پیاده‌سازی کنترل مقاوم مود لغزشی تطبیقی جهت پایدارسازی خودرو الکتریکی موتور در چرخ در شرایط اضطراری

علوم کاربردی و محاسباتی در مکانیک

مقاله 7، دوره 37، شماره 1 - شماره پیاپی 39، فروردین 1404، صفحه 107-128   

نوع مقاله: مقاله پژوهشی

شناسه دیجیتال (DOI): 10.22067/jacsm.2024.84743.1209

نویسندگان

محمد امین قماشی^* ؛ رضا کاظمی

مهندسی مکانیک، دانشگاه صنعتی خواجه نصیرالدین طوسی، تهران.

چکیده

در این پژوهش با هدف پایدارسازی خودرو الکتریکی موتور در چرخ، نسبت به توسعه یک استراتژی کنترل مقاوم مود لغزان تطبیقی بر اساس صفحه فاز اقدام می‌گردد. استراتژی کنترل پیشنهادی شامل سه سطح می‌باشد. سطح اول شامل کنترلر مود لغزشی تطبیقی می‌باشد. در این پژوهش نسبت به تغییر وضعیت سیستم با هدف برطرف نمودن مشکل پرش در سیستم و به حداقل رساندن پاسخ تاخیر و خطای ردیابی اقدام می‌گردد. سطح دوم شامل یک الگوریتم کنترل مشترک می‌باشد که بر اساس مدل مرزی منطقه پایدار صفحه فاز سرعت زاویه لغزشی جانبی خودرو- زاویه لغزش جانبی خودرو پیاده‌سازی می‌گردد. زمانیکه خودرو در منطقه پایدار باشد، الگوریتم کنترلر مود لغزشی تطبیقی برای تعیین گشتاور چرخشی خودرو، از سرعت زاویه‌ چرخشی خودرو حول محور یاو استفاده می‌نماید. و هنگامیکه خودرو خارج از منطقه پایدار قرار داشته باشد، الگوریتم کنترل مود لغزشی تطبیقی از زاویه لغزش جانبی خودرو و سرعت زاویه چرخشی خودرو حول محور یاو جهت پایدارسازی و بازگرداندن خودرو به منطقه پایدار استفاده می‌نماید. سطح سوم ، شامل یک تابع توزیع بهینه جهت تخصیص گشتاور چرخشی به چهار تایر خودرو می‌باشد. نتایج حاصل از شبیه‌سازی‌های انجام شده عملکرد مطلوب و اثربخش الگوریتم کنترل پیشنهادی را در پایدارسازی خودرو الکتریکی موتور در چرخ به نمایش می‌گذارد. همچنین جهت صحه‌گذاری شبیه‌سازی‌های انجام شده از نرم‌افزارهای متلب/کارسیم استفاده می‌گردد. نتایج حاصل از شبیه‌سازی‌های انجام شده، اثربخشی الگوریتم کنترل پیشنهادی را در پایدارسازی خودرو الکتریکی موتور در چرخ به نمایش می‌گذارد.

کلیدواژه‌ها

مود لغزشی؛ پایداری؛ سطح لغزش؛ موتور در چرخ؛ دینامیک خودرو

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