四轮独立驱动电动汽车性能仿真方法研究

四轮独立驱动电动汽车整车控制策略仿真研究
王灿
【期刊名称】《成都工业学院学报》
【年(卷),期】2024(27)1
【摘要】基于控制器局域网总线(CAN)对四轮独立驱动电动汽车整车控制策略进行优化。

控制策略采用了将比例积分微分(PID)与模糊算法融合的模糊比例积分微分控制算法,使用CAN总线进行整车控制,经模糊PID控制算法可获得车轮滑转率最优比及电机转动转矩,可有效实现驱动的防滑操作。

并基于Matlab软件建立的整车动力学模型进行政策控制策略的仿真,模糊PID控制算法控制仿真结果表明,调节电机信号输出后,及时进行信号反馈,可形成特定闭环控制系统,实现实际滑转率稳定在最优滑转率附近,并且稳定性高,控制较精准。

在模糊PID控制算法控制下,当转向角较小时,4个轮胎纵向力输出基本相等。

在转向工况下,两转向前轮,尤其是外侧转向轮,则会输出较大侧向力,在不转向工况下,两后轮输出具有较小的侧向力。

在转向工况下,仿真结果在可接受范围内,结果验证了控制策略的合理性。

【总页数】7页(P18-24)
【作者】王灿
【作者单位】泉州师范学院交通与航海学院
【正文语种】中文
【中图分类】TP391.9
【相关文献】
1.轮毂驱动电动汽车整车操纵稳定性仿真研究
2.基于模糊控制的后轮独立驱动纯电动汽车驱动控制策略研究
3.前后轴独立驱动的增程式电动汽车整车控制策略
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四轮独立驱动电动汽车驱动防滑控制仿真研究作者：廖自力蔡立春刘春光来源：《现代信息科技》2018年第02期摘要：为解决车辆在起步或加速过程中车轮容易打滑的问题，本文以单轮车辆为研究对象，在Matlab/Simulink中建立了车辆模型、轮胎模型和电机模型。

设计了模糊控制器，并对建立的汽车驱动防滑控制模型进行仿真研究，得出仿真曲线。

结果表明，建立的汽车模型符合实际，设计的模糊控制算法能够实时对车辆转矩进行调节，从而有效控制汽车滑移率，提高汽车驱动稳定性，其性能优于传统的PID控制器，具有较高实际应用价值。

关键词：电动汽车；滑移率；防滑控制；模糊控制；PID控制中图分类号：U469.7 文献标识码：A 文章编号：2096-4706（2018）02-0041-03Simulation Research on Anti-skid Control of Electric Vehicle Driven by FourWheel Independent DriveLIAO Zili，CAI Lichun，LIU Chunguang（Armorde Forces Academy of PLA Army，Beijing 100072，China）Abstract：In order to solve the problem that the wheel slips easily during the starting or accelerating process of the vehicle.In this paper，a single wheel vehicle is taken as the research object.A vehicle model，a tire model and a motor model are established in Matlab/Simulink.The fuzzy controller is designed，and the simulation research on the model of automobile driving anti slip control is carried out，and the simulation curve is obtained.The results show that the vehicle model is consistent with the actual，the fuzzy control algorithm to design of real-time vehicle torque adjustment，so as to effectively control the vehicle slip rate，improve vehicle driving stability，its performance is better than the traditional PID controller，it has the practical application value.Keywords：electric vehicle；slip rate； antiskid control；fuzzy control；PID control0 引言汽车在起步或加速时车轮容易发生打滑，这时就需要对驱动轮上的转矩进行调节。

四轮驱动系统的仿真与优化设计四轮驱动系统是一种以四个车轮为驱动力的系统，与前驱或后驱车辆相比，具有更好的牵引力和稳定性。

随着汽车工业技术的发展，越来越多的汽车采用四轮驱动系统，如越野车、赛车等。

在车辆设计中，仿真与优化可以大大提高四轮驱动系统的性能，保证其安全性和可靠性。

一、四轮驱动系统的基本原理四轮驱动系统是将动力分配到四个车轮，以达到更好的牵引力和行驶稳定性。

四轮驱动系统主要有两种类型：全时四驱（AWD）和可调四驱（4WD)。

全时四驱系统一直处于四轮驱动状态，适用于各种路况；可调四驱系统能够切换到两轮驱动状态，以降低油耗和轮胎磨损。

四轮驱动系统的核心是中央差速器，它能够平衡前后轴的转速差，确保车辆稳定性。

中央差速器的设计需要考虑扭矩分配、载荷分配和制动力分配等因素，以达到最佳性能。

二、四轮驱动系统的仿真分析在车辆设计中，仿真是一种重要的工具，可以模拟不同的工况和驾驶方式，预测系统的性能和行驶稳定性。

四轮驱动系统的仿真需要考虑以下几个方面：1、扭矩分配扭矩分配是决定四个车轮受到的驱动力的重要参数，它取决于车辆结构、发动机性能和四轮驱动系统的设计。

应用仿真分析，可以计算不同驾驶条件下的扭矩分配情况，从而优化四轮驱动系统的性能。

2、行驶稳定性行驶稳定性是保证车辆安全驾驶的重要因素。

采用仿真分析，可以模拟车辆在不同路况下的行驶状态，如制动、起步和转弯等，从而预测车辆的稳定性和操控性。

3、功率分配功率分配是决定四个车轮驱动能力的参数，它是影响车辆加速性能和燃油消耗的重要因素。

利用仿真工具，可以计算不同驾驶条件下的功率分配情况，从而优化车辆的性能和燃油经济性。

三、四轮驱动系统的优化设计在四轮驱动系统设计过程中，需要综合考虑驾驶需求、车辆性能和安全要求，以达到最佳性能。

下面是一些常用的优化设计方法：1、扭矩分配优化通过改变中央差速器的齿轮比例，可以改变扭矩分配情况。

如果需要更好的牵引力，则应将前、后轮扭矩的分配比例设为50:50；如果需要更好的操控性，则应将前轮扭矩占比增加到60%或以上。

电动汽车论文：四轮独立转向四轮独立驱动目标函数仿真分析MATLAB【提示】本文仅提供摘要、关键词、篇名、目录等题录内容。

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【摘要】车辆的操纵稳定性是评价车辆主动安全性能重要指标之一，对于如何评价车辆稳定性能，是研究车辆安全性能一个非常重要的课题。

