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<div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62512d816caf5961923b6430/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">第</div><div class="t m0 x2 h3 y2 ff2 fs0 fc0 sc0 ls0 ws0">50</div><div class="t m0 x3 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">卷<span class="_ _0"> </span>第</div><div class="t m0 x4 h3 y2 ff2 fs0 fc0 sc0 ls0 ws0">9</div><div class="t m0 x5 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">期</div><div class="t m0 x6 h3 y3 ff2 fs0 fc0 sc0 ls0 ws0">2<span class="_ _1"> </span>0<span class="_ _1"> </span>1<span class="_ _1"> </span>8</div><div class="t m0 x7 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">年</div><div class="t m0 x8 h3 y3 ff2 fs0 fc0 sc0 ls0 ws0">9</div><div class="t m0 x9 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">月</div><div class="t m0 xa h4 y5 ff1 fs1 fc0 sc0 ls0 ws0">哈<span class="_ _2"> </span>尔<span class="_ _2"> </span>滨<span class="_ _2"> </span>工<span class="_ _2"> </span>业<span class="_ _2"> </span>大<span class="_ _2"> </span>学<span class="_ _2"> </span>学<span class="_ _2"> </span>报</div><div class="t m0 xb h5 y6 ff2 fs1 fc0 sc0 ls0 ws0">JOUR<span class="_ _3"></span>NAL<span class="_ _4"> </span>OF<span class="_ _4"> </span>HARBIN<span class="_ _4"> </span>INSTITU<span class="_ _3"></span>TE<span class="_ _4"> </span>OF<span class="_ _4"> </span>TECHNOLOGY</div><div class="t m0 xc h3 y7 ff2 fs0 fc0 sc0 ls0 ws0">Vol.<span class="_ _5"> </span>50<span class="_ _6"> </span>No.<span class="_ _5"> </span>9</div><div class="t m0 xd h3 y8 ff2 fs0 fc0 sc0 ls0 ws0">Sep．<span class="_ _7"> </span>2018</div><div class="t m0 xe h6 y9 ff2 fs2 fc0 sc0 ls0 ws0">DOI<span class="ff3">：<span class="_ _8"> </span></span>10．<span class="_ _9"></span>11918<span class="_ _a"></span>/</div><div class="t m0 x5 h5 ya ff2 fs1 fc0 sc0 ls0 ws0">j<span class="_"> </span>．<span class="_ _a"></span>is<span class="_ _3"></span>sn．</div><div class="t m0 xf h7 y9 ff2 fs2 fc0 sc0 ls0 ws0">0367-<span class="_ _b"></span>62<span class="_ _3"></span>34．<span class="_ _9"></span>20170<span class="_ _3"></span>7171</div><div class="t m0 x10 h8 yb ff4 fs3 fc0 sc0 ls0 ws0">电<span class="_ _a"></span>动<span class="_ _c"></span>车<span class="_ _a"></span>辆</div><div class="t m0 x11 h9 yc ff5 fs3 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x12 h8 yb ff4 fs3 fc0 sc0 ls1 ws0">的改进线性二次型最优控制</div><div class="t m0 x13 ha yd ff6 fs4 fc0 sc0 ls0 ws0">王<span class="_ _9"></span>骏骋</div><div class="t m0 x14 ha ye ff7 fs4 fc0 sc0 ls0 ws0">，</div><div class="t m0 x15 ha yd ff6 fs4 fc0 sc0 ls0 ws0">何<span class="_ _d"> </span>仁</div><div class="t m0 x16 h6 yf ff3 fs2 fc0 sc0 ls0 ws0">（</div><div class="t m0 x17 h6 y10 ff1 fs2 fc0 sc0 ls2 ws0">江苏大学<span class="_ _7"> </span>汽车与交通工程学院</div><div class="t m0 x18 h6 yf ff3 fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x19 h6 y10 ff1 fs2 fc0 sc0 ls0 ws0">江苏<span class="_ _4"> </span>镇江</div><div class="t m0 x1a h6 yf ff2 fs2 fc0 sc0 ls0 ws0">212013<span class="ff3">）</span></div><div class="t m0 xe h6 y11 ff4 fs2 fc0 sc0 ls0 ws0">摘<span class="_ _e"> </span>要</div><div class="t m0 x1b h6 y12 ff8 fs2 fc0 sc0 ls0 ws0">：</div><div class="t m0 x1c h6 y11 ff9 fs2 fc0 sc0 ls2 ws0">为充分利用轮毂电机控制精确和响应迅速的优势</div><div class="t m0 x1d h6 y12 ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x1e h6 y11 ff9 fs2 fc0 sc0 ls3 ws0">提高电动车辆制动防抱死控制的稳定性</div><div class="t m0 x1f h6 y12 ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x20 h6 y11 ff9 fs2 fc0 sc0 ls4 ws0">提出一<span class="_ _3"></span>种用于轮毂电机</div><div class="t m0 xe h6 y13 ff9 fs2 fc0 sc0 ls2 ws0">电动车辆制动防抱死系统</div><div class="t m0 x21 h6 y14 ffa fs2 fc0 sc0 ls0 ws0">（<span class="_ _1"> </span><span class="ff2">ABS</span>）</div><div class="t m0 x22 h6 y13 ff9 fs2 fc0 sc0 ls2 ws0">协调控制的改进线性二次型最优控制方法</div><div class="t m0 x23 h7 y14 ff2 fs2 fc0 sc0 ls0 ws0">．</div><div class="t m0 x24 h6 y13 ff9 fs2 fc0 sc0 ls3 ws0">建立<span class="_ _3"></span>电动车辆纵向动力学模型</div><div class="t m0 x25 h6 y14 ffa fs2 fc0 sc0 ls0 ws0">；</div><div class="t m0 x26 h6 y13 ff9 fs2 fc0 sc0 ls3 ws0">结合复合制动系</div><div class="t m0 xe h6 y15 ff9 fs2 fc0 sc0 ls2 ws0">统的协调控制策略</div><div class="t m0 x27 h6 y16 ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x28 h6 y15 ff9 fs2 fc0 sc0 ls2 ws0">分析现有线性二次型最优控制算法无法用于防抱死控<span class="ls3">制器设计的原因</span></div><div class="t m0 x29 h6 y16 ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x2a h6 y15 ff9 fs2 fc0 sc0 ls3 ws0">提出一种通过构造虚拟阻尼量以</div><div class="t m0 xe h6 y17 ff9 fs2 fc0 sc0 ls2 ws0">及无穷小量来建立黎卡提方程的改进型线性二次型最优控制算<span class="_ _9"></span>法</div><div class="t m0 x2b h6 y18 ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x2c h6 y17 ff9 fs2 fc0 sc0 ls4 ws0">并据此设计了防抱死控制器</div><div class="t m0 x2d h7 y18 ff2 fs2 fc0 sc0 ls0 ws0">．</div><div class="t m0 x2e h6 y17 ff9 fs2 fc0 sc0 ls0 ws0">在<span class="_ _9"></span>高<span class="_ _9"></span>附<span class="_ _9"></span>着<span class="_ _f"></span>路<span class="_ _9"></span>面</div><div class="t m0 x2f hb y18 ffb fs2 fc0 sc0 ls0 ws0">、</div><div class="t m0 x30 h6 y17 ff9 fs2 fc0 sc0 ls0 ws0">中<span class="_ _9"></span>附<span class="_ _9"></span>着<span class="_ _9"></span>路<span class="_ _f"></span>面</div><div class="t m0 xe h6 y19 ff9 fs2 fc0 sc0 ls0 ws0">和低<span class="_ _9"></span>附着<span class="_ _9"></span>路面</div><div class="t m0 x31 h7 y1a ff2 fs2 fc0 sc0 ls0 ws0">3</div><div class="t m0 x32 h6 y19 ff9 fs2 fc0 sc0 ls2 ws0">种不同行驶工况</div><div class="t m0 x22 h6 y1a ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x33 h6 y19 ff9 fs2 fc0 sc0 ls2 ws0">对分别安装有改进线性二次型最优防抱死控制器和滑模防抱死控制器的电动车辆的紧急制</div><div class="t m0 xe h6 y1b ff9 fs2 fc0 sc0 ls2 ws0">动性能进行了仿真分析</div><div class="t m0 x34 h7 y1c ff2 fs2 fc0 sc0 ls0 ws0">．</div><div class="t m0 x35 h6 y1d ff9 fs2 fc0 sc0 ls0 ws0">结果<span class="_ _9"></span>表明</div><div class="t m0 x36 h6 y1c ffa fs2 fc0 sc0 ls0 ws0">：</div><div class="t m0 x37 h6 y1d ff9 fs2 fc0 sc0 ls2 ws0">在不同附着系数路面行驶工况<span class="_ _9"></span>下</div><div class="t m0 x38 h6 y1c ffa fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 x39 h6 y1d ff9 fs2 fc0 sc0 ls4 ws0">改进线性二次型最优控制算法能够有效提高电动汽车</div><div class="t m0 xe h6 y1e ff9 fs2 fc0 sc0 ls2 ws0">防抱死控制系统的控制精度和响应速度</div><div class="t m0 x3a h7 y1f ff2 fs2 fc0 sc0 ls0 ws0">．</div><div class="t m0 xe h6 y20 ff4 fs2 fc0 sc0 ls0 ws0">关键<span class="_ _9"></span>词</div><div class="t m0 x1b h6 y21 ff8 fs2 fc0 sc0 ls0 ws0">：</div><div class="t m0 x1c h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">轮毂<span class="_ _9"></span>电机</div><div class="t m0 x3b h6 y21 ffa fs2 fc0 sc0 ls0 ws0">；</div><div class="t m0 x3c h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">复合<span class="_ _9"></span>制动</div><div class="t m0 x3d h6 y21 ffa fs2 fc0 sc0 ls0 ws0">；</div><div class="t m0 x3e h6 y20 ff9 fs2 fc0 sc0 ls2 ws0">制动防抱死系统</div><div class="t m0 x3f h6 y21 ffa fs2 fc0 sc0 ls0 ws0">；</div><div class="t m0 x40 h6 y20 ff9 fs2 fc0 sc0 ls0 ws0">滑移<span class="_ _9"></span>率</div><div class="t m0 x41 h6 y21 ffa fs2 fc0 sc0 ls0 ws0">；</div><div class="t m0 x42 h6 y20 ff9 fs2 fc0 sc0 ls2 ws0">线性二次型最优控制</div><div class="t m0 xe h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">中图<span class="_ _9"></span>分类<span class="_ _9"></span>号</div><div class="t m0 x8 h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">：<span class="_ _10"> </span><span class="ff2">U461．<span class="_ _9"></span>3</span></div><div class="t m0 x43 h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">文献<span class="_ _9"></span>标志<span class="_ _9"></span>码</div><div class="t m0 x3a h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">：<span class="_ _10"> </span><span class="ff2">A</span></div><div class="t m0 x44 h6 y22 ff4 fs2 fc0 sc0 ls0 ws0">文章<span class="_ _9"></span>编号</div><div class="t m0 x45 h6 y23 ff8 fs2 fc0 sc0 ls0 ws0">：<span class="_ _10"> </span><span class="ff2">03<span class="_ _3"></span>67</span></div><div class="t m0 x46 h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">－</div><div class="t m0 x47 h6 y23 ff2 fs2 fc0 sc0 ls0 ws0">6234<span class="ff3">（<span class="_ _1"> </span></span>2018<span class="ff3">）<span class="_ _1"> </span></span>09</div><div class="t m0 x48 h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">－</div><div class="t m0 x49 h7 y23 ff2 fs2 fc0 sc0 ls0 ws0">0108</div><div class="t m0 x4a h7 y24 ff2 fs2 fc0 sc0 ls0 ws0">－</div><div class="t m0 x4b h7 y23 ff2 fs2 fc0 sc0 ls0 ws0">08</div><div class="t m0 x4c hc y25 ff5 fs4 fc0 sc0 ls0 ws0">Improv<span class="_ _3"></span>ed<span class="_ _10"> </span>linear<span class="_ _10"> </span>qu<span class="_ _3"></span>adratic<span class="_ _10"> </span>op<span class="_ _3"></span>timal<span class="_ _10"> </span>control<span class="_ _10"> </span>of<span class="_ _10"> </span>ABS<span class="_ _11"> </span>for<span class="_ _10"> </span>an<span class="_ _11"> </span>e<span class="_"> </span>le<span class="_ _9"></span>ctric<span class="_ _10"> </span>vehicle</div><div class="t m0 x40 h4 y26 ff2 fs1 fc0 sc0 ls0 ws0">WANG<span class="_ _4"> </span>Juncheng<span class="ff3">，<span class="_ _12"></span><span class="ff2">HE<span class="_ _4"> </span>Ren</span></span></div><div class="t m0 x4d h6 y27 ff3 fs2 fc0 sc0 ls0 ws0">（<span class="_ _7"> </span><span class="ff2">Sch<span class="_ _3"></span>ool<span class="_ _7"> </span>of<span class="_ _7"> </span>Automobile<span class="_ _7"> </span>and<span class="_ _7"> </span>Traffic<span class="_ _7"> </span>Engin<span class="_ _3"></span>eering<span class="ff3">，<span class="_ _12"></span><span class="ff2">Jiangsu<span class="_ _7"> </span>Universi<span class="_ _3"></span>ty<span class="ff3">，<span class="_ _12"></span><span class="ff2">Zhenjiang<span class="_ _7"> </span>212<span class="_ _3"></span>013<span class="ff3">，<span class="_ _12"></span><span class="ff2">Jiangsu<span class="ff3">，<span class="_ _12"></span><span class="ff2">China<span class="ff3">）</span></span></span></span></span></span></span></span></span></span></div><div class="t m0 xe h4 y28 ff5 fs1 fc0 sc0 ls0 ws0">Abstract<span class="ff3">：<span class="_ _13"> </span><span class="ff2">To<span class="_ _4"> </span>make<span class="_ _14"> </span>the<span class="_ _4"> </span>most<span class="_ _4"> </span>of<span class="_ _14"> </span>control<span class="_ _14"> </span>accuracy<span class="_ _15"> </span>and<span class="_ _14"> </span>fast<span class="_ _14"> </span>response<span class="_ _14"> </span>of<span class="_ _15"> </span>in-<span class="_ _b"></span>wheel<span class="_ _14"> </span>motors<span class="_ _14"> </span>and<span class="_ _15"> </span>improve<span class="_ _15"> </span>the<span class="_ _14"> </span>stability<span class="_ _14"> </span>of</span></span></div><div class="t m0 xe h4 y29 ff2 fs1 fc0 sc0 ls0 ws0">anti-<span class="_ _b"></span>lock<span class="_ _4"> </span>brake<span class="_ _15"> </span>sys<span class="_ _3"></span>tem<span class="_ _15"> </span><span class="ff3">（<span class="_ _14"> </span></span>ABS<span class="_ _9"></span><span class="ff3">）<span class="_ _6"> </span></span>of<span class="_ _15"> </span>in<span class="_ _9"></span>-<span class="_ _16"></span>wheel<span class="_ _15"> </span>motor<span class="_ _11"> </span>driven<span class="_ _15"> </span>electric<span class="_ _11"> </span>vehicle<span class="ff3">，<span class="_ _17"></span><span class="ff2">a<span class="_ _11"> </span>desi<span class="_ _3"></span>gn<span class="_ _11"> </span>method<span class="_ _15"> </span>of<span class="_ _11"> </span>anti-<span class="_ _16"></span>lock<span class="_ _11"> </span>controller</span></span></div><div class="t m0 xe h5 y2a ff2 fs1 fc0 sc0 ls0 ws0">based<span class="_ _4"> </span>on<span class="_ _15"> </span>the<span class="_ _11"> </span>improved<span class="_ _15"> </span>linear<span class="_ _11"> </span>quadratic<span class="_ _11"> </span>optimal<span class="_ _11"> </span>control<span class="_ _11"> </span>algorithm<span class="_ _11"> </span>was<span class="_ _11"> </span>proposed．