کنترل مقاوم مسیرحرکت طولی خودرو الکتریکی موتور در چرخ با لحاظ تغییرات گشتاور موتور

پذیرفته شده برای ارائه شفاهی ، صفحه 1-9 (9)

کد مقاله : 1007-ISAV2022 (R2)

نویسندگان

¹دانشکده مهندسی مکانیک

²دانشگاه خواجه نصیرالدین طوسی

چکیده

هدف این پژوهش توسعه یک الگوریتم کنترل مقاوم جهت جبران تغییرات گشتاور و ردیابی مسیرهای مطلوب خودرو می‌باشد. عملکرد مطلوب کنترلر مقاوم در جهت کاهش اثرات تغییرات گشتاور می‌باشد. در الگوریتم کنترل پیشنهادی راهکارهای مطلوبی را در جهت تعقیب و ردیابی مسیر حرکت خودرو ارائه می‌گردد. از تکنیک کنترل مقاوم با بهره وزنی در جهت جبران تغییر گشتاور و ردیابی مسیرهای حرکت مطلوب خودرو استفاده می‌گردد. یک فاکتور وزنی در جهت تنظیم اهمیت ورودی خارجی و تغییرات گشتاور تنظیم می‌گردد. نتایج شبیه‌سازی‌های انجام شده به خوبی کارائی و قابلیت‌های مطلوب الگوریتم طراحی شده را نشان می‌دهد. عملکرد کنترل خودرو با لحاظ تغییرات گشتاور به خوبی بررسی می‌گردد و الگوریتم کنترلر مسیر مطلوب را با دقت بالا تعقیب می‌نماید و پایداری خودرو نیز تضمین می‌گردد. نتایج شبیه‌سازی‌های انجام شده از طریق نرم افزار Carsim و با بهره‌گیری از یک مدل مناسب خودرو صحه‌گذاری می‌گردد. و نتایج حاصل شده عملکرد مطلوب کنترلر پیشنهادی را در جهت جبرات تغییرات گشتاور به نمایش می‌گذارد.

کلیدواژه ها

دینامیک خودرو؛ کنترل مقاوم؛ خودرو الکتریکی؛ گشتاور موتور

موضوعات

Vehicle Dynamics

Title

Robust longitudinal control of in-wheel motor electric vehicle with considering motor torque variations

Authors

Mohammad amin Ghomashi, Reza Kazemi

Abstract

The purpose of this research is to develop a robust control algorithm to compensate for torque changes and track the desired vehicle trajectories. The optimal performance of the robust controller is to reduce the effects of torque changes. In the proposed control algorithm, optimal solutions are provided to follow and track the vehicle motion path. The robust control technique with weighting gain is used to compensate for the torque change and track the desired motion trajectory of the vehicle. A weighting factor is set to adjust the importance of external input and torque changes. The results of the performed simulations show that the efficiency and desirable capabilities of the designed algorithm. The control performance of vehicle is well checked in terms of torque changes and the controller algorithm follows the desired trajectories with high precision and the vehicle stability is also guaranteed. The results of the performed simulations through the Carsim software are validated using a suitable vehicle model. And the obtained results show the optimal performance of the proposed controller in the direction of torque changes.

Keywords

Robust control, Electric Vehicle, dynamic vehicle, motor torque

مراجع

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