Çekiş Kontrolü ve Dört Tekerlek Motorlu Elektrikli Araçlar için PD-Bulanık Kontrollü Toplam Sürüş Kuvveti Dağıtım Stratejisi

Abstract

Bu makalede aracın kaygan yüzeylere geçerken aracın çekiş çalışmasını yönetmek ve kayma oranının aşırı değerlere ulaşmasını önlemek amacıyla dört tekerlekli motorlu elektrikli araçlar için bir tork dağıtım kontrol sistemi önerilmiştir. İtici güç kontrolü, önerilen kontrol sistemindeki ana kontrolördür ve iki kontrol döngüsünden oluşur. PD-Bulanık mantık ve PI-kontrol, aracın dengesini artırmak için iç kontrol döngüsünde tekerlek hız kontrolörü olarak uygulanır. Toplam talep edilen itici gücü korumak için, araç yolda düşük sürtünme katsayılı yüzey ile hareket ettiğinde kuvvet dağıtım stratejileri elde edilir. Ayrıca, araç bölünmüş kaygan yüzeylere girdiğinde bir yalpalama momenti bastırıcı olarak çalışır ve bu da aracın performansını artırır. Önerilen araç dinamikleri ve tork dağıtım kontrol sistemi Simulink-MATLAB Programı kullanılarak benzetilmiştir. Simülasyonun sonuçları önerilen yöntemin etkinliğini göstermiştir.

Keywords

• Tork dağılımı
• İtici güç kontrolü
• Elektrikli araçlar
• Bulanık kontrol

Traction Control and Total Driving Force Distribution Strategy for Electric Vehicles with Four in Wheel Motors based on PD-Fuzzy Control

Abstract

In this paper, a torque distribution control for electric vehicles with an in-wheel motor installed for each wheel is proposed in order to manage the traction operation of the vehicle and avoid slip ratio from reach extreme values while the vehicle moves into slippery surfaces. The driving force control is the main controller in the proposed control system and its consist from two control loop. PD-Fuzzy logic and PI-control are applied as a wheel speed controller in the inner control loop with the aim of improving stability and support the traction operation of the wheels. To retain the total requested driving force, force distribution strategies are obtained when the vehicle moves on the road with a low friction coefficient surface. Also, it works as a yaw moment suppressor when the vehicle runs into split slippery surfaces which improves vehicle performance. The proposed vehicle dynamics and torque distribution control system are simulated using Simulink-MATLAB Program. The results of the simulation demonstrated the effectiveness of the proposed method.

Keywords

• Torque distribution
• Driving force control
• Electric vehicles
• Fuzzy control

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