四轮独立转向系统车辆能够很好的改善汽车横向动力学特性，本课题的研究是基于四轮独立转向系统控制策略下的操纵动力学特性，对四轮独立转向电动汽车仿真进行了分析和研究。

首先，介绍了燕山大学独立开发设计的四轮独立驱动四轮独立转向(4WID-4WIS)电动汽车硬件结构以及控制系统组成，在此车辆基础上建立整车二自由度动力学线性模型，应用Matlab软件对此线性模型进行离散化处理，得到相应矩阵参数，建立不同速度的离散化模型，为下文控制器模型设计打下基础。

其次，对整车控制器进行设计。

建立不同速度模型下离散模型目标函数，应用Fmincon函数建立控制器优化函数，通过仿真试验验证，确定横摆角速度和质心侧偏角参数最佳组合。

最后，通过仿真实验验证控制器模型正确性。

在Matlab/Simulink模块中建立整车仿真模型，对低速、中高速下直线工况、加减速工况及转向工况分别进行仿真研究，分析车辆质心侧偏角和横摆角速度响应特性变化规律，同时得出车轮转角和车轮纵向力曲线。

仿真试验结果表明，对于四轮独立转向电动车，本文所设计控制器能够很好地改善其操纵稳定性，验证了控制器正确性。

【关键词】电动汽车；四轮独立转向；四轮独立驱动；目标函数；仿真分析；MATLAB；【篇名】四轮独立转向电动汽车的转向控制仿真研究【目录】四轮独立转向电动汽车的转向控制仿真研究摘要5-6Abstract6第1章绪论9-14 1.1 课题背景及研究意义9-11 1.1.1 电动汽车9-10 1.1.2 四轮独立转向技术10-11 1.1.3 动力学仿真技术11 1.2 国内外研究现状11-13 1.2.1 国外研究现状11-12 1.2.2 国内研究现状12-13 1.3 主要研究工作13-14 1.3.1 技术路线13 1.3.2 本文主要研究内容13-14第2章硬件介绍及建立车辆动力学模型14-26 2.1 硬件介绍14-18 2.1.1 硬件介绍14-17 2.1.2 四轮独立转向控制系统17-18 2.2 建立 4WIS 二自由度动力学模型18-25 2.2.1 轮胎数学模型18-19 2.2.2 四轮独立转向线性动力学模型19-22 2.2.3 可控性和可观测性22-23 2.2.4 连续模型离散化23-25 2.3 本章小结25-26第3章控制器设计26-44 3.1 控制策略研究26-28 3.1.1 传统四轮转向汽车控制系统26-27 3.1.2 四轮独立转向控制思想27-28 3.1.3 整车控制框图28 3.2 控制器设计28-34 3.2.1 问题提出28-30 3.2.2 确定目标函数30-33 3.2.3 Fmincon 函数介绍33-34 3.3 软件介绍及确定参数34-43 3.3.1 Matlab 软件简介34 3.3.2 确定参数C1 和C34-39 3.3.3 确定参数α1 和α239-43 3.4 本章小结43-44第4章仿真试验结果及分析44-59 4.1 建立仿真系统模型44-45 4.2 仿真及分析45-57 4.2.1 直线行驶工况分析45-51 4.2.2 转向工况分析51-53 4.2.3 加速工况分析53-55 4.2.4 减速工况分析55-57 4.3 仿真试验结论57-58 4.4 本章小结58-59结论59-60参考文献60-63攻读硕士学位期间承担的科研任务与主要成果63-64致谢64-65作者简介65（英文版）Two regulations promulgated for implementation is in the party in power for a long time and the rule of law conditions, the implementation of comprehensive strictly strategic plan, implementation in accordance with the rules and discipline to manage the party, strengthen inner-party supervision of major initiatives. The two regulations supporting each other, the < code > adhere to a positive advocate, focusing on morality is of Party members and Party leading cadres can see, enough to get a high standard; < rule > around the party discipline, disciplinary ruler requirements, listed as "negative list, focusing on vertical gauge, draw the party organizations and Party members do not touch the" bottom line ". Here, the main from four square face two party rules of interpretation: the first part introduces two party Revised regulations the necessity and the revision process; the second part is the interpretation of the two fundamental principles of the revision of laws and regulations in the party; the third part introduces two party regulations modified the main changes and needs to grasp several key problems; the fourth part on how to grasp the implementation of the two regulations of the party. < code > and < Regulations > revised the necessity and revisedhistory of the CPC Central Committee the amendment to the Chinese Communist Party members and leading cadres honest politics several guidelines > and < Chinese Communist Party discipline and Punishment Regulations > column 1 by 2015 to strengthen party laws and regulations focus. Two party regulations revision work lasted a Years, pooling the wisdom of the whole party, ideological consensus, draw historical experience, respect for the wisdom of our predecessors, which reflects the unity of inheritance and innovation; follow the correct direction, grasp the limited goals, adhere to the party's leadership, to solve the masses of the people reflect a focus on the problem. The new revision of the < code > and < rule >, reflects the party's 18 and the eighth session of the third, the spirit of the fourth plenary session, reflecting the experience of studying and implementing the General Secretary Xi Jinping series of important speech, reflects the party's eighteen years comprehensive strictly practice. (a) revised two regulations of the party need of < the ICAC guidelines > in < in 1997 Leaders as members of the Communist Party of China clean politics certain criteria (Trial) > based on revised, the promulgation and implementation of January 2010, to strengthen the construction of the contingent of leading cadres play animportant role. But with the party to manage the party strictly administering the deepening, has not been able to fully meet the actual needs. Content is too complicated, "eight prohibition, 52 are not allowed to" hard to remember, and also difficult to put into practice; the second is concisely positive advocated by the lack of prohibited provisions excessive, no autonomy requirements; the third is banned terms and discipline law, both with the party discipline, disciplinary regulations repeat and Criminal law and other laws and regulations repeat; the fourth is to "clean" the theme is not prominent, not for the existing problems, and is narrow, only needle of county-level leading cadres above. < rule > is in 1997 < Chinese Communist Party disciplinary cases (Trial) > based on revision, in December 2003 the promulgation and implementation, to strengthen the construction of the party play very important role. Along with the development of the situation, which many provisions have been unable to fully meet the comprehensive strictly administering the practice needs. One is Ji law, more than half of the provisions and criminal law and other countries laws and regulations Repetition; two is the political discipline regulations is not prominent, not specific, for violation of the party constitution, damage theauthority of Party Constitution of misconduct lack necessary and serious responsibility to pursue; third is the main discipline for the leading cadres, does not cover all Party members. Based on the above situation, need to < the criterion of a clean and honest administration > and < rule > the two is likely to be more relevant regulations first amendment. By revising, really put the authority of Party discipline, the seriousness in the party tree and call up the majority of Party members and cadres of the party constitution of party compasses party consciousness. (II) two party regulations revision process the Central Committee of the Communist Party of China attaches great importance to two regulations revision . Xi Jinping, general books recorded in the Fifth Plenary Session of the eighth session of the Central Commission for Discipline Inspection, on the revised regulations < > made clear instructions. According to the central deployment, the Central Commission for Discipline Inspection from 2014 under six months begin study two regulations revision. The Standing Committee of the Central Commission for Discipline Inspection 4 review revised. Comrade Wang Qishan 14 times held a special meeting to study two regulations revision, amendment clarifies the direction, major issues of principle, path and target,respectively held a forum will listen to part of the province (area) secretary of the Party committee, Secretary of the Discipline Inspection Commission, part of the central ministries and state organs DepartmentThe first party committee is mainly responsible