<span class="_ _10"> </span>A<span class="_ _11"> </span>vehicle<span class="_ _11"> </span>longitudinal<span class="_ _11"> </span>dynamics</div><div class="t m0 xe h5 y2b ff2 fs1 fc0 sc0 ls0 ws0">model<span class="_ _4"> </span>was<span class="_ _14"> </span>establis<span class="_ _3"></span>hed．<span class="_ _15"> </span>The<span class="_ _4"> </span>coordinated<span class="_ _14"> </span>control<span class="_ _14"> </span>strategy<span class="_ _14"> </span>of<span class="_ _15"> </span>composite<span class="_ _14"> </span>braking<span class="_ _14"> </span>system<span class="_ _14"> </span>was<span class="_ _15"> </span>applied<span class="_ _14"> </span>in<span class="_ _15"> </span>examining<span class="_ _14"> </span>the</div><div class="t m0 xe h5 y2c ff2 fs1 fc0 sc0 ls0 ws0">reason<span class="_ _4"> </span>for<span class="_ _4"> </span>the<span class="_ _14"> </span>failure<span class="_ _4"> </span>of<span class="_ _14"> </span>the<span class="_ _4"> </span>general<span class="_ _15"> </span>linear<span class="_ _14"> </span>quadratic<span class="_ _14"> </span>optimal<span class="_ _14"> </span>control<span class="_ _15"> </span>algorithm<span class="_ _14"> </span>in<span class="_ _14"> </span>the<span class="_ _15"> </span>design<span class="_ _14"> </span>of<span class="_ _14"> </span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _14"> </span>controller<span class="_ _9"></span>．</div><div class="t m0 xe h5 y2d ff2 fs1 fc0 sc0 ls0 ws0">An<span class="_ _4"> </span>improved<span class="_ _18"> </span>linear<span class="_ _10"> </span>quadratic<span class="_ _18"> </span>optimal<span class="_ _10"> </span>control<span class="_ _10"> </span>algorithm<span class="_ _10"> </span>was<span class="_ _18"> </span>proposed<span class="_ _10"> </span>to<span class="_ _10"> </span>design<span class="_ _18"> </span>the<span class="_ _10"> </span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _10"> </span>controller<span class="_ _18"> </span>through</div><div class="t m0 xe h4 y2e ff2 fs1 fc0 sc0 ls0 ws0">adding<span class="_ _4"> </span>some<span class="_ _4"> </span>virtual<span class="_ _14"> </span>damping<span class="_ _4"> </span>and<span class="_ _14"> </span>infinitely<span class="_ _4"> </span>small<span class="_ _4"> </span>terms<span class="_ _4"> </span>in<span class="_ _4"> </span>the<span class="_ _4"> </span>des<span class="_ _3"></span>ign<span class="_ _4"> </span>process<span class="_ _7"> </span>of<span class="_ _4"> </span>Riccati<span class="_ _4"> </span>function<span class="ff3">，<span class="_ _12"></span><span class="ff2">based<span class="_ _4"> </span>on<span class="_ _4"> </span>which<span class="_ _4"> </span>a</span></span></div><div class="t m0 xe h5 y2f ff2 fs1 fc0 sc0 ls0 ws0">anti-<span class="_ _16"></span>lock<span class="_ _14"> </span>brake<span class="_ _11"> </span>was<span class="_ _11"> </span>subs<span class="_ _3"></span>equently<span class="_ _11"> </span>designed．<span class="_ _18"> </span>The<span class="_ _11"> </span>control<span class="_ _11"> </span>result<span class="_ _11"> </span>of<span class="_ _11"> </span>the<span class="_ _10"> </span>proposed<span class="_ _11"> </span>controller<span class="_ _10"> </span>was<span class="_ _11"> </span>compared<span class="_ _10"> </span>with<span class="_ _10"> </span>the</div><div class="t m0 xe h4 y30 ff2 fs1 fc0 sc0 ls0 ws0">control<span class="_ _4"> </span>result<span class="_ _14"> </span>of<span class="_ _11"> </span>general<span class="_ _11"> </span>sl<span class="_ _3"></span>iding<span class="_ _11"> </span>mode<span class="_ _15"> </span>co<span class="_"> </span>ntroller<span class="_ _11"> </span>under<span class="_ _11"> </span>three<span class="_ _11"> </span>different<span class="_ _15"> </span>road<span class="_ _11"> </span>conditions<span class="_ _11"> </span>with<span class="_ _11"> </span>low<span class="_ _9"></span><span class="ff3">，<span class="_ _17"></span><span class="ff2">middle<span class="_ _11"> </span>and<span class="_ _11"> </span>high</span></span></div><div class="t m0 xe h5 y31 ff2 fs1 fc0 sc0 ls0 ws0">adhesive<span class="_ _4"> </span>coefficients．<span class="_ _18"> </span>Results<span class="_ _11"> </span>showed<span class="_ _10"> </span>that<span class="_ _10"> </span>the<span class="_ _10"> </span>proposed<span class="_ _11"> </span>improved<span class="_ _10"> </span>linear<span class="_ _10"> </span>quadratic<span class="_ _10"> </span>optimal<span class="_ _11"> </span>control<span class="_ _18"> </span>algorithm<span class="_ _11"> </span>can</div><div class="t m0 xe h5 y32 ff2 fs1 fc0 sc0 ls0 ws0">achieve<span class="_ _4"> </span>not<span class="_ _14"> </span>only<span class="_ _4"> </span>outstanding<span class="_ _4"> </span>control<span class="_ _14"> </span>accuracy<span class="_ _14"> </span>but<span class="_ _4"> </span>also<span class="_ _4"> </span>fast<span class="_ _4"> </span>response<span class="_ _9"></span>．</div><div class="t m0 xe h4 y33 ff5 fs1 fc0 sc0 ls0 ws0">Keywords<span class="ff3">：<span class="_ _6"> </span><span class="ff2">in-<span class="_ _16"></span>wheel<span class="_ _19"> </span>motor<span class="ff3">；<span class="_ _1a"> </span></span>composite<span class="_ _18"> </span>braking<span class="_ _9"></span><span class="ff3">；<span class="_ _0"> </span></span>anti<span class="_ _9"></span>-<span class="_ _16"></span>lock<span class="_ _1b"> </span>brake<span class="_ _1b"> </span>system<span class="_ _18"> </span><span class="ff3">（<span class="_ _11"> </span></span>ABS<span class="_ _a"></span><span class="ff3">）<span class="_ _4"> </span>；<span class="_ _0"> </span></span>slip<span class="_ _1b"> </span>ratio<span class="_ _9"></span><span class="ff3">；<span class="_ _0"> </span></span>linear<span class="_ _1b"> </span>quadratic</span></span></div><div class="t m0 xe h5 y34 ff2 fs1 fc0 sc0 ls0 ws0">optimal<span class="_ _4"> </span>control</div><div class="t m0 xe h2 y35 ff4 fs0 fc0 sc0 ls0 ws0">收稿<span class="_ _9"></span>日期</div><div class="t m0 x4e h2 y36 ff8 fs0 fc0 sc0 ls0 ws0">：<span class="_ _15"> </span><span class="ff2">2017</span></div><div class="t m0 x4f h3 y37 ff2 fs0 fc0 sc0 ls0 ws0">－</div><div class="t m0 x50 h3 y36 ff2 fs0 fc0 sc0 ls0 ws0">07</div><div class="t m0 x51 h3 y37 ff2 fs0 fc0 sc0 ls0 ws0">－</div><div class="t m0 x27 h3 y36 ff2 fs0 fc0 sc0 ls0 ws0">28</div><div class="t m0 xe h2 y38 ff4 fs0 fc0 sc0 ls0 ws0">基金<span class="_ _9"></span>项目</div><div class="t m0 x4e h2 y39 ff8 fs0 fc0 sc0 ls0 ws0">：</div><div class="t m0 x52 h2 y38 ff1 fs0 fc0 sc0 ls0 ws0">国家<span class="_ _9"></span>自然<span class="_ _9"></span>科学<span class="_ _9"></span>基金</div><div class="t m0 x53 h2 y39 ff3 fs0 fc0 sc0 ls0 ws0">（<span class="_ _1"> </span><span class="ff2">51275212</span>）<span class="_ _1"> </span>；</div><div class="t m0 x52 h2 y3a ff1 fs0 fc0 sc0 ls5 ws0">江苏省研究生科研与实践创新计划项目</div><div class="t m0 x54 h2 y3b ff3 fs0 fc0 sc0 ls0 ws0">（<span class="_ _1"> </span><span class="ff2">KYCX17_1813</span>）</div><div class="t m0 xe h2 y3c ff4 fs0 fc0 sc0 ls0 ws0">作者<span class="_ _9"></span>简介</div><div class="t m0 x4e h2 y3d ff8 fs0 fc0 sc0 ls0 ws0">：</div><div class="t m0 x52 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">王骏<span class="_ _9"></span>骋</div><div class="t m0 x32 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">（<span class="_ _1"> </span><span class="ff2">1990<span class="ffc">—</span></span>）<span class="_ _1"> </span>，</div><div class="t m0 x21 h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">男</div><div class="t m0 x55 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">，</div><div class="t m0 x3d h2 y3c ff1 fs0 fc0 sc0 ls0 ws0">博士<span class="_ _9"></span>研究<span class="_ _9"></span>生</div><div class="t m0 x56 h2 y3d ff3 fs0 fc0 sc0 ls0 ws0">；</div><div class="t m0 x52 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">何<span class="_ _0"> </span>仁</div><div class="t m0 x32 h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">（<span class="_ _1"> </span><span class="ff2">1962<span class="ffc">—</span></span>）<span class="_ _1"> </span>，</div><div class="t m0 x21 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">男</div><div class="t m0 x55 h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">，</div><div class="t m0 x3d h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">教授</div><div class="t m0 xb h2 y3f ff3 fs0 fc0 sc0 ls0 ws0">，</div><div class="t m0 x57 h2 y3e ff1 fs0 fc0 sc0 ls0 ws0">博士<span class="_ _9"></span>生导<span class="_ _9"></span>师</div><div class="t m0 xe h2 y40 ff4 fs0 fc0 sc0 ls0 ws0">通信<span class="_ _9"></span>作者</div><div class="t m0 x4e h2 y41 ff8 fs0 fc0 sc0 ls0 ws0">：</div><div class="t m0 x52 h2 y40 ff1 fs0 fc0 sc0 ls0 ws0">何<span class="_ _0"> </span>仁</div><div class="t m0 x32 h2 y41 ff3 fs0 fc0 sc0 ls0 ws0">，<span class="_ _1c"></span><span class="ff2">heren1962@<span class="_ _5"> </span>163．