51304754-150 現(xiàn)有的相關(guān)研究很少,其中大部分集中在帶有差速運(yùn)行的特殊電機(jī)的設(shè)計(jì)上。本文通過對(duì)汽車差速現(xiàn)象的分析,提出了一種新的適用于中低速運(yùn)行的輪轂電機(jī)驅(qū)動(dòng)電動(dòng)車電子差速方案,并設(shè)計(jì)實(shí)現(xiàn)了基于TMS320F2407DSP(兩個(gè)事件管理器模塊12路全比較PWM輸出能夠?qū)崿F(xiàn)控制兩臺(tái)電機(jī))的雙輪輪轂電機(jī)驅(qū)動(dòng)控制系統(tǒng),廣泛用于確定車輛的驅(qū)動(dòng)策略(見寧波市科委青年基金資助項(xiàng)目可知,車輛純滾動(dòng)時(shí)內(nèi)外側(cè)輪的轉(zhuǎn)速比即為轉(zhuǎn)彎半徑比,這個(gè)模型只進(jìn)行了靜態(tài)分析,沒有考慮輪胎的影響,忽略了車輛轉(zhuǎn)彎行駛時(shí)的離心力和向心力。按這個(gè)模型提出了電子差速方案,本文分析認(rèn)為其不夠合理,從上述結(jié)構(gòu)模型可知,在給定轉(zhuǎn)角的情況下,四個(gè)輪速和整車速度五個(gè)量的自由度為1,因此,如果同時(shí)對(duì)兩個(gè)驅(qū)動(dòng)輪進(jìn)行轉(zhuǎn)速控制,實(shí)際系統(tǒng)稍有誤差,將產(chǎn)生矛盾,導(dǎo)致被控各個(gè)車輪之間滑移率不同甚至?xí)谢D(zhuǎn)出現(xiàn),造成系統(tǒng)不穩(wěn)定,影響整車的效率和最大功率輸出。
51304754-150 綜上所述,本文認(rèn)為輪式驅(qū)動(dòng)電動(dòng)車電子差速不宜采用車輪速度作為控制變量。
2.2新的電子差速控制方案本文設(shè)計(jì)的電子差速方案,考慮轉(zhuǎn)彎時(shí)車輪的垂直載荷的變化,以使兩驅(qū)動(dòng)輪的附著率相等為目標(biāo),并以此為依據(jù)分配兩輪的驅(qū)動(dòng)轉(zhuǎn)矩,從而使得車輛發(fā)生滑轉(zhuǎn)的可能性減到最小。考慮風(fēng)阻力和輪胎側(cè)向力的作用等多種因素,在給定總功率輸出下,本文對(duì)車輛的運(yùn)動(dòng)狀態(tài)進(jìn)行了仿真,結(jié)果如所示,可見在轉(zhuǎn)速及轉(zhuǎn)角都較大時(shí),轉(zhuǎn)矩分配比例變化較大,此時(shí)車體運(yùn)動(dòng)的離心力產(chǎn)生的側(cè)翻力矩起了決定性的作用。
車輛轉(zhuǎn)彎轉(zhuǎn)矩分配比仿真結(jié)果進(jìn)一步簡化計(jì)算,只考慮離心力對(duì)垂直載荷的影響。由汽車動(dòng)力學(xué)分析可知,對(duì)于靜止或筆轉(zhuǎn)彎時(shí)離心力產(chǎn)生的側(cè)向翻滾力矩為轉(zhuǎn)彎時(shí)驅(qū)動(dòng)后車輪的載荷為N3二可以證明,對(duì)于<0.7的車體和<30的轉(zhuǎn)彎狀況,以r=估算,其誤差在5%以內(nèi)。
故在此條件下,可得轉(zhuǎn)矩比為式(6),其仿真結(jié)果如所示,可以看出在中低速和轉(zhuǎn)角不過大的條件下,這種簡化的計(jì)算可以滿足工程要求。
簡化的車輛轉(zhuǎn)彎轉(zhuǎn)矩分配比仿真結(jié)果控制踏板輸入相當(dāng)于轉(zhuǎn)矩控制指令,采用線性調(diào)節(jié)負(fù)反饋的電流控制,從的控制框圖得出輸出特性如式(7)所示,機(jī)械特性如所示,和內(nèi)燃機(jī)汽車的踏板控制比較類似,有與傳統(tǒng)汽車類似的駕駛感覺。
轉(zhuǎn)矩控制框圖本文所設(shè)計(jì)的基于DSP2407的電子差速控制系統(tǒng)總體框圖如所示。功率電路采用半橋調(diào)制方式,可以降低逆變器的開關(guān)損耗,三相Y聯(lián)接的無刷直流方波輪轂電機(jī)采用兩兩導(dǎo)通方式,即每一瞬間有兩個(gè)功率管導(dǎo)通,每隔60°電角度換相一次,每個(gè)功率管導(dǎo)通120°電角度。DSP選用美國德州儀器公司的電機(jī)微控制器TMS320X2407,其采用高性能靜態(tài)CMOS技術(shù),使得供電電壓降到3.3V,減小了控制器的功耗,兩個(gè)事件管理器模塊12路全比較PWM輸出能夠?qū)崿F(xiàn)控制兩臺(tái)電機(jī),由于DSP片內(nèi)的資源豐富,如具有AD轉(zhuǎn)換等功能模塊,使控制電路大為簡化。限于篇幅,本文著重介紹設(shè)計(jì)中幾個(gè)方面。
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Honeywell URCD Card 51305552 TDC- 2000 _____H41
Honeywell Hwy Logic Board GPCI 30732396-501 TDC 2000
Honeywell Board 4DP7APX10211 TDC- 2000 ______H39
Honeywell Keyboard 51403165-400 TDC- 3000 _____H69
Honeywell A/D Converter R3 4D7APXAD211 TDC 2000 ____H45
Honeywell Switching Board 30735863-502 TDC 2000 ____ H6
HONEYWELL TDC3000 51304754-150 HIGH LEVEL ANALOG INPUT
HONEYWELL TDC3000 51304362-150 LOW LEVEL ANALOG MUX
