecome outdated and will be eliminated in one day, therefore, a new brake system for hubmotor drive electric vehicle, which combined service brake and parking brake functionsafely, should be developed. In the thesis, electric brake characteristics of hub motor driveEV are studied, also the service brake chararcteristics and parking brake characteristics.
First of all, advantages of hub motor driving technology are discussed. Applicationbackground of hub motor driving system and scientific research background areintroduced briefly.
Secondly, conventional hydraulic brake system model with disc actuator is built inAMESim, including pneumatic vacuum booster model, master cylinder model and brakecaliper model. Then, a hub motor control model based on Permanent Magnet SynchronousMotor (PMSM) Hysteresis Comparison Control method is built. With off-line simulation,transient state response characteristics under step input and steady state responsecharacteristics of hydraulic brake system and electric brake system.action are compared.The simulation results indicate: electric brake exerted by hub motor torque not onlyenhances the response speed of the system, but also makes the torque of each wheelcontrollable independently, which inproves the brake performance of EV, and proves theelectric brake scheme feasible.
Thirdly, according to the transient state response characteristics of hub motors, in thepaper, with electric brake utilized, an anti-lock brake control strategy is designed for the EV driven by hub motors. Besides, based on15dimensions of freedom chassis model inAMESim, we add hub motor model, suspension model-spring, damper, end stop, antirollbar, aerodynamic model, tire and road model, sensors model and steering system model tothe multibody chassis model to form hub motor drive EV model. Also, an anti-lock brakecontrol model is established, referred to logical threshold algorithm. With AMESimCo-simulation with MATLAB/Simulink, simulation of electric brake anti-brake control iscarried out. The simulation result indicate: the anti-brake control strategy designed forelectric brake not only improves the brake performance in emergency brake mission, butalso perfectly fits for hub motor drive EVs and enhances the active safety.
Fourthly, parking brake system trend is discussed, and the hypothesis applying hubmotor torque to parking brake control is presented. Therefore, compared to the CaliperIntegrated Electric Parking Brake System, the feasibility is analyzed. To investigate thefeasiblilty of electric brake replaceing the EPB system, the EPB actuator model is built inAMESim, including screw-nut transmission model, gear redactor model and servo-motormodel. Also compared to PMSM hysteresis comparison control model, transient andsteady state performance of EPB system and parking brake system with hub motor areanalyzed through the simulation, and the simulation result shows: the non-linar motion ofscrew-nut transmission structure restricts the EPB system response performance andcauses the delay. As the load of brake pad increase, the force on nut fluctuates a lot,affecting the braking stability. However, when taking the hub motor as parking brakeactuator, the stability of braking is enhanced, besides, the energy consumption of hubmotor during parking is relatively small, making no difference to daily use.
Fifthly, functional requirements of intelligent parking brake system are analysed,based on these requirements, ultilizing the hub motor torque, electric parking brake systemis design for hub motor drive EVs. Except the basic parking brake function, otherextended intelligent functions are developed. To deal with insufficient driving experienceand complex road conditions, dynamic drive-off assistant function is designed to helpdriver to drive the EV along the slope smoothly and allows the vehicle to be driven offwithout jolts or backroll. To tackle the emergency situation: the brake pedal loses itsfunction or becomes blocked, dynamic emergency stop function is designed to ensure thevehicle can be braked heavily by means of hub motor torque. To handle with the trafficjam or slow moving traffic or drive-off on steep slope, the AUTOHOLD function isdesigned to assist automatic brake of EV. The AUTOHOLD function assures an automaticand controlled hold over the vehicle when stationary, irrespective of the way the vehiclewas brought to a halt.Since the driver no longer has to hold the vehicle on the brake pedal all the time, driving is made easier. At last, the control strategies to fulfill these functionsare simulated off-line.
Finally, software-in-the-loop simulation is carried out to verify the electric brakecontrol strategies, in the way of downloading the control model into the dSPACEprocessor board. The real-time simulation provides real environment interaction to controlmodel, and adjusts control strategy in time according to the simulation result. Byconnecting the hub motor and other sensors to I/O interface, Dspace hub motor electricbrake simulation platform is created. Besides, taking TTC200as the vehicle controller, thehardware-in-the-loop simulation is performed to testify the functionality of hub motorelectric brak control strategy. The simulation results demonstrates that the regular parkingbrake function, the dynamic drive-off assistant function, the dynamic emergence brakefunction are all valid and reliable, also the hub motor drive EV brake performance andsafety are improved by applying anti-lock brake control strategy.