<span class="_ _9"></span>com</span></div><div class="t m0 x58 h4 y42 ff1 fs1 fc0 sc0 ls0 ws0">制<span class="_ _9"></span>动<span class="_ _9"></span>防<span class="_ _f"></span>抱<span class="_ _a"></span>死<span class="_ _f"></span>系<span class="_ _f"></span>统</div><div class="t m0 x59 h4 y43 ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _4"> </span><span class="ff2">antilock<span class="_ _11"> </span>brake<span class="_ _15"> </span>system</span>，<span class="_ _17"></span><span class="ff2">ABS<span class="_ _9"></span><span class="ff3">）</span></span></div><div class="t m0 xe h4 y44 ff1 fs1 fc0 sc0 ls6 ws0">在减少电动车辆交通安全事故发生率方面起到了至</div><div class="t m0 xe h4 y45 ff1 fs1 fc0 sc0 ls0 ws0">关重<span class="_ _9"></span>要的作<span class="_ _f"></span>用</div><div class="t m0 x32 hd y46 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">1</span></div><div class="t m0 x3b he y47 ff2 fs5 fc0 sc0 ls0 ws0">－</div><div class="t m0 x5a hd y46 ff2 fs5 fc0 sc0 ls0 ws0">2<span class="_ _12"></span><span class="ff3">］</span></div><div class="t m0 x5b h5 y48 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x5c h4 y45 ff1 fs1 fc0 sc0 ls7 ws0">随着乘客对车辆主动安全性能</div><div class="t m0 xe h4 y49 ff1 fs1 fc0 sc0 ls6 ws0">要求的日渐提升</div><div class="t m0 x5a h4 y4a ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _1e"></span><span class="ff2">ABS</span></div><div class="t m0 x5d h4 y49 ff1 fs1 fc0 sc0 ls8 ws0">控制策略的研究一直都是前</div><div class="t m0 xe h4 y4b ff1 fs1 fc0 sc0 ls0 ws0">言热<span class="_ _9"></span>点</div><div class="t m0 x5e hd y4c ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">3<span class="_ _12"></span><span class="ff3">］</span></span></div><div class="t m0 x5f h5 y4d ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x10 h4 y4e ff1 fs1 fc0 sc0 ls0 ws0">目前</div><div class="t m0 x3b h4 y4d ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x28 h4 y4e ff1 fs1 fc0 sc0 ls9 ws0">应用于车辆滑移率控制方法主要</div><div class="t m0 xe h4 y4f ff1 fs1 fc0 sc0 ls0 ws0">有逻<span class="_ _f"></span>辑<span class="_ _f"></span>门<span class="_ _f"></span>限<span class="_ _f"></span>制<span class="_ _f"></span>控<span class="_ _f"></span>制</div><div class="t m0 x60 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">4</span></div><div class="t m0 x61 he y51 ff2 fs5 fc0 sc0 ls0 ws0">－</div><div class="t m0 x62 hd y50 ff2 fs5 fc0 sc0 ls0 ws0">5<span class="_ _12"></span><span class="ff3">］</span></div><div class="t m0 x53 hf y52 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x63 h4 y53 ff1 fs1 fc0 sc0 ls0 ws0">模<span class="_ _f"></span>糊<span class="_ _f"></span>控<span class="_ _f"></span>制</div><div class="t m0 x64 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">6</span></div><div class="t m0 x65 he y51 ff2 fs5 fc0 sc0 ls0 ws0">－</div><div class="t m0 x66 hd y50 ff2 fs5 fc0 sc0 ls0 ws0">7<span class="_ _12"></span><span class="ff3">］</span></div><div class="t m0 x67 h5 y52 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _1f"></span><span class="ff2">P<span class="_ _9"></span>ID</span></div><div class="t m0 x68 h4 y53 ff1 fs1 fc0 sc0 ls0 ws0">控<span class="_ _f"></span>制</div><div class="t m0 x69 hd y50 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">8<span class="_ _12"></span><span class="ff3">］</span></span></div><div class="t m0 xe h4 y54 ff1 fs1 fc0 sc0 ls6 ws0">和滑模变结构控制</div><div class="t m0 xf hd y55 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">9</span></div><div class="t m0 x34 he y56 ff2 fs5 fc0 sc0 ls0 ws0">－</div><div class="t m0 x6a hd y55 ff2 fs5 fc0 sc0 ls0 ws0">11<span class="_ _12"></span><span class="ff3">］</span></div><div class="t m0 x53 h4 y54 ff1 fs1 fc0 sc0 ls0 ws0">等</div><div class="t m0 x3e h5 y57 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x58 h4 y58 ff1 fs1 fc0 sc0 ls0 ws0">文献</div><div class="t m0 x6b h4 y59 ff3 fs1 fc0 sc0 ls0 ws0">［<span class="_ _20"></span><span class="ff2">3<span class="_ _1d"></span><span class="ff3">］</span></span></div><div class="t m0 x50 h4 y58 ff1 fs1 fc0 sc0 lsa ws0">为<span class="_ _3"></span>车<span class="_ _3"></span>辆<span class="_ _3"></span>制动系统设计了一种用于调节</div><div class="t m0 xe h4 y5a ff1 fs1 fc0 sc0 ls7 ws0">制<span class="_ _17"></span>动<span class="_ _3"></span>力<span class="_ _17"></span>矩<span class="_ _3"></span>大小的逻辑门限控制方法</div><div class="t m0 x6c h4 y5b ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 x6d h4 y5c ff1 fs1 fc0 sc0 ls0 ws0">文<span class="_ _f"></span>献</div><div class="t m0 x6e h4 y5b ff3 fs1 fc0 sc0 ls0 ws0">［<span class="_ _21"></span><span class="ff2">6<span class="_ _1d"></span><span class="ff3">］</span></span></div><div class="t m0 x6f h4 y5c ff1 fs1 fc0 sc0 ls0 ws0">采<span class="_ _f"></span>用</div><div class="t m0 x70 h4 y5d ff1 fs1 fc0 sc0 ls9 ws0">模<span class="_ _17"></span>糊<span class="_ _17"></span>直<span class="_ _3"></span>接<span class="_ _3"></span>自适应控制算法设<span class="lsb">计了一种防抱死控制</span></div><div class="t m0 x70 h4 y5e ff1 fs1 fc0 sc0 ls0 ws0">器</div><div class="t m0 x71 h4 y5f ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x72 h4 y5e ff1 fs1 fc0 sc0 ls8 ws0">将<span class="_ _3"></span>滑<span class="_ _17"></span>移率<span class="_ _17"></span>的<span class="_ _3"></span>跟踪误差和等效滑移率变化率作为</div><div class="t m0 x70 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">控制<span class="_ _9"></span>系统<span class="_ _9"></span>的<span class="_ _9"></span>输<span class="_ _f"></span>入<span class="_ _f"></span>量</div><div class="t m0 x73 h4 y61 ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 x74 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">文<span class="_ _f"></span>献</div><div class="t m0 x75 h4 y61 ff3 fs1 fc0 sc0 ls0 ws0">［<span class="_ _21"></span><span class="ff2">7<span class="_ _1d"></span><span class="ff3">］</span></span></div><div class="t m0 x76 h4 y60 ff1 fs1 fc0 sc0 ls0 ws0">将<span class="_ _f"></span>模<span class="_ _f"></span>糊<span class="_ _f"></span>逻<span class="_ _f"></span>辑<span class="_ _f"></span>策<span class="_ _a"></span>略<span class="_ _f"></span>结<span class="_ _f"></span>合</div><div class="t m0 x70 h4 y62 ff1 fs1 fc0 sc0 ls6 ws0">了低速再生防抱死策略</div><div class="t m0 x77 h4 y63 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x78 h4 y62 ff1 fs1 fc0 sc0 ls6 ws0">提高了电机制动精度</div><div class="t m0 x79 h4 y63 ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 x7a h4 y62 ff1 fs1 fc0 sc0 ls0 ws0">文献</div><div class="t m0 x7b h4 y64 ff3 fs1 fc0 sc0 ls0 ws0">［<span class="_ _20"></span><span class="ff2">8<span class="_ _12"></span><span class="ff3">］</span></span></div><div class="t m0 x19 h4 y65 ff1 fs1 fc0 sc0 ls6 ws0">基于滑移率对制<span class="lsa">动力矩变化的灵敏度优化调整</span></div><div class="t m0 x70 h5 y66 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>ID</div><div class="t m0 x7c h4 y67 ff1 fs1 fc0 sc0 ls0 ws0">参数</div><div class="t m0 x7d h4 y66 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x7e h4 y67 ff1 fs1 fc0 sc0 ls7 ws0">实<span class="_ _17"></span>现了针对复合制动系统的自适应</div><div class="t m0 x7f h5 y66 ff2 fs1 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x70 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">控制</div><div class="t m0 x80 h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 x81 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">文献</div><div class="t m0 x7e h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">［<span class="_ _20"></span><span class="ff2">9<span class="_ _1d"></span><span class="ff3">］</span></span></div><div class="t m0 x82 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">开发<span class="_ _9"></span>了一<span class="_ _9"></span>种<span class="_ _9"></span>滑<span class="_ _9"></span>模</div><div class="t m0 x83 h5 y6a ff2 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x84 h5 y69 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>WM</div><div class="t m0 x85 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">算<span class="_ _9"></span>法</div><div class="t m0 x86 h4 y69 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x87 h4 y68 ff1 fs1 fc0 sc0 ls0 ws0">并<span class="_ _9"></span>应<span class="_ _9"></span>用</div><div class="t m0 x70 h4 y6b ff1 fs1 fc0 sc0 ls6 ws0">于传统摩擦制动系统取得了良好的防抱死性能</div><div class="t m0 x7a h5 y6c ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x80 h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">但<span class="_ _9"></span>是</div><div class="t m0 x24 h4 y6e ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x88 h4 y6d ff1 fs1 fc0 sc0 lsa ws0">上述的控制方法用于轮毂电机电动车辆</div><div class="t m0 x70 h4 y6f ff1 fs1 fc0 sc0 ls6 ws0">进行防抱死控制时都有其局限性</div><div class="t m0 x89 h4 y70 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x8a h4 y6f ff1 fs1 fc0 sc0 ls0 ws0">比如</div><div class="t m0 x8b h4 y70 ff3 fs1 fc0 sc0 ls0 ws0">：</div><div class="t m0 xc h4 y6f ff1 fs1 fc0 sc0 ls0 ws0">车辆<span class="_ _9"></span>逻辑<span class="_ _9"></span>门</div><div class="t m0 x70 h4 y71 ff1 fs1 fc0 sc0 ls0 ws0">限制</div><div class="t m0 x80 h5 y72 ff2 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x8c h5 y73 ff2 fs1 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x88 h4 y74 ff1 fs1 fc0 sc0 lsa ws0">控<span class="_ _3"></span>制<span class="_ _3"></span>中的门限值的选取主要依赖于繁琐</div><div class="t m0 x70 h4 y75 ff1 fs1 fc0 sc0 ls6 ws0">的变工况路面试验</div><div class="t m0 x8d h4 y76 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x8e h4 y75 ff1 fs1 fc0 sc0 ls8 ws0">但是很难适应实际行驶过程中</div><div class="t m0 x70 h4 y77 ff1 fs1 fc0 sc0 ls6 ws0">复杂多变的路面状<span class="_ _9"></span>态</div><div class="t m0 x8f h4 y78 ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 x90 h4 y77 ff1 fs1 fc0 sc0 ls0 ws0">实<span class="_ _9"></span>施<span class="_ _9"></span>模<span class="_ _9"></span>糊<span class="_ _f"></span>逻<span class="_ _9"></span>辑<span class="_ _f"></span>控<span class="_ _f"></span>制<span class="_ _9"></span>和</div><div class="t m0 x91 h5 y78 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>ID</div><div class="t m0 x92 h4 y77 ff1 fs1 fc0 sc0 ls0 ws0">控</div><div class="t m0 x70 h4 y79 ff1 fs1 fc0 sc0 ls6 ws0">制的成本相对较低</div><div class="t m0 x8d h4 y7a ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x8e h4 y79 ff1 fs1 fc0 sc0 ls6 ws0">但其控制精度不佳</div><div class="t m0 x8b h4 y7a ff3 fs1 fc0 sc0 ls0 ws0">；</div><div class="t m0 xc h4 y79 ff1 fs1 fc0 sc0 ls0 ws0">将滑<span class="_ _9"></span>模控<span class="_ _9"></span>制</div></div><div class="pi" data-data='{"ctm":[1.612022,0.000000,0.000000,1.612022,0.000000,0.000000]}'></div></div>