for people, views of experts and scholars and grassroots party organizations and Party members. Approved by the Central Committee of the Communist Party of China, on 7 September 2015, the general office of the Central Committee of the Party issued a notice to solicit the provinces (autonomous regions, municipalities) Party, the central ministries and commissions, state ministries and commissions of the Party (party), the General Political Department of the military, every 3 people organization of Party of two regulations revision opinion. Central Commission for Discipline Inspection of extensive solicitation of opinions, careful study, attracting, formed a revised sent reviewers. In October 8 and October 12, Central Committee Political Bureau Standing Committee and the Political Bureau of the Central Committee After consideration of the two regulations revised draft. On October 18, the Central Committee of the Communist Party of China formally issued two regulations. Can say, two laws amendment concentrated thewisdom of the whole party, embodies the party. Second, < code > and < Regulations > revision of the basic principles of two party regulations revision work and implement the party's eighteen, ten eight plenary, the spirit of the Fourth Plenary Session of the Eleventh Central Committee and General Secretary Xi Jinping important instructions on the revised < low political criterion > and < Regulations >, highlighting the ruling party characteristics, serious discipline, the discipline quite in front of the law, based on the current, a long-term, advance as a whole, with Bu Xiuding independent < rule > and < rule >. Main principle is: first, adhere to the party constitution to follow. The constitution about discipline and self-discipline required specific, awaken the party constitution of party compasses party consciousness, maintaining the authority of the constitution. General Secretary Xi Jinping pointed out that "no rules, no side round. Party constitution is the fundamental law, the party must follow the general rules. In early 2015 held the eighth session of the Central Commission for Discipline Inspection Fifth Plenary Session of the 16th Central Committee, Xi Jinping again pointed out that constitution is the party must follow the general rules, but also the general rules." the revision of the< code > and < rule > is Method in adhere to the regulations established for the purpose of combining rule of virtue is to adhere to the party constitution as a fundamental to follow, the constitution authority set up, wake up the party constitution and party rules the sense of discipline, the party constitution about discipline and self-discipline specific requirements. 4 second is to adhere to in accordance with the regulations governing the party and the party. The Party of rule of virtue "de", mainly refers to the party's ideals and beliefs, excellent traditional style. The revised the < code > closely linked to the "self-discipline", insisting on the positive initiative, for all members, highlight the "vital few", emphasized self-discipline, focusing on the morality, and the majority of Party members and the ideological and moral standards. The revised < > Ji method separately, Ji, Ji Yan to Method, as a "negative list", emphasizing the heteronomy, focusing on vertical gauge. Is this one high and one low, a positive reaction, the strict party discipline and practice results transformation for the integration of the whole party to observe moral and discipline requirements, for the majority of Party members and cadres provides benchmarking and ruler. Third, insist on to. In view of the problems existing in theparty at the present stage, the main problems of Party members and cadres in the aspect of self-discipline and abide by the discipline to make clearly defined, especially the party's eighteen years strict political discipline and political rules, organization and discipline and to implement the central eight provisions of the spirit against the four winds and other requirements into Disciplinary provisions. Not one pace reachs the designated position, focusing on in line with reality, pragmatic and effective. After the revision of major changes, major changes in the < code > and < rule > modified and needs to grasp several key problems (a) < code > < code > adhere to according to regulations governing the party and party with morals in combination, for at the present stage, the leadership of the party members and cadres and Party members in existing main problems of self-discipline, put forward principles, requirements and specifications, showing Communists noble moral pursuit, reflected at all times and in all over the world ethics from high from low 5 common requirements. One is closely linked to the "self-discipline", removal and no direct relation to the provisions of . the second is adhere to a positive advocate, "eight prohibition" 52 are not allowed to "about the content of the" negative list moved into synchronizationamendment < cases >. Three is for all the party members, will apply object from the leadership of the party members and cadres to expand to all Party members, fully embodies the comprehensive strictly required. The fourth is prominent key minority, seize the leadership of the party members and cadres is the key, and put forward higher requirements than the ordinary Party members. Five is to simplify, and strive to achieve concise, easy to understand, easy to remember. The revised < code > is the ruling Party since the first insists on a positive advocate forAll Party members and the self-discipline norms, moral declaration issued to all members of the party and the National People's solemn commitment. > < criterion of a clean and honest administration consists of 4 parts, 18, more than 3600 words. After the revision of the < code >, a total of eight, 281 words, including lead, specification and Party member cadre clean fingered self-discipline norms, etc. Part 3 members low-cost clean and self-discipline, the main contents can be summarized as "four must" "eight code". Lead part, reiterated on ideal and faith, fundamental purpose, the fine traditions and work style, noble sentiments, such as "four must" the principle of requirements, strong tone of self-discipline, The higher request for 6 andsupervised tenet, the foothold in permanent Bao the party's advanced nature and purity, to reflect the revised standards requirements. Members of self-discipline norms around the party members how to correctly treat and deal with the "public and private", "cheap and rot" thrifty and extravagance "bitter music", put forward the "four norms". Party leader cadre clean fingered self-discipline norms for the leadership of the party members and cadres of the "vital few", around the "clean politics", from civil servant of the color, the exercise of power, moral integrity, a good family tradition and other aspects of the leadership