Honeywell TDC3000 K2LCN-2 Local Control Network
Honeywell Regulator Card 30731808-001TDC 2000 _____H44
Honeywell Output Card 30731811-1 TDC 2000 ____HH11
Honeywell Trend Memory PWB 30735974-4 TDC 2000 ____HH2
Honeywell HWY 2 Card 30731814-4 TDC 2000 ______HH3
Honeywell 12K Rom/1K Ram 51304754-150 30750218-9 TDC 2000 ______HH5
Honeywell CMOS Card 30735857-01 TDC 2000 _____HH9
Honeywell CMOS Memory 30735857-01 TDC- 2000 ____ H40
Honeywell Trend Memory 30735974-2 TDC- 2000 _____H37
Honeywell Board 4DP7APX IO211 TDC- 2000 ____H42
Honeywell TDC 3000 51305907-175 Low Level Analog FTA
Honeywell 51304362-100 Low Level Analog Mux TDC 3000
Honeywell Output Card 30735887 TDC 2000 _____HH7
Honeywell HWY 2 Card 30750338-004 TDC 2000 _____HH8
Honeywell HWY 1 Board 30731817-4 TDC 2000 _____HH10
Honeywell Switching 51304754-150 Card 30735863-001 TDC 2000 ____HH6
Honeywell 51304754-150 HIGH LEVEL ANALOG-INPUT TDC3000
HONEYWELL TDC3000 80363972-150 DIGITAL INPUT 24 VDC
New Honeywell TDC 3000 High Level Analog Output Card
Honeywell 30735974-2 Trend Memory TDC 2000 DCS 30735974
Honeywell HWY Interface Cable Logic 30733157 TDC 2000
Honeywell 30731814-4 DCS board TDC 2000 or 30731814
Honeywell TDC-2000 Multi-Function Controller Board MFC
Honeywell TDC-2000 Multi-Function Controller Board MFC
Honeywell TDC-2000 Basic Controller Board CB010
Honeywell TDC-2000 Basic Controller Board CB010
Honeywell TDC3000 Analog Output Card REV D
Honeywell TDC3000 HIgh Level Analog Input Card 51304754
Honeywell TDC3000 Smart Transmitter Interface (STI)
Honeywell TDC3000 High Level Analog Output (HLAO)
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Honeywell TDC-2000 Basic Controller BACKPLANE
Honeywell TDC-2000 Basic MFC Controller Board
Honeywell TDC-2000 Basic MFC Controller Board
Honeywell GPCI Test Logic TDC 2000 30732386 -001___H14
Honeywell TDC-2000 Basic Operator Station EOS Disk
Honeywell TDC-2000 CMOS Memory 30735857-1 or 307358571
Honeywell PWA DEP I/F 30731820-001 TDC 2000 _____HH1
Honeywell TDC 2000/3000 PCB ,P. NO:51300409 REV B
Honeywell TDC-2000 Multi-Function Controller Board MFC
Honeywell TDC-2000 Multi-Function Controller Board MFC
Honeywell TDC-2000 Basic Controller Board CB010
Honeywell TDC-2000 Basic Controller Board CB010
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Honeywell TDC 2000/3000 PCB, P. NO:51390106 REV B
Honeywell DeltaV TDC 2000 Terminal Panel C-TCB20
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HONEYWELL TDC 3000 EMPU CONTROLLER BOARD 51400901-100
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