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<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62512d816caf5961923b6430/bg2.jpg"><div class="t m0 xe h4 y7b ff1 fs1 fc0 sc0 ls9 ws0">算<span class="_ _17"></span>法<span class="_ _17"></span>应<span class="_ _3"></span>用<span class="_ _3"></span>于车轮滑移率控制<span class="lsb">虽然具有较强的鲁棒</span></div><div class="t m0 xe h4 y7c ff1 fs1 fc0 sc0 ls0 ws0">性</div><div class="t m0 x6 h4 y7d ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x93 h4 y7c ff1 fs1 fc0 sc0 ls6 ws0">其滑移率控制效果却无法时刻保证最佳</div><div class="t m0 x13 h5 y7d ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x58 h4 y7e ff1 fs1 fc0 sc0 lsa ws0">线性二次型最优控制通过建立性能评价指标</div><div class="t m0 x94 h4 y7f ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xe h4 y80 ff1 fs1 fc0 sc0 ls7 ws0">可<span class="_ _17"></span>使<span class="_ _3"></span>被<span class="_ _17"></span>控<span class="_ _3"></span>系<span class="_ _3"></span>统获得优越的使用性能</div><div class="t m0 x65 hd y81 ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">12</span></div><div class="t m0 x67 he y82 ff2 fs5 fc0 sc0 ls0 ws0">－</div><div class="t m0 x95 hd y81 ff2 fs5 fc0 sc0 ls0 ws0">13<span class="_ _12"></span><span class="ff3">］</span></div><div class="t m0 x96 h5 y83 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x13 h4 y80 ff1 fs1 fc0 sc0 ls0 ws0">但<span class="_ _f"></span>是</div><div class="t m0 x42 h4 y83 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x97 h4 y80 ff1 fs1 fc0 sc0 ls0 ws0">研</div><div class="t m0 xe h4 y84 ff1 fs1 fc0 sc0 ls6 ws0">究发现无法根据现有的线性二次型最优控制算法来</div><div class="t m0 xe h4 y85 ff1 fs1 fc0 sc0 ls6 ws0">设计轮毂电机电动车辆复合制动系统的防抱死控制</div><div class="t m0 xe h4 y86 ff1 fs1 fc0 sc0 ls0 ws0">器</div><div class="t m0 x6 h5 y87 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x98 h4 y86 ff1 fs1 fc0 sc0 ls0 ws0">因此</div><div class="t m0 x52 h4 y87 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x99 h4 y86 ff1 fs1 fc0 sc0 ls9 ws0">在<span class="_ _3"></span>基本不改变制动系统状态方程以及防</div><div class="t m0 xe h4 y88 ff1 fs1 fc0 sc0 ls6 ws0">抱死性能评控制目<span class="_ _9"></span>标<span class="_ _9"></span>的<span class="_ _9"></span>情<span class="_ _9"></span>况<span class="_ _9"></span>下</div><div class="t m0 x11 h4 y89 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x17 h4 y8a ff1 fs1 fc0 sc0 ls8 ws0">为车辆制动系统设</div><div class="t m0 xe h4 y8b ff1 fs1 fc0 sc0 ls6 ws0">计基于改进线性二次型最优控制方法的防抱死控制</div><div class="t m0 xe h4 y8c ff1 fs1 fc0 sc0 ls0 ws0">器</div><div class="t m0 x6 h4 y8d ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x93 h4 y8c ff1 fs1 fc0 sc0 ls8 ws0">使<span class="_ _3"></span>得<span class="_ _17"></span>车辆<span class="_ _17"></span>在<span class="_ _3"></span>不同路面行驶工况下获得良好的滑</div><div class="t m0 xe h4 y8e ff1 fs1 fc0 sc0 ls6 ws0">移率控制效果具有重要意义</div><div class="t m0 x22 h5 y8f ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 xe h10 y90 ff2 fs4 fc0 sc0 ls0 ws0">1</div><div class="t m0 x58 ha y91 ff9 fs4 fc0 sc0 ls0 ws0">数<span class="_ _9"></span>学模<span class="_ _9"></span>型</div><div class="t m0 xe h11 y92 ff5 fs1 fc0 sc0 ls0 ws0">1<span class="_ _9"></span>．1</div><div class="t m0 x9a h4 y93 ff4 fs1 fc0 sc0 ls6 ws0">车辆纵向动力学模型</div><div class="t m0 x58 h4 y94 ff1 fs1 fc0 sc0 lsa ws0">本文将半车制动模型作为研究对象</div><div class="t m0 x12 h4 y95 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x9b h4 y94 ff1 fs1 fc0 sc0 ls0 ws0">车<span class="_ _9"></span>辆<span class="_ _9"></span>制<span class="_ _9"></span>动</div><div class="t m0 xe h4 y96 ff1 fs1 fc0 sc0 ls0 ws0">模型<span class="_ _9"></span>见图</div><div class="t m0 x9c h5 y97 ff2 fs1 fc0 sc0 ls0 ws0">1<span class="_ _9"></span>．</div><div class="t m1 x3 h12 y98 ffd fs6 fc1 sc0 ls0 ws0">!</div><div class="t m1 x5e h13 y99 ffe fs7 fc1 sc0 ls0 ws0">!</div><div class="t m1 x5e h12 y9a ffd fs6 fc1 sc0 ls0 ws0">"</div><div class="t m1 x1c h13 y9b ffe fs7 fc1 sc0 ls0 ws0">"<span class="_ _16"></span>#</div><div class="t m1 x9d h12 y9c ffd fs6 fc1 sc0 ls0 ws0">#</div><div class="t m1 x3c h13 y9d ffe fs7 fc1 sc0 ls0 ws0">#</div><div class="t m1 x5c h12 y9e ffd fs6 fc1 sc0 ls0 ws0">$</div><div class="t m1 x9e h13 y9f ffe fs7 fc1 sc0 ls0 ws0">$</div><div class="t m1 x9f h12 y9e ffd fs6 fc1 sc0 ls0 ws0">%<span class="_ _b"></span>&</div><div class="t m1 xa0 h12 ya0 ffd fs6 fc1 sc0 ls0 ws0">’</div><div class="t m1 xa1 h12 ya1 ffd fs6 fc1 sc0 ls0 ws0">(</div><div class="t m1 xa2 h12 ya2 ffd fs6 fc1 sc0 ls0 ws0">)</div><div class="t m1 xa3 h12 ya3 ffd fs6 fc1 sc0 ls0 ws0">*</div><div class="t m1 xa4 h12 ya4 ffd fs6 fc1 sc0 ls0 ws0">!</div><div class="t m1 xa5 h13 ya5 ffd fs7 fc1 sc0 ls0 ws0">’<span class="_ _16"></span><span class="ffe">%</span></div><div class="t m1 xa6 h12 ya6 ffd fs6 fc1 sc0 ls0 ws0">+</div><div class="t m1 xa7 h13 ya7 ffe fs7 fc1 sc0 ls0 ws0">#</div><div class="t m1 x4 h12 ya8 ffd fs6 fc1 sc0 ls0 ws0">,</div><div class="t m1 x99 h12 ya9 ffd fs6 fc1 sc0 ls0 ws0">!</div><div class="t m1 xa8 h13 yaa ffd fs7 fc1 sc0 ls0 ws0">-<span class="_ _21"></span><span class="ffe">#</span></div><div class="t m1 x3a h12 yab ffd fs6 fc1 sc0 ls0 ws0">"</div><div class="t m1 xa9 h13 yac ffe fs7 fc1 sc0 ls0 ws0">"<span class="_ _16"></span>%</div><div class="t m1 xaa h12 yad ffd fs6 fc1 sc0 ls0 ws0">#</div><div class="t m1 xa4 h13 yae ffe fs7 fc1 sc0 ls0 ws0">%</div><div class="t m1 xab h12 yaf ffd fs6 fc1 sc0 ls0 ws0">+</div><div class="t m1 x95 h13 yb0 ffe fs7 fc1 sc0 ls0 ws0">%</div><div class="t m1 x96 h12 yb1 ffd fs6 fc1 sc0 ls0 ws0">!</div><div class="t m1 xac h13 yb2 ffd fs7 fc1 sc0 ls0 ws0">-<span class="_ _21"></span><span class="ffe">%</span></div><div class="t m1 x54 h12 ya8 ffd fs6 fc1 sc0 ls0 ws0">,</div><div class="t m0 xad h6 yb3 ff4 fs2 fc0 sc0 ls0 ws0">图</div><div class="t m0 xa3 h14 yb4 ff5 fs2 fc0 sc0 ls0 ws0">1</div><div class="t m0 x5d h6 yb3 ff4 fs2 fc0 sc0 ls0 ws0">车辆<span class="_ _9"></span>制动<span class="_ _9"></span>模型</div><div class="t m0 x5 h7 yb5 ff2 fs2 fc0 sc0 ls0 ws0">Fig．<span class="_ _9"></span>1<span class="_ _e"> </span>Brakin<span class="_ _3"></span>g<span class="_ _7"> </span>model<span class="_ _7"> </span>of<span class="_ _7"> </span>vehicle</div><div class="t m0 x58 h4 yb6 ff1 fs1 fc0 sc0 ls0 ws0">对图</div><div class="t m0 x9c h5 yb7 ff2 fs1 fc0 sc0 ls0 ws0">1</div><div class="t m0 x4d h4 yb6 ff1 fs1 fc0 sc0 ls8 ws0">进<span class="_ _3"></span>行<span class="_ _3"></span>纵向动力学分析</div><div class="t m0 xa2 h4 yb7 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xae h4 yb6 ff1 fs1 fc0 sc0 ls8 ws0">可得汽车制动方</div><div class="t m0 xe h4 yb8 ff1 fs1 fc0 sc0 ls0 ws0">程式<span class="_ _9"></span>为</div><div class="t m0 xaf h15 yb9 fff fs1 fc0 sc0 ls0 ws0">δ</div><div class="t m0 x98 h16 yba ff10 fs1 fc0 sc0 ls0 ws0">M<span class="_ _7"> </span>x</div><div class="t m0 xb0 h17 ybb ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 xb1 h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">=<span class="_ _c"> </span>－</div><div class="t m0 xa7 h16 yba ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xb2 he ybd ff2 fs5 fc0 sc0 ls0 ws0">x1</div><div class="t m0 x3b h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xb3 h16 yba ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xa3 he ybd ff2 fs5 fc0 sc0 ls0 ws0">x2</div><div class="t m0 x62 h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xb4 h16 yba ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xb5 he ybd ff2 fs5 fc0 sc0 ls0 ws0">f1</div><div class="t m0 x9f h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x36 h16 yba ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x11 he ybd ff2 fs5 fc0 sc0 ls0 ws0">f2</div><div class="t m0 xb6 h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xa h16 yba ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x66 he ybd ff2 fs5 fc0 sc0 ls0 ws0">w</div><div class="t m0 x67 h16 ybc ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xb7 h16 ybe ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x6 h16 ybf ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x98 he yc0 ff2 fs5 fc0 sc0 ls0 ws0">z1</div><div class="t m0 x9a h15 yc1 fff fs1 fc0 sc0 ls0 ws0">μ</div><div class="t m0 xb0 h4 ybf ff3 fs1 fc0 sc0 ls0 ws0">（</div><div class="t m0 x7 h15 yc1 fff fs1 fc0 sc0 ls0 ws0">λ</div><div class="t m0 xb8 he yc0 ff2 fs5 fc0 sc0 ls0 ws0">1</div><div class="t m0 x8 h4 ybf ff3 fs1 fc0 sc0 ls0 ws0">）</div><div class="t m0 x31 h16 yc2 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xb9 h16 yc3 ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x27 he yc0 ff2 fs5 fc0 sc0 ls0 ws0">z2</div><div class="t m0 xba h15 yc1 fff fs1 fc0 sc0 ls0 ws0">μ</div><div class="t m0 xbb h4 ybf ff3 fs1 fc0 sc0 ls0 ws0">（</div><div class="t m0 x34 h15 yc1 fff fs1 fc0 sc0 ls0 ws0">λ</div><div class="t m0 x35 he yc0 ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 x5d h4 ybf ff3 fs1 fc0 sc0 ls0 ws0">）</div><div class="t m0 x63 h16 yc2 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xbc h16 yc3 ff10 fs1 fc0 sc0 ls0 ws0">W</div><div class="t m0 xbd he yc0 ff2 fs5 fc0 sc0 ls0 ws0">1</div><div class="t m0 x36 h16 ybf ff10 fs1 fc0 sc0 ls0 ws0">f</div><div class="t m0 x11 h16 ybe ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xb6 h16 ybf ff10 fs1 fc0 sc0 ls0 ws0">W</div><div class="t m0 xa he yc0 ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 x65 h16 ybf ff10 fs1 fc0 sc0 ls0 ws0">f</div><div class="t m0 x6d h16 ybe ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xbe h16 yc4 ff10 fs1 fc0 sc0 ls0 ws0">C</div><div class="t m0 x40 he yc5 ff2 fs5 fc0 sc0 ls0 ws0">D</div><div class="t m0 x9b h16 yc4 ff10 fs1 fc0 sc0 ls0 ws0">A</div><div class="t m0 xbf h15 yc6 fff fs1 fc0 sc0 ls0 ws0">ρ</div><div class="t m0 x96 h5 yc7 ff2 fs1 fc0 sc0 ls0 ws0">2</div><div class="t m0 xc0 h16 ybf ff10 fs1 fc0 sc0 ls0 ws0">x</div><div class="t m0 xc1 h18 yc8 ffb fs5 fc0 sc0 ls0 ws0">·</div><div class="t m0 xc2 he yc9 ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 xc3 h4 ybf ff10 fs1 fc0 sc0 ls0 ws0">．