of the party members and cadres of the "four norms" < > < norm norm. "The Party member's self-discipline norms" and "party members and leading cadre clean fingered self-discipline norms," a total of eight, collectively referred to as the "eight". "Four must" and "eight" of the content from the party constitution and Party's several generation of leaders, especially Xi Jinping, general secretary of the important discussion, refer to the "three discipline and eight points for attention" statements, and reference some embody the Chinese nation excellent traditional culture essence of epigrams. (2) the revised regulations, the main changes in the revised Regulations > to fully adapt to thestrictly requirements, reflects the according to the regulations governing the law of recognition of deepening, the realization of the discipline construction and Jin Ju. < rule > is party a ruler, members of the basic line and follow. And the majority of Party members and cadres of Party organizations at all levels should adhere to the bottom line of thinking, fear discipline, hold the bottom line, as a preventive measure, to keep the party's advanced nature and purity. 1, respect for the constitution, refinement and discipline. Revised < rule > from comprehensive comb physical constitution began, the party constitution and other regulations of the Party of Party organizations and Party discipline requirements refinement, clearly defined in violation of the party constitution will be in accordance with regulations to give the corresponding disciplinary action. The original 10 categories of misconduct, integration specification for political discipline, discipline, honesty and discipline masses Ji Law and discipline and discipline and other six categories, the content of < rule > real return to Party discipline, for the majority of Party members and listed a "negative list. 7 2, highlighting the political discipline and political rules. > < Regulations according to the stage of the discipline of outstandingperformance, emphasizing political discipline and political rules, organization and discipline, in opposition to the party's leadership and the party's basic theory, basic line, basic program and basic experience, the basic requirement of behavior made prescribed punishment, increase the cliques, against the organization such as violation of the provisions, to ensure that the central government decrees and the Party of centralized and unified. 3, adhere to strict discipline in the law and discipline In front, Ji separated. Revised < Regulations > adhere to the problem oriented, do Ji separated. Any national law existing content, will not repeat the provisions, the total removal of 79 and criminal law, repeat the content of the public security management punishment law, and other laws and regulations. In the general reiterated that party organizations and Party members must conscientiously accept the party's discipline, die van comply with national laws and regulations; at the same time, to investigate violations of Party members and even criminal behavior of Party discipline and responsibility, > < Regulations distinguish five different conditions, with special provisions were made provisions, so as to realize the connection of Party discipline and state law. 4, reflect Wind building and anti-corruptionstruggle of the latest achievements. < rule > the party's eighteen years implement the spirit of the central provisions of the eight, against the requirements of the "four winds" and transformation for disciplinary provisions, reflecting the style construction is always on the road, not a gust of wind. In the fight against corruption out of new problems, increase the trading rights, the use of authority relatives profit and other disciplinary terms. Prominent discipline of the masses, the new against the interests of the masses and ignore the demands of the masses and other disciplinary terms and make provisions of the disposition and the destruction of the party's close ties with the masses.Discipline to protect the party's purpose. 8 of these regulations, a total of three series, Chapter 15, 178, more than 24000 words, after the revision of the regulations a total of 3 series, Chapter 11, 133, 17000 words, divided into "general" and "special provisions" and "Supplementary Provisions" Part 3. Among them, add, delete, modify the provisions of the proportion of up to nearly 90%. 1, the general general is divided into five chapters. The first chapter to the regulations of the guiding ideology, principles and scope of application of the provisions, highlight the strengthening ofthe party constitution consciousness, maintenance the authority of Party Constitution, increase the party organizations and Party members must abide by the party constitution, Yan Centralized centralized, would examine at all levels of the amended provisions implementing and maintaining Party discipline, and consciously accept the party discipline, exemplary compliance with national laws and regulations. The second chapter of discipline concept, disciplinary action types and effects of the regulations, will be a serious warning from the original a year for a year and a half; increase the Party Congress representative, by leaving the party above (including leave probation) punishment, the party organization should be terminated its representative qualification provisions. The third chapter of the disciplinary rules of use prescribed in the discipline rectifying process, non convergence, not close hand classified as severely or heavier punishment. "Discipline straighten "At least eighteen years of five years, these five years is to pay close attention to the provisions of the central eight implementation and anti -" four winds ". The fourth chapter on suspicion of illegal party disciplinary distinguish five different conditions, with special provisions were madeprovisions, to achieve effective convergence of Party and country 9 method. < rule > the provisions of Article 27, Party organizations in the disciplinary review found that party members have committed embezzlement, bribery, dereliction of duty dereliction of duty and other criminal law act is suspected of committing a crime shall give cancel party posts, probation or expelled from the party. The second is < Regulations > Article 28 the provisions of Party organizations in the disciplinary review But found that party members are stipulated in the criminal law, although not involved in a crime shall be investigated for Party discipline and responsibility should be depending on the specific circumstances shall be given a warning until expelled punishment. This situation and a difference is that the former regulation behavior has been suspected of a crime, the feeling is quite strict, and the latter for the behavior not involving crime, only the objective performance of the provisions of the criminal code of behavior, but the plot is a