摘要:
轮毂驱动电动车由于采用电机分布式的布置形式,造成整车非簧载质量增加,会引起车辆安全性和整车平顺性的恶化.为此,提出一种基于电磁混合控制方式的电磁悬架.以直线电机为作动器,采用主动控制与半主动控制相结合方法对整车平顺性进行改善.系统中轮毂电机采用悬置式结构,相当于一个动力吸振器,能有效分担轮胎受到的路面垂向激励.仿真分析各质量系之间的传递特性和各性能指标(车身加速度、轮胎动载荷)的幅频特性.仿真结果表明:采用悬置式结构的悬架系统在频域内能够有效抑制车轮型共振峰,并使车轮型共振频率延后至12.8 Hz附近,避免落在人体最敏感区段4 ~12.5 Hz,同时轮胎动载荷均方根值下降13%.在此结构基础上,以改善车辆平顺性为目标,对直线电机采用天棚控制策略.结果表明:与传统悬架相比,车身加速度降低19.8%,改善了车辆平顺性.最后,在单通道台架上进行了试验,验证了悬置式结构和天棚控制策略的可行性.%In this paper,a structure of electromagnetic suspension based on hub motored electric vehicle is proposed.This structure aims at conquering the unsprung mass increase because of the motor in wheel to worsen tire grounding and ride comfort.And this structure is equivalent to dynamic vibration absorber,which can effectively share the road vertical excitation on the tire.Thus,this paper establishes the dynamic model of the electromagnetic suspension with in-wheel motor.The transfer characteristics and the performance indexes (vehicle acceleration and tire dynamic load ) between the quality systems are analyzed by simulation.The results show that the suspension system can effectively inhibit the wheel-type formant during the frequency domain,and make the wheel-shaped resonant frequency avoid falling in the most sensitive section of the human body:4-12.5 Hz. On the basis of this structure,the actuator will use the sky-hook control strategy to improve the ride comfort.Compared with the conventional suspension,the body acceleration of new system is reduced by 24.7%,tire dynamic load is decreased by %.In terms of modified structure and the sky-hook control strategy,the performance of ride comfort and tire grounding are improved obviously.Finally, the experiment is carried out on the single-aisle pedestals to verify the feasibility of the new structure and control method.The results shows that the negative effect of vertical vibration caused by the increase of the non-spring load of electric vehicle is suppressed by the new structure and sky-hook control strategy.