<span class="_ _8"> </span><span class="ff3">（<span class="_ _22"> </span><span class="ff2">1<span class="_ _9"></span></span>）</span></div><div class="t m0 xe h4 yca ff1 fs1 fc0 sc0 ls0 ws0">式中</div><div class="t m0 x58 h4 ycb ff3 fs1 fc0 sc0 ls0 ws0">：<span class="_ _18"> </span><span class="ff10">M</span></div><div class="t m0 xc4 h4 yca ff1 fs1 fc0 sc0 ls0 ws0">为汽<span class="_ _9"></span>车质<span class="_ _9"></span>量</div><div class="t m0 x9e h4 ycb ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x21 h4 yca fff fs1 fc0 sc0 ls0 ws0">δ<span class="_ _7"> </span><span class="ff1 lsa">为汽车旋转质量换算系数</span></div><div class="t m0 x94 h4 ycb ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xe h16 ycc ff10 fs1 fc0 sc0 ls0 ws0">x</div><div class="t m0 xb7 h17 ycd ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 xc5 h4 yce ff1 fs1 fc0 sc0 ls6 ws0">为车辆行驶加速度</div><div class="t m0 xc6 h4 ycc ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">F</span></div><div class="t m0 xb4 he ycf ff2 fs5 fc0 sc0 ls0 ws0">x1</div><div class="t m0 x3e h16 ycc ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _16"></span><span class="ff10">F</span></div><div class="t m0 x33 he ycf ff2 fs5 fc0 sc0 ls0 ws0">x2</div><div class="t m0 x16 h4 yce ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _9"></span>别<span class="_ _9"></span>为<span class="_ _9"></span>前</div><div class="t m0 x12 hf ycc ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x9b h4 yce ff1 fs1 fc0 sc0 ls0 ws0">后<span class="_ _9"></span>车<span class="_ _9"></span>轮<span class="_ _9"></span>的</div><div class="t m0 xe h4 yd0 ff1 fs1 fc0 sc0 ls6 ws0">地面切向反作用力</div><div class="t m0 xbb h4 yd1 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">F</span></div><div class="t m0 x59 he yd2 ff2 fs5 fc0 sc0 ls0 ws0">f1</div><div class="t m0 xb4 h16 yd1 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _21"></span><span class="ff10">F</span></div><div class="t m0 xa0 he yd2 ff2 fs5 fc0 sc0 ls0 ws0">f2</div><div class="t m0 xc7 h4 yd0 ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _9"></span>别<span class="_ _9"></span>为<span class="_ _9"></span>前</div><div class="t m0 x67 hf yd1 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 xc8 h4 yd0 ff1 fs1 fc0 sc0 ls0 ws0">后<span class="_ _9"></span>车<span class="_ _9"></span>轮<span class="_ _9"></span>的<span class="_ _9"></span>滚</div><div class="t m0 xe h4 yd3 ff1 fs1 fc0 sc0 ls0 ws0">动阻<span class="_ _9"></span>力</div><div class="t m0 x4e h4 yd4 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">F</span></div><div class="t m0 xc9 he yd5 ff2 fs5 fc0 sc0 ls0 ws0">z1</div><div class="t m0 x4d h16 yd4 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">F</span></div><div class="t m0 xca he yd5 ff2 fs5 fc0 sc0 ls0 ws0">z2</div><div class="t m0 xcb h4 yd3 ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _9"></span>别<span class="_ _9"></span>为<span class="_ _f"></span>前</div><div class="t m0 x3e hf yd4 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x9f h4 yd3 ff1 fs1 fc0 sc0 ls7 ws0">后车轮的地面法向反作</div><div class="t m0 xe h4 yd6 ff1 fs1 fc0 sc0 ls0 ws0">用力</div><div class="t m0 x58 h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">F</span></div><div class="t m0 x7 he yd8 ff2 fs5 fc0 sc0 ls0 ws0">w</div><div class="t m0 x5f h4 yd9 ff1 fs1 fc0 sc0 ls0 ws0">为<span class="_ _9"></span>空<span class="_ _9"></span>气<span class="_ _f"></span>阻<span class="_ _f"></span>力</div><div class="t m0 x62 h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x53 h15 yd9 fff fs1 fc0 sc0 ls0 ws0">μ</div><div class="t m0 x63 h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">（</div><div class="t m0 xcc h15 yd9 fff fs1 fc0 sc0 ls0 ws0">λ</div><div class="t m0 xcd he yd8 ff2 fs5 fc0 sc0 ls0 ws0">1</div><div class="t m0 xbd h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">）<span class="_ _22"> </span><span class="ffc">、</span></div><div class="t m0 x16 h15 yd9 fff fs1 fc0 sc0 ls0 ws0">μ</div><div class="t m0 x17 h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">（</div><div class="t m0 x56 h15 yd9 fff fs1 fc0 sc0 ls0 ws0">λ</div><div class="t m0 xa he yd8 ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 x6c h4 yd7 ff3 fs1 fc0 sc0 ls0 ws0">）</div><div class="t m0 xce h4 yd9 ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _f"></span>别<span class="_ _f"></span>为<span class="_ _f"></span>前</div><div class="t m0 x42 hf yd7 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x97 h4 yd9 ff1 fs1 fc0 sc0 ls0 ws0">后</div><div class="t m0 xe h4 yda ff1 fs1 fc0 sc0 ls0 ws0">车轮<span class="_ _9"></span>与地<span class="_ _9"></span>面的<span class="_ _9"></span>附<span class="_ _9"></span>着<span class="_ _f"></span>系<span class="_ _9"></span>数</div><div class="t m0 xb4 h4 ydb ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _16"></span><span class="ff10">f</span></div><div class="t m0 xa0 h4 yda ff1 fs1 fc0 sc0 ls0 ws0">为<span class="_ _9"></span>滚<span class="_ _f"></span>动<span class="_ _f"></span>阻<span class="_ _f"></span>力<span class="_ _f"></span>系<span class="_ _f"></span>数</div><div class="t m0 xaa h4 ydb ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _b"></span><span class="ff10">C</span></div><div class="t m0 xcf he ydc ff2 fs5 fc0 sc0 ls0 ws0">D</div><div class="t m0 x97 h4 yda ff1 fs1 fc0 sc0 ls0 ws0">为</div><div class="t m0 xe h4 ydd ff1 fs1 fc0 sc0 ls0 ws0">空气<span class="_ _9"></span>阻力<span class="_ _9"></span>系数</div><div class="t m0 x32 h4 yde ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">A</span></div><div class="t m0 xd0 h4 ydd ff1 fs1 fc0 sc0 ls0 ws0">为迎<span class="_ _9"></span>风面<span class="_ _9"></span>积</div><div class="t m0 x57 h4 yde ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x16 h4 ydd fff fs1 fc0 sc0 ls0 ws0">ρ<span class="_ _1"> </span><span class="ff1">为<span class="_ _9"></span>空气<span class="_ _9"></span>密度</span></div><div class="t m0 xc0 h5 yde ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x58 h16 ydf ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xd1 he ye0 ff2 fs5 fc0 sc0 ls0 ws0">z1</div><div class="t m0 xb1 h4 ye1 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x10 h16 ydf ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x5 he ye0 ff2 fs5 fc0 sc0 ls0 ws0">z2</div><div class="t m0 xb9 h4 ye1 ff1 fs1 fc0 sc0 ls6 ws0">的表达式分别为</div><div class="t m0 xb9 h16 ye2 ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x27 he ye3 ff2 fs5 fc0 sc0 ls0 ws0">z1</div><div class="t m0 x5b h16 ye4 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x34 h16 ye5 ff10 fs1 fc0 sc0 ls0 ws0">M</div><div class="t m0 x59 h4 ye2 ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _22"> </span><span class="ff10">g</span></div><div class="t m0 x3e h16 ye6 ff10 fs1 fc0 sc0 ls0 ws0">b</div><div class="t m0 x3e h16 ye7 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 xb h16 ye4 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x37 h16 ye5 ff10 fs1 fc0 sc0 ls0 ws0">x</div><div class="t m0 x37 h17 ye8 ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 x17 h16 ye9 ff10 fs1 fc0 sc0 ls0 ws0">h</div><div class="t m0 xd2 he yea ff2 fs5 fc0 sc0 ls0 ws0">g</div><div class="t m0 xd3 h16 ye7 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 xd4 h4 ye2 ff3 fs1 fc0 sc0 ls0 ws0">）<span class="_ _22"> </span>，<span class="_ _24"> </span>（<span class="_ _7"> </span><span class="ff2">2<span class="_ _9"></span></span>）</div><div class="t m0 xd5 h16 yeb ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 x27 he yec ff2 fs5 fc0 sc0 ls0 ws0">z2</div><div class="t m0 xf h16 yed ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xc6 h4 yeb ff10 fs1 fc0 sc0 ls0 ws0">M<span class="_"> </span><span class="ff3">（<span class="_ _4"> </span></span>g</div><div class="t m0 x3e h16 yee ff10 fs1 fc0 sc0 ls0 ws0">a</div><div class="t m0 x3e h16 yef ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 xbd h16 yed ff10 fs1 fc0 sc0 ls0 ws0">+</div><div class="t m0 xd6 h16 yeb ff10 fs1 fc0 sc0 ls0 ws0">x</div><div class="t m0 x11 h17 yf0 ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 xd7 h16 yf1 ff10 fs1 fc0 sc0 ls0 ws0">h</div><div class="t m0 x56 he yf2 ff2 fs5 fc0 sc0 ls0 ws0">g</div><div class="t m0 xd8 h16 yf3 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 xae h4 yeb ff3 fs1 fc0 sc0 ls0 ws0">）<span class="_ _22"> </span><span class="ff10">．<span class="_ _25"> </span></span>（<span class="_ _7"> </span><span class="ff2">3<span class="_ _9"></span></span>）</div><div class="t m0 xe h4 yf4 ff1 fs1 fc0 sc0 ls0 ws0">式中</div><div class="t m0 x9a h16 yf5 ff10 fs1 fc0 sc0 ls0 ws0">a<span class="_ _9"></span><span class="ffb">、<span class="_ _23"></span><span class="ff10">b</span></span></div><div class="t m0 xb8 h4 yf4 ff1 fs1 fc0 sc0 lsa ws0">分别为质心到前</div><div class="t m0 xcc hf yf5 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 xd9 h4 yf4 ff1 fs1 fc0 sc0 ls0 ws0">后<span class="_ _9"></span>轴<span class="_ _9"></span>的<span class="_ _9"></span>距<span class="_ _f"></span>离</div><div class="t m0 xbe h4 yf5 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _16"></span><span class="ff10">L</span></div><div class="t m0 x13 h4 yf4 ff1 fs1 fc0 sc0 ls0 ws0">为<span class="_ _9"></span>轴<span class="_ _9"></span>距</div><div class="t m0 x94 h4 yf5 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xe h16 yf6 ff10 fs1 fc0 sc0 ls0 ws0">h</div><div class="t m0 x1 he yf7 ff2 fs5 fc0 sc0 ls0 ws0">g</div><div class="t m0 xda h4 yf8 ff1 fs1 fc0 sc0 ls0 ws0">为质<span class="_ _9"></span>心高<span class="_ _9"></span>度</div><div class="t m0 xca h5 yf6 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x58 h4 yf9 ff1 fs1 fc0 sc0 ls0 ws0">此外</div><div class="t m0 xb8 h4 yfa ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xa6 h4 yf9 ff1 fs1 fc0 sc0 ls0 ws0">前</div><div class="t m0 xdb hf yfa ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x32 h4 yf9 ff1 fs1 fc0 sc0 ls6 ws0">后车轮运动状态的动力学方程</div><div class="t m0 x68 hd yfb ff3 fs5 fc0 sc0 ls0 ws0">［<span class="_ _1d"></span><span class="ff2">14<span class="_ _12"></span><span class="ff3">］</span></span></div><div class="t m0 xdc h4 yf9 ff1 fs1 fc0 sc0 ls0 ws0">为</div><div class="t m0 x19 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">I</div><div class="t m0 xdd h15 yfd fff fs1 fc0 sc0 ls0 ws0">θ</div><div class="t m0 xde h17 ya ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 x8c he yfe ff2 fs5 fc0 sc0 ls0 ws0">1</div><div class="t m0 xdf h16 yff ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xe0 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _9"></span>F</div><div class="t m0 xe1 he yfe ff2 fs5 fc0 sc0 ls0 ws0">x1</div><div class="t m0 xe2 h16 yff ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe3 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xe4 he yfe ff2 fs5 fc0 sc0 ls0 ws0">b1</div><div class="t m0 x8e h16 yff ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe5 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x77 he yfe ff2 fs5 fc0 sc0 ls0 ws0">f1</div><div class="t m0 xe6 h16 yff ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xe7 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _9"></span>F</div><div class="t m0 x1f he yfe ff2 fs5 fc0 