本文首先分析了轮毂电机驱动技术的优势，同时对国内外轮毂电机驱动技术的应用现状和研究现状做了简要介绍。
在AMESim中建立了采用盘式制动器的液压制动系统模型，其中包括真空助力器模型、制动主缸模型和制动钳模型；然后根据轮毂电机的数学模型，建立了基于滞环比较控制方法的轮毂电机控制模型；基于所建立模型，应用离线仿真的方法，对比分析了液压制动系统和轮毂电机电制动在阶跃输入下的瞬态响应特性和常规制动工况下的稳态响应特性，仿真结果表明：应用轮毂电机的转矩进行电制动不但可以大大提高制动系统的响应速度，而且每个车轮的制动力矩都可以进行独立控制，提高了电动汽车的制动性能，同时也充分证实了轮毂电机电制动方案的可行性。
对于轮毂电机直接驱动的电动汽车，提出基于轮毂电机动态响应特性的防抱死制动控制方法，以提高制动性能和制动时的行驶稳定性。在AMESim15自由度底盘模型的基础上加入轮毂电机模型、悬架模型（包括弹簧，减震器，防倾杆模型等）车身空气动力学模型，传感器模型，轮胎地面模型等，建立了轮毂电机驱动电动汽车的整车模型，并基于逻辑门限值算法设计了轮毂电机电制动防抱死控制策略，通过AMESim与Simulink联合仿真的方法对该控制策略进行了仿真验证，仿真结果表明，本文设计的防抱死控制算法充分发挥了轮毂电机电制动响应速度快，单一车轮制动转矩独立可控的特点，提升了电动汽车在紧急制动工况下的制动性能，同时也提高了电动汽车的主动安全性。
通过分析驻车制动系统的发展趋势，提出了以轮毂电机电制动转矩进行驻车制动的方案，并对比制动钳集成式电子驻车制动系统，对轮毂电机的电制动驻车控制方案的可行性进行了分析。在AMESim中建立了螺杆螺母螺旋副模型及制动钳集成式电子驻车制动系统执行机构的仿真模型；又根据永磁同步电机滞环比较控制模型，对比仿真分析了电子驻车制动系统与轮毂电机电制动驻车控制的瞬态与稳态响应特性，得出结论：螺杆螺母摩擦副的非线性运动规律是制约制动钳集成式电子驻车制动系统瞬态响应性能的主要因素，并且随负荷的增加，螺母输出力的波动也增大，影响了制动系统的稳定性。最后，通过对路面附着系数的估算和车辆状态信息的获取，设计了轮毂电机实现短时间驻车的控制策略，从而精确控制轮毂电机的输出转矩，并通过离线仿真的方式进行了验证。
分析了目前智能化驻车制动系统的功能性需求，并基于这些需求，应用轮毂电机的制动转矩对车轮施加制动力矩的方式，在常规的驻车功能基础上，对轮毂电机电制动驻车控制进行了功能上的扩展，设计了基于轮毂电机电制动方案的智能驻车系统：首先，针对由于驾驶经验的不足或对路况判断的失误，引起车辆在坡路上起步困难或者不平稳的现象，本文设计了坡路起步功能，通过对路面附着及坡度的识别，智能协调前后轮毂电机的输出转矩，辅助驾驶员坡路起车；再次，为了应对由于液压制动系统失灵或无法操作行车制动系统等突发的紧急状况，设计了紧急制动功能，通过电制动驻车控制使车辆按照一定的减速度制动，为了保证紧急制动时车辆的操作稳定性，本文还创新性地将防抱死控制策略应用于轮毂电机电制动，并得到了良好的制动效果；最后，为了辅助驾驶员制动，使驾驶员在拥堵的交通环境下或山路上行车时更加轻松，本文设计了自动驻车功能。通过离线仿真的方法对电制动驻车方案进行了功能上的验证。
最后通过软件在环研究，对轮毂电机电制动控制器功能进行验证，将控制策略模型下载到dSPACE处理器板卡中，进行与真实环境交互的实时仿真分析，验证了控制模型在受控环境下的可行性，并根据仿真结果对模型进行调整。基于dSPACESimulator液压制动系统和轮毂电机的半实物仿真平台，以TTC200为整车控制器进行了轮毂电机电制动硬件在环仿真实验，实验结果验证了轮毂电机电制动控制的功能性：轮毂电机电制动控制器可以准确有效地实现智能驻车控制，提升车辆的安全性，同时也验证了轮毂电机电制动防抱死控制算法在紧急制动工况下的有效性。
Nowadays, hub motor driving technology mainly focused on hub motor design andsuspension design worldwide, but researches involved with matches between hub motorsand EV (electric vehicle), driving and braking control of hub motors were rarely presented,which is also an obstacle in applications of hub motors. Dedicated to the research onenergy-saving and New-energy Vehicle with so many years, Professor WANG.Qingnian,led his team-the innovation research team of EV&HEV Key Technology, carried outanti-skid driving technology, adaptive differential control and blend braking control of hubmotor drive electric vehicles, also some scientific achievement: road adhesion recognizing,diferential steering and regenerative braking. As X-by-wire and chassis integrated controltechnology develop, conventional hydraulic brake system and parking brake systembecome outdated and will be eliminated in one day, therefore, a new brake system for hubmotor drive electric vehicle, which combined service brake and parking brake functionsafely, should be developed. In the thesis, electric brake characteristics of hub motor driveEV are studied, also the service brake chararcteristics and parking brake characteristics.