crime to slightly. < Regulations > the 29 provisions, Party organizations in the discipline review found that party members and other illegal behavior, affect the party's image, the damage to the party, the state and the people's interests, we should depend on the situationSeriousness given disciplinary action. The loss of Party members, seriously damaging the party's image of behavior, should be given expelled from the party. At this article is party member is in violation of the criminal law outside the other illegal acts, such as violates the public security administration punishment law, customs law, financial laws and regulations behavior. The fourth is < cases > Article 32 stipulates, minor party members and the circumstances of the crime, the people's Procuratorate shall make a decision not to initiate a prosecution, or the people's court shall make a conviction and exempted from criminal punishment shall be given within the party is removed from his post, probation or expelled from the party. Party members and crime, sheets were fined in accordance with For acts; the principal Ordinance amended the provisions of the preceding paragraph. This is the new content, in order to achieve Ji method effective convergence. Five is < > the thirty third article 10 of the provisions, the Party member due to an intentional crime is sentenced to criminal law (including probation) sheets or additional deprivation of political rights; due to negligence crime and was sentenced to three years or more (excluding three years) a penalty, shall give expelled punishment. Due to negligence crime is convictedand sentenced to three years (including three years) in prison or be sentenced to public surveillance, detention, shall in general be expelled from the party. For the individual may not be expelled from the party, should control Approval. This is followed and retained the original > < Regulations the provisions of punishment party authorization rules and report to a level party organizations. For is "party members with criminal acts, and by the criminal punishment, generally should be expelled from the party". The fifth chapter of probationary Party member of the discipline and discipline after missing members of the treatment and punishment decisions, such as the implementation of the provisions, clear the related party discipline and punishment decision made after, for duties, wages and other relevant alteration formalities for the longest time. 2, sub sub section will the original regulations of10 categories of acts of violation of discipline integration revised into 6 categories, respectively, in violation of the punishments for acts of political discipline "in violation of discipline behavior of punishment" in violation of integrity of disciplinary action points "of violation punishments for acts of mass discipline" "the violation of work discipline, punishment" in violation of discipline of life behaviorpunishment "6 chapters. 3, annex" Supplementary Provisions "clear authority making supplementary provisions of, cases of interpretative organ, as well as regulations implementation time and retroactivity etc.. 11 (3) learning understanding > < regulations needs to grasp several key problems The first problem -- about the violation of political discipline behavior > < new ordinance chapter 6 the political discipline column for the six disciplines, that is the main opposition to Party leadership and the opposition of the basic theory, basic line, basic program and basic experience, basic requirements of misconduct made provisions of the disposition, especially the eighteen since the CPC Central Committee put forward the Yan Mingzheng treatment of discipline and political rules requirements and practical achievements transformation for Discipline article, increase the false debate central policies, cliques, against the organization review, make no discipline of the principle of harmony terms. These are the party's eighteen years in comprehensive strictly Process combined with the practice of rich content. (1) false debate the central policies and undermine the Party of centralized and unified the problem is made in accordance with the provisions of the party constitution. Constitution in general programme requirementsadhere to democratic centralism is one of the requirements of the construction of the party must adhere to the four cardinal. Application of this principle is not only the party the basic organization principle and is also the mass line in party life, it requires that we must fully develop inner-party democracy, respect for the dominant position of Party members, safeguarding the Party member democratic rights, give full play to the enthusiasm and creativity of the party organizations at all levels and Party members, at the same time, also must implement the right concentration, ensure the party's mission < the chaos in unity and concerted action to ensure that the party's decision to get quickly and effectively implementing. The Party Central Committee formulated the major principles and policies, through different channels and ways, fully listen to the party organizations and Party members of the opinions and suggestions, but 12 is some people face to face not to say back blather "" will not say, after the meeting said, "" Taiwan does not say, and nonsense ", in fact, not only disrupt the people thought, some causing serious consequences, the damage to the Party of the centralized and unified, hinder the central policy implementation, but also a serious violation of the democratic system of principles. There is no doubt that shall, inaccordance with the Regulations > 4 Specified in Article 6 to give the appropriate punishment. For did not cause serious consequences, to give criticism and education or the corresponding tissue processing. (2) about the destruction of the party's unity < New Regulations > the forty eighth to fifty second article, to damage Party's unity unified and violation of political discipline, punishment situation made explicit provisions. Article 52 of the new "in the party get round group, gangs seek private gain, cliques, cultivate private forces or through the exchange of interests, for their own to create momentum and other activities to gain political capital, given a serious warning or withdraw from their party posts disposition; if the circumstances are serious, to give Leave a party to observation or expelled from the party. (3) on against the organization review of the provisions of the constitution, party loyalty honesty is party members must comply with the obligations. Members must obey the organization decision, shall not violate the organization decided encounters by asking questions to find organization, rely on the organization, shall not deceive the organization, against the organization. For example, after the investigation does not take the initiative to explain the situation, but to engage in。