sc0 ls0 ws0">x1</div><div class="t m0 xe8 h16 yff ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe9 h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xea he yfe ff2 fs5 fc0 sc0 ls0 ws0">b1</div><div class="t m0 xeb h16 yff ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xc h16 yfc ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xd he yfe ff2 fs5 fc0 sc0 ls0 ws0">f1</div><div class="t m0 xec h4 yfc ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _18"> </span><span class="ff3">，</span></div><div class="t m0 x19 h16 y100 ff10 fs1 fc0 sc0 ls0 ws0">I</div><div class="t m0 xdd h15 y101 fff fs1 fc0 sc0 ls0 ws0">θ</div><div class="t m0 xde h17 y102 ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 x8c he y103 ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 xdf h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xe0 h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _9"></span>F</div><div class="t m0 xe1 he y103 ff2 fs5 fc0 sc0 ls0 ws0">x2</div><div class="t m0 xe2 h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe3 h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xe4 he y103 ff2 fs5 fc0 sc0 ls0 ws0">b2</div><div class="t m0 x8e h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe5 h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x77 he y103 ff2 fs5 fc0 sc0 ls0 ws0">f2</div><div class="t m0 xe6 h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xe7 h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _9"></span>F</div><div class="t m0 x1f he y103 ff2 fs5 fc0 sc0 ls0 ws0">x2</div><div class="t m0 xe8 h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xe9 h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xea he y103 ff2 fs5 fc0 sc0 ls0 ws0">b2</div><div class="t m0 xeb h16 y104 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 xc h16 y105 ff10 fs1 fc0 sc0 ls0 ws0">F</div><div class="t m0 xd he y103 ff2 fs5 fc0 sc0 ls0 ws0">f2</div><div class="t m0 xec h16 y100 ff10 fs1 fc0 sc0 ls0 ws0">r<span class="_ _18"> </span>．</div><div class="t m2 x18 h19 y106 ff12 fs8 fc0 sc0 ls0 ws0">{</div><div class="t m0 xed h4 y107 ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _7"> </span><span class="ff2">4<span class="_ _9"></span></span>）</div><div class="t m0 x70 h4 y108 ff1 fs1 fc0 sc0 ls0 ws0">式中</div><div class="t m0 x80 h4 y109 ff3 fs1 fc0 sc0 ls0 ws0">：<span class="_ _18"> </span><span class="ff10">I</span></div><div class="t m0 xee h4 y108 ff1 fs1 fc0 sc0 lsc ws0">为车轮转动惯量</div><div class="t m0 x78 h4 y109 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _16"></span><span class="ff10">r</span></div><div class="t m0 xef h4 y108 ff1 fs1 fc0 sc0 lsc ws0">为车轮有效半径</div><div class="t m0 xf0 h4 y109 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xf1 h15 y108 fff fs1 fc0 sc0 ls0 ws0">θ</div><div class="t m0 xf2 h17 y10a ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 x7f he y10b ff2 fs5 fc0 sc0 ls0 ws0">1</div><div class="t m0 xf3 hf y109 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 xf4 h15 y108 fff fs1 fc0 sc0 ls0 ws0">θ</div><div class="t m0 xf5 h17 y10a ff11 fs1 fc0 sc0 ls0 ws0">¨</div><div class="t m0 xf6 he y10b ff2 fs5 fc0 sc0 ls0 ws0">2</div><div class="t m0 x70 h4 y10c ff1 fs1 fc0 sc0 ls0 ws0">分别为<span class="_ _3"></span>前</div><div class="t m0 x7d hf y10d ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x7e h4 y10c ff1 fs1 fc0 sc0 ls0 ws0">后车轮角加<span class="_ _9"></span>速度</div><div class="t m0 x2d h4 y10d ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">T</span></div><div class="t m0 x76 he y10e ff2 fs5 fc0 sc0 ls0 ws0">f1</div><div class="t m0 x20 h16 y10d ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _26"></span><span class="ff10">T</span></div><div class="t m0 xf7 he y10e ff2 fs5 fc0 sc0 ls0 ws0">f2</div><div class="t m0 xf8 h4 y10c ff1 fs1 fc0 sc0 lsd ws0">分别为前后车轮</div><div class="t m0 x70 h4 y10f ff1 fs1 fc0 sc0 ls0 ws0">滚动阻<span class="_ _3"></span>力偶矩</div><div class="t m0 xf9 h4 y110 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">T</span></div><div class="t m0 x48 he y111 ff2 fs5 fc0 sc0 ls0 ws0">b1</div><div class="t m0 xfa h16 y110 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _26"></span><span class="ff10">T</span></div><div class="t m0 xfb he y111 ff2 fs5 fc0 sc0 ls0 ws0">b2</div><div class="t m0 x2a h4 y10f ff1 fs1 fc0 sc0 lse ws0">分别为前后车轮总制动力矩</div><div class="t m0 xfc h5 y110 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x80 h16 y112 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x8c he y113 ff2 fs5 fc0 sc0 ls0 ws0">b1</div><div class="t m0 x23 h4 y114 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 xfd h16 y112 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xfe he y113 ff2 fs5 fc0 sc0 ls0 ws0">b2</div><div class="t m0 x82 h4 y114 ff1 fs1 fc0 sc0 ls6 ws0">的表达式分别满足</div><div class="t m0 xe4 h16 y115 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 xff he y116 ff2 fs5 fc0 sc0 ls0 ws0">b1</div><div class="t m0 x100 h16 y117 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x77 h16 y115 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x75 he y116 ff2 fs5 fc0 sc0 ls0 ws0">m1</div><div class="t m0 xe7 h16 y117 ff10 fs1 fc0 sc0 ls0 ws0">+</div><div class="t m0 x76 h16 y115 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x20 he y116 ff2 fs5 fc0 sc0 ls0 ws0">h1</div><div class="t m0 x84 h4 y115 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _27"> </span>（<span class="_ _7"> </span><span class="ff2">5<span class="_ _9"></span></span>）</div><div class="t m0 xfa h16 y118 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x101 he y119 ff2 fs5 fc0 sc0 ls0 ws0">b2</div><div class="t m0 x29 h16 y11a ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x102 h16 y118 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x75 he y119 ff2 fs5 fc0 sc0 ls0 ws0">m2</div><div class="t m0 x2e h16 y11a ff10 fs1 fc0 sc0 ls0 ws0">+</div><div class="t m0 x1f h16 y118 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x83 he y119 ff2 fs5 fc0 sc0 ls0 ws0">h2</div><div class="t m0 x89 h4 y118 ff10 fs1 fc0 sc0 ls0 ws0">．<span class="_ _28"> </span><span class="ff3">（<span class="_ _7"> </span><span class="ff2">6<span class="_ _9"></span></span>）</span></div><div class="t m0 x70 h4 y11b ff1 fs1 fc0 sc0 ls0 ws0">式中</div><div class="t m0 x103 h16 y11c ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x104 he y11d ff2 fs5 fc0 sc0 ls0 ws0">m1</div><div class="t m0 x105 h16 y11c ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">T</span></div><div class="t m0 xfd he y11d ff2 fs5 fc0 sc0 ls0 ws0">m2</div><div class="t m0 x1a h4 y11b ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _9"></span>别<span class="_ _9"></span>为<span class="_ _9"></span>前</div><div class="t m0 x106 hf y11c ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x107 h4 y11b ff1 fs1 fc0 sc0 lsc ws0">后轮的电机制动力矩</div><div class="t m0 x79 h4 y11c ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _16"></span><span class="ff10">T</span></div><div class="t m0 x108 he y11d ff2 fs5 fc0 sc0 ls0 ws0">h1</div><div class="t m0 x109 hf y11c ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x70 h16 y11e ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x2c he y11f ff2 fs5 fc0 sc0 ls0 ws0">h2</div><div class="t m0 x72 h4 y120 ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为前</div><div class="t m0 x10a hf y11e ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x10b h4 y120 ff1 fs1 fc0 sc0 ls6 ws0">后轮的液压制动力矩</div><div class="t m0 xf8 h5 y11e ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x70 h5 y121 ff5 fs1 fc0 sc0 ls0 ws0">1<span class="_ _9"></span><span class="ff2">．</span>2</div><div class="t m0 x103 h4 y122 ff4 fs1 fc0 sc0 ls0 ws0">轮毂<span class="_ _9"></span>电机<span class="_ _9"></span>模型</div><div class="t m0 x80 h4 y123 ff1 fs1 fc0 sc0 lsa ws0">本文研究的电动车辆中前</div><div class="t m0 x83 hf y124 ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x10c h4 y123 ff1 fs1 fc0 sc0 lsa ws0">后车轮分别安装可</div><div class="t m0 x70 h4 y125 ff1 fs1 fc0 sc0 ls0 ws0">以相<span class="_ _9"></span>互独<span class="_ _f"></span>立<span class="_ _a"></span>驱<span class="_ _f"></span>动</div><div class="t m0 x10d h5 y126 ff2 fs1 fc0 sc0 ls0 ws0">/</div><div class="t m0 x49 h4 y127 ff1 fs1 fc0 sc0 ls9 ws0">制动的轮毂电机</div><div class="t m0 xf8 h5 y126 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x10e h4 y127 ff1 fs1 fc0 sc0 ls0 ws0">轮<span class="_ _f"></span>毂<span class="_ _f"></span>电<span class="_ _a"></span>机<span class="_ _f"></span>类<span class="_ _a"></span>型</div><div class="t m0 x70 h4 y128 ff1 fs1 fc0 sc0 ls0 ws0">为永<span class="_ _9"></span>磁同步<span class="_ _9"></span>电机</div><div class="t m0 x10d h4 y129 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>MSM<span class="_ _9"></span><span class="ff3">，</span></div><div class="t m0 x107 h4 y128 ff1 fs1 fc0 sc0 ls0 ws0">在</div><div class="t m0 x10f h16 y129 ff10 fs1 fc0 sc0 ls0 ws0">d<span class="_ _9"></span>q</div><div class="t m0 x110 h4 y128 ff1 fs1 fc0 sc0 ls0 ws0">坐标<span class="_ _9"></span>系下</div><div class="t m0 xc h5 y129 ff2 fs1 fc0 sc0 ls0 ws0">P<span class="_ _9"></span>MSM</div><div class="t m0 x7a h4 y128 ff1 fs1 fc0 sc0 ls0 ws0">电<span class="_ _9"></span>机</div><div class="t m0 x70 h4 y12a ff1 fs1 fc0 sc0 ls0 ws0">的数<span class="_ _9"></span>学模<span class="_ _9"></span>型为</div><div class="t m0 x81 h16 y12b ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x111 h18 y12c ffb fs5 fc0 sc0 ls0 ws0">·</div><div class="t m0 x104 h1a y12d ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x23 h16 y12e ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x7e h16 y12f ff10 fs1 fc0 sc0 ls0 ws0">u</div><div class="t m0 x112 h1a y130 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x7e h16 y131 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x112 h1a y132 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x1a h16 y12e ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x113 h16 y12f ff10 fs1 fc0 sc0 ls0 ws0">R<span class="_ _9"></span>i</div><div class="t m0 xe4 h1a y130 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x114 h16 y131 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x115 h1a y132 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x101 h16 y12e ff10 fs1 fc0 sc0 ls0 ws0">+</div><div class="t m0 x100 h16 y12f ff10 fs1 fc0 sc0 ls0 ws0">p<span class="_ _9"></span>wi</div><div class="t m0 x75 h1a y130 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 xe6 h16 y12f ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x116 