电动汽车制动控制策略的研究-控制科学与工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - 约束条件的前提下，以一定时间内回收的能量最大为控制目标，规划再生制 动力矩。由于优化算法执行时间长，车载控制器难以实现实时计算，因此本 文通过查表差值的方法来实现控制策略。对于制动能量回收，由于机械制动 力矩不可控，因此本文采用并行能量回收策略的思想，提出了基于驾驶员制 动意图的制动能量回收策略：根据制动踏板行程解析驾驶员的制动意图，以 此来规划再生制动力矩。在控制策略中通过引入车速影响因子、电池 SOC 值影响因子及电池电压影响因子来限制规划出的再生制动力矩，使力矩变化 平滑。算法的实现上，本文在 Matlab/Simulink 环境下建立控制算法的模 型，并完成模型仿真，通过代码自动生成工具 Targetlink 生成算法模型的 C 代码，嵌入到电子控制单元中。 本文最后对电动汽车的制动系统进行硬件在环测试、底盘测功机试验及 道路试验，对再生制动过程中的关键参数进行标定，为算法的进一步开发及 应用提供参考数据。测试过程中，通过 CANoe 及 CANape 对整车 CAN 网 络数据进行实时记录及显示，并应用 CCP 协议对控制参数进行在线标定。 测试结果显示，开发的控制策略能平顺的实现电机模型的切换，实现能量回 收功能，同时保证了制动的舒适性。 关键词：电动汽车；电子制动力分配；滑行能量回收；制动能量回收； 底盘测功机试验；道路试验 - -III- Abstract With little pollution emission, low noise, high thermal efficiency, and important role in improving the energy structure, Electric Vehicle (EV) has become the development trend of vehicle, drawing more and more attention. As a key point of EV technology, braking technology has become the hot issue. Braking system of EV consists of mechanical braking and regenerative braking.EV has the function of regenerative braking, which is one of the most significant differences from conventional vehicle with Internal Combustion Engine(ICE).During regenerative braking, the motor works as a generator, storing a portion of the Mechanical energy into energy storage devices, thereby the energy efficiency improved. The key issue of EV braking technology that how to control mechanical braking torque and regenerative braking torque to improve the energy efficiency on the premise of ensuring safety is of great significance and research value. The EV studied in this thesis was a pure electric sedan transformed from a conventional vehicle with ICE. The thesis mainly makes a study of the control strategy of Electric Brake-force Distribution (EBD) in mechanical braking and the control strategy of coasting and braking in regenerative braking. In studying of the control strategy of EBD, through analyzing forces of vehicles during braking, ideal brake-force distributi