First of all, advantages of hub motor driving technology are discussed. Applicationbackground of hub motor driving system and scientific research background areintroduced briefly.
Secondly, conventional hydraulic brake system model with disc actuator is built inAMESim, including pneumatic vacuum booster model, master cylinder model and brakecaliper model. Then, a hub motor control model based on Permanent Magnet SynchronousMotor (PMSM) Hysteresis Comparison Control method is built. With off-line simulation,transient state response characteristics under step input and steady state responsecharacteristics of hydraulic brake system and electric brake system.action are compared.The simulation results indicate: electric brake exerted by hub motor torque not onlyenhances the response speed of the system, but also makes the torque of each wheelcontrollable independently, which inproves the brake performance of EV, and proves theelectric brake scheme feasible.
Thirdly, according to the transient state response characteristics of hub motors, in thepaper, with electric brake utilized, an anti-lock brake control strategy is designed for the EV driven by hub motors. Besides, based on15dimensions of freedom chassis model inAMESim, we add hub motor model, suspension model-spring, damper, end stop, antirollbar, aerodynamic model, tire and road model, sensors model and steering system model tothe multibody chassis model to form hub motor drive EV model. Also, an anti-lock brakecontrol model is established, referred to logical threshold algorithm. With AMESimCo-simulation with MATLAB/Simulink, simulation of electric brake anti-brake control iscarried out. The simulation result indicate: the anti-brake control strategy designed forelectric brake not only improves the brake performance in emergency brake mission, butalso perfectly fits for hub motor drive EVs and enhances the active safety.
Fourthly, parking brake system trend is discussed, and the hypothesis applying hubmotor torque to parking brake control is presented. Therefore, compared to the CaliperIntegrated Electric Parking Brake System, the feasibility is analyzed. To investigate thefeasiblilty of electric brake replaceing the EPB system, the EPB actuator model is built inAMESim, including screw-nut transmission model, gear redactor model and servo-motormodel. Also compared to PMSM hysteresis comparison control model, transient andsteady state performance of EPB system and parking brake system with hub motor areanalyzed through the simulation, and the simulation result shows: the non-linar motion ofscrew-nut transmission structure restricts the EPB system response performance andcauses the delay. As the load of brake pad increase, the force on nut fluctuates a lot,affecting the braking stability. However, when taking the hub motor as parking brakeactuator, the stability of braking is enhanced, besides, the energy consumption of hubmotor during parking is relatively small, making no difference to daily use.
Fifthly, functional requirements of intelligent parking brake system are analysed,based on these requirements, ultilizing the hub motor torque, electric parking brake systemis design for hub motor drive EVs. Except the basic parking brake function, otherextended intelligent functions are developed. To deal with insufficient driving experienceand complex road conditions, dynamic drive-off assistant function is designed to helpdriver to drive the EV along the slope smoothly and allows the vehicle to be driven offwithout jolts or backroll. To tackle the emergency situation: the brake pedal loses itsfunction or becomes blocked, dynamic emergency stop function is designed to ensure thevehicle can be braked heavily by means of hub motor torque. To handle with the trafficjam or slow moving traffic or drive-off on steep slope, the AUTOHOLD function isdesigned to assist automatic brake of EV. The AUTOHOLD function assures an automaticand controlled hold over the vehicle when stationary, irrespective of the way the vehiclewas brought to a halt.Since the driver no longer has to hold the vehicle on the brake pedal all the time, driving is made easier. At last, the control strategies to fulfill these functionsare simulated off-line.
Finally, software-in-the-loop simulation is carried out to verify the electric brakecontrol strategies, in the way of downloading the control model into the dSPACEprocessor board. The real-time simulation provides real environment interaction to controlmodel, and adjusts control strategy in time according to the simulation result. Byconnecting the hub motor and other sensors to I/O interface, Dspace hub motor electricbrake simulation platform is created. Besides, taking TTC200as the vehicle controller, thehardware-in-the-loop simulation is performed to testify the functionality of hub motorelectric brak control strategy. The simulation results demonstrates that the regular parkingbrake function, the dynamic drive-off assistant function, the dynamic emergence brakefunction are all valid and reliable, also the hub motor drive EV brake performance andsafety are improved by applying anti-lock brake control strategy.
引文
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