h1a y130 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x77 h16 y131 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x117 h1a y132 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x2e h4 y12b ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x81 h16 y133 ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x111 h18 y134 ffb fs5 fc0 sc0 ls0 ws0">·</div><div class="t m0 x104 h1a y135 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x23 h16 y136 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x7e h16 y137 ff10 fs1 fc0 sc0 ls0 ws0">u</div><div class="t m0 x112 h1a y138 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x7e h16 y139 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x112 h1a y13a ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x1a h16 y136 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x113 h16 y137 ff10 fs1 fc0 sc0 ls0 ws0">R<span class="_ _9"></span>i</div><div class="t m0 xe4 h1a y138 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x114 h16 y139 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x10d h1a y13a ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 xff h16 y136 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x100 h16 y137 ff10 fs1 fc0 sc0 ls0 ws0">p<span class="_ _9"></span>wi</div><div class="t m0 x78 h1a y138 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 xe6 h16 y137 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x116 h1a y138 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x77 h16 y139 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x117 h1a y13a ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x118 h16 y136 ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x119 h15 y13b fff fs1 fc0 sc0 ls0 ws0">ψ</div><div class="t m0 xe8 he y138 ff2 fs5 fc0 sc0 ls0 ws0">f</div><div class="t m0 x89 h16 y137 ff10 fs1 fc0 sc0 ls0 ws0">p<span class="_ _9"></span>w</div><div class="t m0 x11a h16 y139 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 xf7 h1a y13a ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x11b h4 y133 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x81 h16 y13c ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x11c he y13d ff2 fs5 fc0 sc0 ls0 ws0">m</div><div class="t m0 x11d h16 y13e ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 xfd h5 y13c ff2 fs1 fc0 sc0 ls0 ws0">1<span class="_ _9"></span><span class="ff10">．</span>5<span class="_ _9"></span><span class="ff10">p</span></div><div class="t m0 x48 h15 y13f fff fs1 fc0 sc0 ls0 ws0">ψ</div><div class="t m0 xfa he y13d ff2 fs5 fc0 sc0 ls0 ws0">f</div><div class="t m0 x8d h16 y13c ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x101 h1a y13d ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x8f h16 y13e ff10 fs1 fc0 sc0 ls0 ws0">+</div><div class="t m0 x4b h4 y13c ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _22"> </span><span class="ff10">L</span></div><div class="t m0 x11e h1a y13d ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x2e h16 y13e ff10 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x1f h16 y13c ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x83 h1a y13d ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x11f h4 y13c ff3 fs1 fc0 sc0 ls0 ws0">）<span class="_ _22"> </span><span class="ff10">i</span></div><div class="t m0 x8a h1a y13d ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x120 h16 y13c ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 xea h1a y13d ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x113 h1b y140 ff12 fs1 fc0 sc0 ls0 ws0">[<span class="_ _29"> </span>]</div><div class="t m0 xeb h16 y13c ff10 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x80 h1b y141 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y142 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y140 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y143 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y144 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y145 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y146 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y147 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 x80 h1b y148 ff12 fs1 fc0 sc0 ls0 ws0"></div><div class="t m0 xed h4 y137 ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _7"> </span><span class="ff2">7<span class="_ _9"></span></span>）</div><div class="t m0 x70 h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">式<span class="_ _9"></span>中</div><div class="t m0 x80 h4 y14a ff3 fs1 fc0 sc0 ls0 ws0">：<span class="_ _18"> </span><span class="ff10">u</span></div><div class="t m0 xdf h1a y14b ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x7d h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 xe1 h16 y14a ff10 fs1 fc0 sc0 ls0 ws0">u</div><div class="t m0 x121 h1a y14b ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 xe2 h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为</div><div class="t m0 x4a h16 y14a ff10 fs1 fc0 sc0 ls0 ws0">d<span class="_ _9"></span><span class="ffb">、<span class="_ _26"></span><span class="ff10">q</span></span></div><div class="t m0 x11e h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">轴电<span class="_ _9"></span>压</div><div class="t m0 x122 h4 y14a ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">i</span></div><div class="t m0 x11b h1a y14b ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x10e h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x123 h16 y14a ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x124 h1a y14b ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 xd h4 y149 ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为</div><div class="t m0 x92 h16 y14a ff10 fs1 fc0 sc0 ls0 ws0">d<span class="_ _9"></span><span class="ffb">、</span></div><div class="t m0 x70 h16 y14c ff10 fs1 fc0 sc0 ls0 ws0">q</div><div class="t m0 x125 h4 y14d ff1 fs1 fc0 sc0 ls0 ws0">轴电<span class="_ _9"></span>流</div><div class="t m0 x126 h4 y14c ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">L</span></div><div class="t m0 x127 h1a y14e ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x121 h4 y14d ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x114 h16 y14c ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x115 h1a y14e ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x8d h4 y14d ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为</div><div class="t m0 x2d h16 y14c ff10 fs1 fc0 sc0 ls0 ws0">d<span class="_ _9"></span><span class="ffb">、<span class="_ _26"></span><span class="ff10">q</span></span></div><div class="t m0 x110 h4 y14d ff1 fs1 fc0 sc0 ls0 ws0">轴电<span class="_ _9"></span>感</div><div class="t m0 x26 h4 y14c ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _21"></span><span class="ff10">R</span></div><div class="t m0 x128 h4 y14d ff1 fs1 fc0 sc0 ls0 ws0">为相<span class="_ _9"></span>电阻</div><div class="t m0 x109 h4 y14c ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x70 h16 y14f ff10 fs1 fc0 sc0 ls0 ws0">p</div><div class="t m0 x125 h4 y150 ff1 fs1 fc0 sc0 ls0 ws0">为极<span class="_ _9"></span>对数</div><div class="t m0 xfd h4 y14f ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x129 h15 y150 fff fs1 fc0 sc0 ls0 ws0">ψ</div><div class="t m0 xe2 he y151 ff2 fs5 fc0 sc0 ls0 ws0">f</div><div class="t m0 x12a h4 y150 ff1 fs1 fc0 sc0 ls0 ws0">为电<span class="_ _9"></span>机磁<span class="_ _9"></span>链</div><div class="t m0 x116 h4 y14f ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">w</span></div><div class="t m0 x119 h4 y150 ff1 fs1 fc0 sc0 ls0 ws0">为转<span class="_ _9"></span>子角<span class="_ _9"></span>速度</div><div class="t m0 xf0 h4 y14f ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">T</span></div><div class="t m0 xed he y151 ff2 fs5 fc0 sc0 ls0 ws0">m</div><div class="t m0 x92 h4 y150 ff1 fs1 fc0 sc0 ls0 ws0">为</div><div class="t m0 x70 h4 y152 ff1 fs1 fc0 sc0 ls0 ws0">电机<span class="_ _9"></span>制动<span class="_ _9"></span>力矩</div><div class="t m0 x10b h5 y153 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x80 h4 y154 ff1 fs1 fc0 sc0 ls0 ws0">采<span class="_ _9"></span>用</div><div class="t m0 x12b h5 y155 ff2 fs1 fc0 sc0 ls0 ws0">round</div><div class="t m0 x12c h4 y154 ff1 fs1 fc0 sc0 ls0 ws0">转子<span class="_ _9"></span>结构</div><div class="t m0 x12d h4 y155 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">L</span></div><div class="t m0 x12e h1a y156 ff10 fs5 fc0 sc0 ls0 ws0">d</div><div class="t m0 x76 h16 y157 ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x12f h16 y155 ff10 fs1 fc0 sc0 ls0 ws0">L</div><div class="t m0 x89 h1a y156 ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x130 h4 y155 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xf8 h4 y154 ff1 fs1 fc0 sc0 ls6 ws0">电机制动力矩简</div><div class="t m0 x70 h4 y158 ff1 fs1 fc0 sc0 ls0 ws0">化为</div><div class="t m0 x103 h16 y159 ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x104 he y15a ff2 fs5 fc0 sc0 ls0 ws0">m</div><div class="t m0 x105 h16 y15b ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x88 h5 y159 ff2 fs1 fc0 sc0 ls0 ws0">1<span class="_ _9"></span><span class="ff10">．</span>5<span class="_ _9"></span><span class="ff10">p</span></div><div class="t m0 x131 h15 y158 fff fs1 fc0 sc0 ls0 ws0">ψ</div><div class="t m0 xe3 he y15a ff2 fs5 fc0 sc0 ls0 ws0">f</div><div class="t m0 x48 h16 y159 ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x132 h1a y15a ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x133 h16 y159 ff10 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m0 x134 h4 y158 ff1 fs1 fc0 sc0 ls0 ws0">因此</div><div class="t m0 x135 h4 y159 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 xe6 h4 y158 ff1 fs1 fc0 sc0 ls0 ws0">电机<span class="_ _9"></span>制动<span class="_ _9"></span>力矩<span class="_ _9"></span>可<span class="_ _9"></span>以<span class="_ _9"></span>通<span class="_ _9"></span>过<span class="_ _9"></span>控</div><div class="t m0 x70 h4 y15c ff1 fs1 fc0 sc0 ls0 ws0">制</div><div class="t m0 x18 h16 y15d ff10 fs1 fc0 sc0 ls0 ws0">q</div><div class="t m0 x47 h4 y15c ff1 fs1 fc0 sc0 ls0 ws0">轴<span class="_ _9"></span>电<span class="_ _9"></span>流</div><div class="t m0 xfe h16 y15d ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x121 h1a y15e ff10 fs5 fc0 sc0 ls0 ws0">q</div><div class="t m0 x82 h4 y15c ff1 fs1 fc0 sc0 ls0 ws0">来<span class="_ _9"></span>获<span class="_ _9"></span>得</div><div class="t m0 x100 h5 y15d ff2 fs1 fc0 sc0 ls0 ws0">．