电动轮驱动的电动汽车动力学仿真前言采用电动轮独立驱动方式的电动汽车具有广阔的发展前景。

在根据实际行驶状况调节驱动轮转矩时，传统的驱动方式往往存在着局限性。

而采用四电动轮独立驱动方式，在理论上就可以依照变速、转向等不同情况直接控制各轮的输出转矩，既可以避免部分车轮因转矩过大而对地滑转，又能够根据需求提供足够的驱动力。

因此，电动轮独立驱动方式在操控性和驱动效率等方面较传统驱动方式具有显著的优势。

目前该领域已有一些积极的研究。

Yoichi Ho2ri等设计并制造了由四电动轮独立驱动的电动汽车“UOT ElectricMarch II”，并在此车上试验了防抱制动系统（ABS）和牵引控制系统（TCS）的应用。

文献将滑模变结构的优化器应用到电动轮驱动电动汽车的ABS和TCS的最佳滑移率寻优控制中，设计了基于固定滑移率控制的ABS和TCS。

文献设计并试验了四电动轮独立驱动的电动汽车的电子差速系统。

然而，对于变速或转向情况下四电动轮独立驱动时各轮转矩需求变化的研究尚不多见。

作者以建模仿真这一简便有效的方法考察采用四电动轮独立驱动方式的电动汽车在变速或转向时各轮所需输出转矩变化的详细情况。

1 仿真模型的建立电动汽车的动力学模型在自然坐标系中建立，可以使用以时间为变量的速率函数v （t）和半径函数R （t）来描述xoy平面坐标系中车辆的行驶轨迹和运动状况。

在文中规定向左转向时R 为正，向右转向时R 为负，R 的绝对值表征转向半径大小。

直线行驶时R 趋向于无穷大。

这样就消除了在绝对坐标系中描述车辆运动状况时所用的横摆角速度这一参量，使模型更加简洁。

建模过程中对环境及车辆特性做如下假设:路面水平，轮胎宽度不计且胎体刚性，四轮的转矩均可独立控制;前后轮均可转向，行进过程中无对地滑移，使转向半径通过整车质心;整车质心在中轴线上;不考虑俯仰和侧倾，无悬架作用;除前进方向上的空气阻力外，忽略其它空气动力学影响因素。

当车辆加速或减速时，依据力矩平衡原理，各轮的载荷会有变化。

基于CarSim和Matlab四轮独立驱动轮毂电机电动汽车驱动控制系统的研究作者：梅鸣来源：《山东工业技术》2016年第21期摘要：针对四轮独立驱动轮毂电机电动汽车驱动控制系统进行了建模与仿真，在传统PID 的基础上引入SOA智能优化算法，最后验证了所建立的CarSim和Matlab车辆模型的合理性。

关键词：电动汽车；驱动控制系统；车辆模型；SOA智能优化算法DOI：10.16640/ki.37-1222/t.2016.21.1630 引言近年来，绿色环保与可持续发展成为日益重要的发展理念。

本文研究的轮毂电机驱动电动汽车在现有商用化电动汽车的基础上省略了减速器、差速器和传动轴等机械零部件部件，直接由整车控制器发出控制信号直接控制车轮，这样节省车内空间，更容易实现电动车的微型化、轻量化[1-2]。

本文将CarSim中的内燃机模型和传动系统模型，修改为毂电机模型，在Matlab/Simulink中搭建电机模型和控制系统模块，在联合CarSim进行联合仿真。

1 四轮轮毂电机电动汽车建模在Matlab/Simulink中搭建轮毂电机模型，去掉CarSim中的传统内燃机汽车模型，通过Matlab/Simulink和CarSim联合仿真，搭建出四轮独立驱动轮毂电机电动汽车整车模型。

1.1 轮毂电机建模轮毂电机无刷直流电机，其主要由电机本体、霍尔位置传感器和电子逆变器构成。

无刷直流电机数学模型形式可表示为：其中ea，eb，ec分别表示定子a，b，c三相生成的梯形反电动势。

电磁转矩方程为：式中：Te为电磁转矩；w为电机角速度；Tl为负载转矩；J为转动惯量；B为黏滞摩擦系数；ua，ub，uc为绕组电压，ia， ib，ic为相电流；ea，eb，ec为相反电势；L为相绕组自感系数；M为相绕组互感系数。

式（1）、式（2）和式（3）共同构成了无刷直流电机的微分方程数学模型。

采用基于SOA的PID控制算法来控制轮毂电机，1.2 整车模型搭建打开CarSim 8.02 软件，选择B-Class， Hatchback选项作为基准车辆，将CarSim中原有的内燃机模型改为 4-wheel drive（四轮驱动），其内容定义为选择No dataset select方式，同时将四轮驱动转矩设置为车辆模型的输入量变量。

四轮毂驱动电动汽车转向运动仿真分析作者：冉滔邓林东来源：《时代汽车》2019年第07期摘要：本文對四轮毂驱动的电动汽车的转向系统进行了研究，通过汽车转向时的运动关系，给出了转向系统的各运动参数之间的关系以及数学模型。

为真实反映汽车转弯过车中的汽车，假设汽车沿蛇形路线行驶，通过Matlab对该过程进行仿真分析，得出汽车满足转向时内测车轮速度低于外侧车轮，证明了模型的合理性。

关键词：四轮毂驱动;转向系统;Matlab仿真1 前言为使汽车平稳转向，汽车转向时必须通过转向系实现内外侧车轮差速行驶，使在内外侧车轮在转向时转过相同的角度。

传统内燃机汽车为了实现转向差速行驶，在驱动桥布置了差速器以实现两侧车轮差速转弯。

四轮毂驱动的电动汽车不需要安装差速器，而是通过电控的方式独立的控制汽车的四个车轮，使四个车轮实现不同的车速转向行驶。

轮毂电机驱动的电动汽车相对于传统内燃机汽车而言，在结构上大大简化了底盘的布置，没有传动系统、差速系统等，使整车重量大大减小。

同时电池的利用效率比传统内燃机的高出很多，也没有传动系统间的机械摩擦损失，电动汽车是汽车未来的前沿发展产品之一。

2 差速转向运动分析轮毂驱动的电动汽车的转向系统是采用电子控制技术实现汽车转向的，因此对于其转向行驶的研究需要建立如图1所示的汽车转向模型。

汽车在转向时有四种转向模式，分别为四轮同时转向、前轴转向、后轴转向以及四轮同方向斜向转向。

本文以前轴转向模式建立运动模型和数学模型对其转向特性作一定的分析。

如图所示的转向系统，四轮在实现转向时将作以车外一点为圆心的圆周运动，这一点为汽车的速度瞬心点。

在进行分析前先假设汽车整个系统为刚性系统，四个车轮均做纯滚动，不考虑滑动等对结果的影响。

图中分别为汽车质心速度、左前轮速度、右前轮速度，各尺寸参数如图所示。

3 建立转向差速数学模型3.1 数学模型原理分析四轮毂驱动的电动汽车转向系统是利用四个电机嵌分别嵌入四个车轮中形成独立控制器，从而对每个车轮实现转向控制。

---------------------------------------------------------------范文最新推荐------------------------------------------------------ Simulink四轮驱动小车的数学建模及仿真摘要本课题建模的对象为前轮转向、后轮驱动的小车。

