Influence of Tire Dynamics on Slip Ratio Estimation of Independent Driving Wheel System

查看全文 作　　者：LI [1]Jianqiu;SONG [1]Ziyou;WEI [1]Yintao;OUYANG [1]Minggao

机构地区：[1]State Key Laboratory of Automotive Safety and Energy, Tsinghua University

出　　处：《Chinese Journal of Mechanical Engineering》索引2014年第27卷第6期,共8页

基　　金：Supported by National Natural Science Foundation of China (Grant Nos.51275264,51275265);National Hi-tech Research and Development Program of China (Grant No.2012DFA81190) 摘　　要：The independent driving wheel system, which is composed of in-wheel permanent magnet synchronous motor(I-PMSM) and tire, is more convenient to estimate the slip ratio because the rotary speed of the rotor can be accurately measured. However, the ring speed of the tire ring doesn't equal to the rotor speed considering the tire deformation. For this reason, a deformable tire and a detailed I-PMSM are modeled by using Matlab/Simulink. Moreover, the tire/road contact interface(a slippery road) is accurately described by the non-linear relaxation length-based model and the Magic Formula pragmatic model. Based on the relatively accurate model, the error of slip ratio estimated by the rotor rotary speed is analyzed in both time and frequency domains when a quarter car is started by the I-PMSM with a definite target torque input curve. In addition, the natural frequencies(NFs) of the driving wheel system with variable parameters are illustrated to present the relationship between the slip ratio estimation error and the NF. According to this relationship, a low-pass filter, whose cut-off frequency corresponds to the NF, is proposed to eliminate the error in the estimated slip ratio. The analysis, concerning the effect of the driving wheel parameters and road conditions on slip ratio estimation, shows that the peak estimation error can be reduced up to 75% when the LPF is adopted. The robustness and effectiveness of the LPF are therefore validated. This paper builds up the deformable tire model and the detailed I-PMSM models, and analyzes the effect of the driving wheel parameters and road conditions on slip ratio estimation. 关键词：估计误差轮胎变形驱动轮滑移率系统动力学 SIMULINK 永磁同步电动机

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Influence of Tire Dynamics on Slip Ratio Estimation of Independent Driving Wheel System

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