车用电驱动电制动系统动态负载模拟机理与方法

To simulate the load and motion state of electric drive system during vehicle dynamics control, dynamic test-beds for electric driving and braking system have the requirement of dynamic load simulation with wider bandwidth and higher accuracy than that of dynamic engine test-beds. Three key scientific problems in the dynamic load simulation are focused in this project: coupling between vehicle dynamics and test-bed dynamics, dynamic load simulation during vehicle dynamics control, and dynamic load simulation during the cooperation process between electric driving/braking and friction braking. These will be studied through the mechanism analysis, physical modeling, and comparison with real vehicle test and so on. Then coupling mechanism of vehicle dynamics and test-bed dynamics will be revealed to seek the topology and boundary of control system for the dynamic load simulation. Control methods for dynamic load simulation during vehicle dynamics control will be found to reproduce the characteristics of vehicle dynamics on the test-bed. Control methods for dynamic load simulation during the transition process between electric driving/braking and friction braking will be explored to solve the load simulation control problem under disturbances of different dynamic characteristics caused by differences of transmission paths. The research will enrich and develop the test theory of automotive powertrain system, and support the formation of core technologies of automotive advanced experimental equipments.

为了模拟电驱动系统在整车动力学控制过程中的受载和运动状态，车用电驱动电制动动态实验台需要实现比内燃机动态实验台频带更宽、精度更高的动态负载模拟。本课题拟针对整车动力学与台架动力学耦合、车辆动力学控制下动态负载模拟、电驱动电制动系统与摩擦制动系统协调工作时动态负载模拟三个实现电驱动电制动系统动态负载模拟的关键科学问题，采用机理分析、物理建模、实车测试对比等方法进行研究。以期揭示整车动力学与台架动力学的耦合机理，寻求动态负载模拟控制系统的拓扑和边界；提炼车辆动力学控制下动态负载模拟控制方法，实现车辆动力学特性的台架再现；探索电驱动电制动系统与摩擦制动系统协调工作时动态负载模拟控制方法，解决传递路径差异造成的不同动力学特性扰动下负载模拟控制问题。研究结果将丰富和发展汽车动力传动系统测试理论，支撑汽车高端测试设备核心技术的形成。

为了精准模拟车辆电驱动电制动系统在整车动力学控制过程中的受载与运动状态，本课题围绕整车动力学与台架动力学耦合、车辆动力学控制下动态负载模拟、电驱动电制动系统与摩擦制动系统协调工作时动态负载模拟三个实现电驱动电制动系统动态负载模拟的关键科学问题，采用机理分析、物理建模、实车测试对比等方法进行研究。首先，建立了基于机电耦合制动系统的车辆动力学与台架动力学动态耦合模型，进一步分析了动态耦合机制；其次，深入分析车辆简化传动环节下正常制动过程车辆经济性测试、驾乘舒适性测试、安全性测试以及考虑传动系扭振特性的车辆电驱动电制动系统动态负载模拟机理，考量了不同测试过程中对测功机动态加载控制算法系统性的要求，从而针对性设计了基于容差控制、二次型最优控制与滑模控制结合的复合控制、基于模型预估补偿的加载控制及考虑传动系弹性阻尼特性的前馈法及逆模型法的动态负载模拟算法。最后，通过仿真及台架测试结果验证提出的加载控制算法的有效性，结果表明：提出的负载模拟算法可精确再现不同动力学控制算法下车辆电驱动电制动系统运动特性,从而解决了动力学控制下不同力矩传递路径的车辆经济性、驾乘舒适性及安全性测试等的台架动态加载控制问题。研究成果丰富和发展了汽车动力传动系统测试理论，支撑了汽车尖端测试装备核心技术的形成。