论文采用机理分析和实验测试相结合的方法，建立该智能小车在平面上运动的双输入双输出模型。

根据小车运行和控制特点，输入量选取智能小车的舵机控制信号和电机控制信号，分别控制车辆转向和前进速度，输出量选取智能小车任意时刻在平面上的坐标。

首先通过机理分析得到智能小车的模型结构，舵机模型为带延迟的一阶微分方程，电机模型为一阶微分方程，在转向时需要在电机模型中加入前轮转向对速度的影响，然后通过运动学建模分析建立智能小车的整车模型结构。

其次，通过实验测试获取不同情况下小车运行数据，接着运用最小二乘法估计出模型中的未知参数。

将得到的模型和实际小车行驶情况进行对比，验证了此模型的有效性和可靠性。

5200关键词：智能车；建模；参数估计1 / 23ABSTRACTThis modelling object is a four-wheel electric smart car. The mechanism analysis method and experimental modelling method are employed to establish a two-input two-output mathematical model for a smart car. The input of the model is servo control signal and motor control signal, which respectively controls the smart car&rsquo;s turning and speed, and the output of this model is complanate coordinate of the smart car, which has two degree of freedom. Firstly, the model structure is obtained by using mechanism analysis method. Then, the data of various scenarios for the step responses of the system are measured under different input. With least squares method applied, the parameters of the model are identified. Comparing the simulation result (using the identified model) and the actual experience data (using the smart car running with the same setting), we can see that this model is validated and proved to be reliable.Key words:smart car; kinematic model; parameter---------------------------------------------------------------范文最新推荐------------------------------------------------------ estimation目次四轮驱动最早应用于第一次世界大战的军事用车，很快这项技术在二战期间美国军事车吉普上得到广泛使用。

设计与制造Design and manufacture分贝噪音、化学污染废液、废气排放等，这些机械设备的人工操作很容易引发安全隐患和安全事故，同时维修人员再对电气自动化机械设备进行检修和维护的过程中也会受到一定的伤害，例如零件崩坏、油箱泄露、电路漏电等，会严重影响相关操作人员的身体健康和工作情绪。

然而应用智能化技术则能够实现远程控制，操作人员不需要亲身对机械进行参数设定或者是仪表数据检查，只要通过智能化系统就能够在主机控制显示屏上看到相关信息，如根据生产条件作出调整，则可通过内部智能网络传输指令就可以实现对电气自动化机械设备的性能调整，同时一旦机械设备出现异常工作状态，智能化技术会实现警报提醒，故障自检等功能，为维修人员提供强大的技术支持，可以在第一时间内处理设备问题。

3.3　智能化技术在电气自动化机械设备性能上的应用智能化技术除了改善了自动化控制和操作过程，还在一定程度上改善了原有机械设备的性能和工作效率。

如在机械制造自动化方面，通过智能化技术能够实现流水线自动化制造，只需要相关人员操作主控台就能够完成传统人力无法实现的制造工艺；其次是在工程建筑方面，智能化技术改造了传统压路机等设备，使其能够通过识别地点标识准确的完成压路工作，提高了工程施工建设质量。

最后是应用在五流运输自动化方面，能够根据包裹二维码等标识精准、快速的分拣快递，促进了运输行业的发展。

4　结束语综上所述，在电气自动化机械设备发展的进程中，结合智能化技术是生产力的要求，是时代发展与工业现代现代化建设的必然趋势，从传统的人工操作到基础自动化控制再到智能化技术控制，机械设备的使用进入到一个新的时期，通过智能化技术在自动化控制和操作过程中的应用促使了我国的工业生产方式发生根本性的转变，有效提高了生产效率和产品质量，从而推动企业良好、健康、可持续发展。

参考文献[1]徐硕.基于智能化的机械设备电气自动化技术应用研究[J].山东工业技术,2018(12):44.[2]高同庆.基于智能化的机械设备电气自动化技术应用研究[J].中小企业管理与科技(上旬刊),2019(4):150,152.[3]俞文斌.基于智能化的机械设备电气自动化技术应用研究[J],电气传动自动化,2018(2):64-66.0　引言根据我国四轮毂驱动电动汽车的发展可以得出，为了使汽车能够平稳的进行转向，汽车转向之前还需要通过转向系统实现内外侧车辆的差速形式，从而使得内外侧车轮在转向的过程中能够具有相同的转向角度，从而能够实现一个良好的行驶条件。

四轮独立电驱动车辆实验平台及驱动力控制系统研究共3篇四轮独立电驱动车辆实验平台及驱动力控制系统研究1四轮独立电驱动车辆实验平台及驱动力控制系统研究随着电动汽车市场的不断发展，电驱动技术也被广泛应用于各种类型的车辆中。

