[分布式驱动电动汽车动力学控制]电动汽车对开坡道双模耦合驱动控制

基于所发明的双模耦合驱动系统开展了电动汽车对开坡道通过性能提升研究。分析了该驱动系统在对开路面上的转矩输出特性以及通过性控制方案；根据驱动轮滑转率门限制定了变模控制触发判定规则；针对驱动电机在变模过程中的主动调速要求，设计了其模糊-PID控制器；根据变模执行机构电机的参考角位移曲线，设计了其预测函数控制器；通过与其他驱动模式的台架和实车试验对比，验证了系统转矩输出特性以及变模控制的实际效果。研究结果表明，双模耦合驱动系统的转矩输出特性符合电动汽车的技术需求，其灵活的变模控制功能大幅提升了车辆在对开坡道上的通过性能。

Dual-mode Coupling Drive Control for Electric Vehicles on a Bisectional Ramp

The pass ability improvement of electric vehicles on bisectional ramps were done based on the invented dual-mode coupling drive systems. The torque output characteristics of the dual-mode coupling drive systems on a bisectional pavements and the pass ability control programs were analyzed. Then， the judgment rules of the mode switching control triggers were established according to the thresholds of the drive wheels slip ratios. Aimed at the initiative to adjust the rotational speeds of the drive motors in the processes of changing modes， fuzzy-PID controllers were established. The predictive function controllers were established according to the reference angular displacement curves of the mode switching actuators. Finally， the torque output characteristics and the actual mode-switching control effectiveness of the dual-mode coupling drive system were verified by comparison with other driving modes with bench and real car tests. The results show that the torque output characteristics of the dual-mode coupling drive system are very much in line with the technical requirements of electric vehicles. The flexible mode switching control functions improve the vehicle pass ability greatly on the bisectional ramps.