CAJ | 학술논문

针对四轮驱动电动轮车的研发，设计了基于电机转矩的车轮滑移率估算器，对用于驱动防滑的模型跟踪控制算法（ MFC）和最优滑移率PI控制算法进行了深入分析及优化，设计了基于滑移率估计的模糊控制算法，依据车辆单轮动力学模型对这3种驱动防滑控制算法进行了仿真分析。仿真结果表明：3种控制算法均可充分利用路面附着条件，有效进行驱动防滑控制，使汽车具有较好的稳定性。基于滑移率估计的模糊控制算法使汽车具有较好的动力性；最优滑移率控制算法使汽车具有较好的经济性；模型跟踪控制算法不需要依赖路面识别技术，算法简单，成本较低。
침대사륜구동전동륜차적연발，설계료기우전궤전구적차륜활이솔고산기，대용우구동방활적모형근종공제산법（ MFC）화최우활이솔PI공제산법진행료심입분석급우화，설계료기우활이솔고계적모호공제산법，의거차량단륜동역학모형대저3충구동방활공제산법진행료방진분석。방진결과표명：3충공제산법균가충분이용로면부착조건，유효진행구동방활공제，사기차구유교호적은정성。기우활이솔고계적모호공제산법사기차구유교호적동력성；최우활이솔공제산법사기차구유교호적경제성；모형근종공제산법불수요의뢰로면식별기술，산법간단，성본교저。
In order to develop the four in-wheel motors driven electric vehicle ( EV) , a slip-ratio estimator based on the motor torque was designed.The model following control ( MFC) and optimal slip-ratio control were analyzed and optimized. Then a fuzzy control algorithm based on the estimation of the slip-ratio was designed.All of the algorithms were simulated using the one-wheel vehicle model.The simulation results show that the algorithms do good work on the ASR and the vehicle dynam-ics.The fuzzy control algorithm makes good dynamic performance on the car.The optimal slip-ratio control algorithm makes better economy on the car.The MFC is simple and does not have to rely on the road recognition technology.