其中，四轮独立电驱动技术因其优异的性能和灵活的控制方式在汽车领域中备受瞩目。

为了更好地研究四轮独立电驱动技术，我们设计了一套实验平台，并研究了不同的驱动力控制系统。

一、实验平台的设计实验平台主要由电机、转向系统、悬挂系统、传感器、控制器和数据采集系统等组成。

其中，电机是实验平台的核心部件，它们负责驱动车辆的四个车轮。

为了实现四轮独立控制，我们使用了四个相同的电机，并通过能够实现精确控制的驱动器进行控制。

转向系统由电动转向机构和电子稳定系统等组成，它们能够精准控制车辆的转向和稳定性，从而满足不同的实验需求。

悬挂系统则通过四个独立悬挂系统进行控制，可以模拟不同路况下的行驶情况，从而更好地评估车辆性能。

传感器是实验平台的重要组成部分，可以实现车辆状态的实时监测和数据采集。

其中，轮速传感器、转向传感器、陀螺仪和加速度计等传感器可以提供详细的车辆状态信息，以便进行车辆控制和性能分析。

控制器是实验平台的大脑，能够接收传感器数据并实现车辆控制。

基于德州仪器的C2000系列DSP芯片，我们设计了一款高性能的控制器，其频率可高达100kHz，能够快速响应车辆状态的变化并实现精确的控制。

数据采集系统是实验平台的另一个重要部分，可以对车辆性能进行全面评估。

我们使用了高精度的数据采集卡和LabVIEW软件进行数据采集和分析，以实现对车辆性能的定量评估。

二、驱动力控制系统的研究驱动力控制是四轮独立电驱动技术的核心之一，它可以实现四个轮子的独立控制，从而为车辆带来更好的动力性能和稳定性能。

我们研究了基于模型预测控制(MPC)和基于反馈线性化控制的驱动力控制系统，并进行了实验验证。

基于MPC的控制系统是以实时预测为基础，通过对车辆状态和驱动力的优化预测，实现了对车辆的精准控制。

10.16638/ki.1671-7988.2018.21.005四轮独驱电动汽车驾驶模拟器仿真平台研究南丁，李刚，杨志，高青云（辽宁工业大学汽车与交通工程学院，辽宁锦州121001）摘要：针对四轮独立驱动电动汽车控制算法开发与验证，论文基于驾驶模拟器建立了四轮独立驱动电动汽车仿真平台。

应用车辆动力学仿真软件CarSim RT和科学计算软件MA TLAB/Simulink建立四轮独立驱动电动汽车仿真模型，结合驾驶模拟器试验台软硬件搭建仿真平台。

设计直线加速实验和双移线实验工况对仿真平台进行了功能性验证。

验证结果表明：仿真平台可进行四轮独立驱动电动汽车控制算法的仿真实验验证。

关键词：四轮独立驱动；驾驶模拟器；仿真平台中图分类号：U469.72 文献标识码：B 文章编号：1671-7988(2018)21-13-03Research on Four-wheel Independent Drive Electric Vehicle Simulation PlatformBased on Driving SimulatorNan Ding, Li Gang, Yang Zhi, Gao Qingyun( College of Automobile and Traffic Engineering, Liaoning University of Technology, Liaoning Jinzhou 121001 )Abstract:In order to develop and verify the control algorithm of four-wheel independently drive electric vehicle, a simulation platform of four-wheel independently drive electric vehicle is established, based on driving simulator. CarSim RT and MA TLAB / Simulink are used to establish the simulation model of four-wheel independently drive electric vehicle, and the simulation platform is built by the software and hardware of driving simulator test bench. The linear acceleration experiment and the double shift experiment are applied to verify the simulation platform. The simulation results showed that simulation platform can be used for validation of four wheel independent drive electric vehicle control algorithm simulation experiments.Keywords: Four-wheel independent drive; Driver simulator; Simulation platformCLC NO.: U469.72 Document Code: B Article ID: 1671-7988(2018)21-13-03前言面对环境污染所造成的压力和能源消耗量的巨大需求，电动汽车已无可争议地成为21世纪汽车工业发展的主流研究方向[1-3]。

智能四驱系统的仿真研究刘清波，李季中国农业大学(100083)E-mail：Lqb2046@摘 要：通过对四轮驱动的应用和要求的分析，智能四驱是将来的发展方向。

在ADAMS/View 里建立整车模型和智能四驱的动力控制系统，完成对智能四驱系统的仿真，并对仿真结果作了理论分析。

此仿真方法及结果对汽车四驱设计有一定的参考意见。

关键词：智能四驱，仿真，ADAMS1.引言目前，四轮驱动主要应用在越野车，SUV和一些轿车上。

随着人们生活水平的提高，以及科学技术在汽车上的应用，四轮驱动汽车的消费量逐渐增加，对它的性能要求也逐渐变得更全面，更苛刻，主要表现在以下几个方面：动力方面：四轮驱动汽车的加速性能是汽车进行四轮驱动的一个主要目的。

但发动机产生的扭矩怎样分配给前后轮，才能使汽车具有最佳的动力性，一直是四轮驱动汽车追求的目标。

安全方面：四轮驱动除了满足动力性这一目的之外，还是主动性安全措施之一。

如行驶于湿滑路面或雨天时，四轮驱动车使驾驶者能稳定地操控和能以高速行驶。

一般车在弯曲道路或风中常速行驶稳定性不够，四轮传动车却能保持高稳定性。

其中，扭矩分配问题极大地影响着汽车的转向性和制动性。

所以，四轮驱动怎样分配扭矩，才能使汽车在以上情况下最安全，也是一直有待解决的难题。

经济方面：现在全球都在闹油荒，而且环境污染也是人们一直关注的焦点。

汽车，尤其是四轮汽车却是石油的一个主要消费者，而且也是大气污染，噪声污染的主要来源之一。

所以生产厂家和消费者都在关注着怎样改进四轮驱动汽车的结构、应用电子技术，以提高四轮驱动汽车的燃油经济性。

智能四驱系统能够根据汽车的运动状态把发动机的扭矩分配给驱动轮，使汽车的动力性，安全性和燃油经济性达到最佳。

并且在良好路况或动力性要求不高的情况下，由四驱转换到二驱，使汽车的燃油经济性进一步提高。

对智能四驱系统进行仿真研究，在透彻理解系统性能方面有如下的优点：周期短、投入少、避免了实车试验所承担的风险和危险。