<span class="_ _15"> </span>P<span class="_ _9"></span>MSM</div><div class="t m0 x110 h4 y15c ff1 fs1 fc0 sc0 ls0 ws0">电<span class="_ _9"></span>机<span class="_ _9"></span>的<span class="_ _9"></span>力<span class="_ _9"></span>矩<span class="_ _9"></span>跟<span class="_ _9"></span>踪<span class="_ _9"></span>控<span class="_ _9"></span>制</div><div class="t m0 x70 h4 y15f ff1 fs1 fc0 sc0 ls0 ws0">原<span class="_ _9"></span>理见图</div><div class="t m0 x12b h5 y160 ff2 fs1 fc0 sc0 ls0 ws0">2<span class="_ _9"></span>．</div><div class="t m0 x129 h4 y15f ff1 fs1 fc0 sc0 ls0 ws0">其中<span class="_ _1"> </span><span class="fff">θ<span class="_ _1"> </span></span>为转<span class="_ _9"></span>子转<span class="_ _9"></span>角</div><div class="t m0 x83 h4 y160 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _20"></span><span class="ff10">i</span></div><div class="t m0 x130 he y161 ff10 fs5 fc0 sc0 ls0 ws0">q<span class="ff2">i</span></div><div class="t m0 x120 h16 y160 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">i</span></div><div class="t m0 x10e he y161 ff10 fs5 fc0 sc0 ls0 ws0">d<span class="ff2">i</span></div><div class="t m0 x85 h4 y15f ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为</div><div class="t m0 x136 h16 y160 ff10 fs1 fc0 sc0 ls0 ws0">q</div><div class="t m0 x7f h4 y15f ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x109 h16 y160 ff10 fs1 fc0 sc0 ls0 ws0">d</div><div class="t m0 x70 h4 y162 ff1 fs1 fc0 sc0 ls0 ws0">轴的<span class="_ _9"></span>期<span class="_ _9"></span>望<span class="_ _f"></span>电<span class="_ _f"></span>流</div><div class="t m0 xe2 h4 y163 ff3 fs1 fc0 sc0 ls0 ws0">，<span class="_ _23"></span><span class="ff10">i</span></div><div class="t m0 xe3 he y164 ff2 fs5 fc0 sc0 ls0 ws0">ai</div><div class="t m0 x132 h16 y163 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">i</span></div><div class="t m0 x101 he y164 ff2 fs5 fc0 sc0 ls0 ws0">bi</div><div class="t m0 xfb h16 y163 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">i</span></div><div class="t m0 x90 he y164 ff2 fs5 fc0 sc0 ls0 ws0">ci</div><div class="t m0 x135 h4 y162 ff1 fs1 fc0 sc0 ls0 ws0">分<span class="_ _f"></span>别<span class="_ _f"></span>为</div><div class="t m0 x10c h5 y163 ff2 fs1 fc0 sc0 ls0 ws0">a<span class="_ _9"></span><span class="ffb">、<span class="_ _1f"></span><span class="ff2">b<span class="_ _9"></span><span class="ffb">、<span class="_ _1f"></span><span class="ff2">c</span></span></span></span></div><div class="t m0 x137 h4 y162 ff1 fs1 fc0 sc0 ls0 ws0">相<span class="_ _f"></span>的<span class="_ _f"></span>期<span class="_ _a"></span>望<span class="_ _f"></span>电</div><div class="t m0 x70 h4 y165 ff1 fs1 fc0 sc0 ls0 ws0">流</div><div class="t m0 x71 h4 y166 ff3 fs1 fc0 sc0 ls0 ws0">；<span class="_ _18"> </span><span class="ff10">i</span></div><div class="t m0 xdd he y167 ff2 fs5 fc0 sc0 ls0 ws0">a</div><div class="t m0 x138 h16 y166 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _21"></span><span class="ff10">i</span></div><div class="t m0 x126 he y167 ff2 fs5 fc0 sc0 ls0 ws0">b</div><div class="t m0 x7e h16 y166 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _21"></span><span class="ff10">i</span></div><div class="t m0 x129 he y167 ff2 fs5 fc0 sc0 ls0 ws0">c</div><div class="t m0 x10b h4 y165 ff1 fs1 fc0 sc0 ls0 ws0">分别<span class="_ _9"></span>为</div><div class="t m0 x100 h5 y166 ff2 fs1 fc0 sc0 ls0 ws0">a<span class="_ _9"></span><span class="ffb">、<span class="_ _26"></span><span class="ff2">b<span class="_ _9"></span><span class="ffb">、<span class="_ _23"></span><span class="ff2">c</span></span></span></span></div><div class="t m0 xef h4 y165 ff1 fs1 fc0 sc0 ls0 ws0">相的<span class="_ _9"></span>实际<span class="_ _9"></span>电流</div><div class="t m0 x139 h5 y166 ff2 fs1 fc0 sc0 ls0 ws0">．</div><div class="t m3 x105 h1c y168 ff13 fs9 fc1 sc0 ls0 ws0">!<span class="_ _1c"></span>"<span class="_ _2a"></span>#<span class="_ _1c"></span><span class="ff14">!<span class="_ _1f"></span>"</span></div><div class="t m3 xfe h1d y169 ff13 fsa fc1 sc0 ls0 ws0">$</div><div class="t m3 x7e h1c y16a ff13 fs9 fc1 sc0 ls0 ws0">!</div><div class="t m3 x112 h1e y16b ff14 fs9 fc1 sc0 ls0 ws0">#</div><div class="t m3 xfe h1d y16c ff13 fsa fc1 sc0 ls0 ws0">%<span class="_ _1d"></span>&</div><div class="t m3 x131 h1e y16d ff14 fs9 fc1 sc0 ls0 ws0">$</div><div class="t m3 x82 h1e y16e ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x13a h1d y16f ff14 fsa fc1 sc0 ls0 ws0">&<span class="_ _16"></span><span class="ff13">&</span></div><div class="t m3 x78 h1e y170 ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x75 h1d y171 ff13 fsa fc1 sc0 ls0 ws0">’<span class="_ _16"></span>&</div><div class="t m3 x78 h1e y172 ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x12d h1d y173 ff13 fsa fc1 sc0 ls0 ws0">(<span class="_ _16"></span>&</div><div class="t m3 x78 h1e y174 ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x12d h1d y175 ff13 fsa fc1 sc0 ls0 ws0">)<span class="_ _16"></span>&</div><div class="t m3 x13b h1c y176 ff13 fs9 fc1 sc0 ls0 ws0">*<span class="_ _2b"></span>+<span class="_ _1d"></span>,</div><div class="t m3 x130 h1e y177 ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x8a h1d y178 ff13 fsa fc1 sc0 ls0 ws0">’</div><div class="t m3 x76 h1e y179 ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x1f h1d y17a ff13 fsa fc1 sc0 ls0 ws0">)</div><div class="t m3 x83 h1e y17b ff14 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m3 x12f h1d y17c ff13 fsa fc1 sc0 ls0 ws0">(</div><div class="t m3 x26 h1c y17d ff13 fs9 fc1 sc0 ls0 ws0">*<span class="_ _2b"></span>+<span class="_ _1d"></span>-<span class="_ _1c"></span>,</div><div class="t m3 x13c h1f y17e ff15 fs9 fc1 sc0 ls0 ws0">!</div><div class="t m3 x13c h1f y17f ff15 fs9 fc1 sc0 ls0 ws0">"</div><div class="t m3 x13c h1f y180 ff15 fs9 fc1 sc0 ls0 ws0">#</div><div class="t m3 x13c h1f y181 ff15 fs9 fc1 sc0 ls0 ws0">$</div><div class="t m3 x13c h1f y182 ff15 fs9 fc1 sc0 ls0 ws0">%</div><div class="t m0 x126 h6 y183 ff4 fs2 fc0 sc0 ls0 ws0">图</div><div class="t m0 xfd h14 y184 ff5 fs2 fc0 sc0 ls0 ws0">2<span class="_ _e"> </span>PMSM</div><div class="t m0 xfb h6 y183 ff4 fs2 fc0 sc0 ls2 ws0">电机的力矩跟踪控制原理</div><div class="t m0 x103 h7 y185 ff2 fs2 fc0 sc0 ls0 ws0">Fig．<span class="_ _9"></span>2<span class="_ _e"> </span>Schem<span class="_ _3"></span>e<span class="_ _7"> </span>of<span class="_ _7"> </span>P<span class="_ _9"></span>MSM<span class="_ _9"></span><span class="ffb">’<span class="_ _1c"></span><span class="ff2">s<span class="_ _22"> </span>torque<span class="_ _7"> </span>tracking<span class="_ _7"> </span>contr<span class="_ _3"></span>ol</span></span></div><div class="t m0 x80 h4 y186 ff1 fs1 fc0 sc0 ls0 ws0">如图</div><div class="t m0 x12b h5 y187 ff2 fs1 fc0 sc0 ls0 ws0">2</div><div class="t m0 x112 h4 y186 ff1 fs1 fc0 sc0 ls0 ws0">所<span class="_ _9"></span>示</div><div class="t m0 xe3 h4 y187 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x132 h4 y186 ff1 fs1 fc0 sc0 ls0 ws0">基<span class="_ _f"></span>于<span class="_ _f"></span>式</div><div class="t m0 x75 h4 y187 ff3 fs1 fc0 sc0 ls0 ws0">（<span class="_ _22"> </span><span class="ff2">7<span class="_ _f"></span></span>）</div><div class="t m0 x13d h4 y186 ff1 fs1 fc0 sc0 ls0 ws0">中<span class="_ _f"></span>的<span class="_ _f"></span>电<span class="_ _f"></span>磁</div><div class="t m0 x137 h5 y188 ff2 fs1 fc0 sc0 ls0 ws0">－</div><div class="t m0 x13e h4 y186 ff1 fs1 fc0 sc0 ls0 ws0">转<span class="_ _f"></span>矩<span class="_ _f"></span>方<span class="_ _f"></span>程</div><div class="t m0 x109 h4 y187 ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x70 h4 y189 ff1 fs1 fc0 sc0 ls6 ws0">以期望电机制动力矩</div><div class="t m0 x29 h16 y18a ff10 fs1 fc0 sc0 ls0 ws0">T</div><div class="t m0 x4b he y18b ff2 fs5 fc0 sc0 ls0 ws0">mi</div><div class="t m0 x13f h4 y189 ff1 fs1 fc0 sc0 ls0 ws0">来<span class="_ _9"></span>求<span class="_ _f"></span>取<span class="_ _9"></span>期<span class="_ _f"></span>望</div><div class="t m0 xeb h16 y18a ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x13c he y18b ff10 fs5 fc0 sc0 ls0 ws0">q<span class="ff2">i</span></div><div class="t m0 xc h4 y18a ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x139 h4 y189 ff1 fs1 fc0 sc0 ls0 ws0">结<span class="_ _9"></span>合<span class="_ _f"></span>极<span class="_ _9"></span>对</div><div class="t m0 x70 h4 y18c ff1 fs1 fc0 sc0 ls0 ws0">数</div><div class="t m0 x71 hf y18d ffb fs1 fc0 sc0 ls0 ws0">、</div><div class="t m0 x72 h4 y18c ff1 fs1 fc0 sc0 ls0 ws0">转角<span class="_ _f"></span>约<span class="_ _f"></span>束<span class="_ _f"></span>及<span class="_ _f"></span>理<span class="_ _f"></span>想</div><div class="t m0 x8f h16 y18d ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x4a he y18e ff10 fs5 fc0 sc0 ls0 ws0">d<span class="ff2">i</span></div><div class="t m0 x107 h16 y18f ff10 fs1 fc0 sc0 ls0 ws0">=</div><div class="t m0 x2d h5 y18d ff2 fs1 fc0 sc0 ls0 ws0">0</div><div class="t m0 x12e h4 y18c ff1 fs1 fc0 sc0 ls0 ws0">的<span class="_ _f"></span>条<span class="_ _f"></span>件</div><div class="t m0 x11b h4 y18d ff3 fs1 fc0 sc0 ls0 ws0">，</div><div class="t m0 x10e h4 y18c ff1 fs1 fc0 sc0 ls0 ws0">三<span class="_ _f"></span>相<span class="_ _f"></span>期<span class="_ _a"></span>望<span class="_ _f"></span>电<span class="_ _f"></span>流</div><div class="t m0 x70 h16 y190 ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x140 he y191 ff2 fs5 fc0 sc0 ls0 ws0">ai</div><div class="t m0 x141 h16 y190 ffb fs1 fc0 sc0 ls0 ws0">、<span class="_ _23"></span><span class="ff10">i</span></div><div class="t m0 x39 he y191 ff2 fs5 fc0 sc0 ls0 ws0">bi</div><div class="t m0 x142 h4 y192 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x126 h16 y190 ff10 fs1 fc0 sc0 ls0 ws0">i</div><div class="t m0 x24 he y191 ff2 fs5 fc0 sc0 ls0 ws0">ci</div><div class="t m0 xfd h4 y192 ff1 fs1 fc0 sc0 ls6 ws0">的坐标变换公式为</div><div class="t m0 xf3 h7 y193 ffb fs2 fc0 sc0 ls0 ws0">·<span class="_ _2c"></span><span class="ff2">9<span class="_ _2d"></span>0<span class="_ _2d"></span>1<span class="_ _2c"></span><span class="ffb">·</span></span></div><div class="t m0 x6 h6 y194 ff1 fs2 fc0 sc0 ls0 ws0">第</div><div class="t m0 x58 h7 y195 ff2 fs2 fc0 sc0 ls0 ws0">9</div><div class="t m0 xd1 h6 y194 ff1 fs2 fc0 sc0 ls0 ws0">期<span class="_ _2e"> </span>王骏<span class="_ _9"></span>骋</div><div class="t m0 xd2 h6 y195 ff3 fs2 fc0 sc0 ls0 ws0">，</div><div class="t m0 xa h6 y194 ff1 fs2 fc0 sc0 ls0 ws0">等</div><div class="t m0 x143 h6 y195 ff3 fs2 fc0 sc0 ls0 ws0">：</div><div class="t m0 x54 h6 y194 ff1 fs2 fc0 sc0 ls0 ws0">电动<span class="_ _9"></span>车辆</div><div class="t m0 xcf h7 y195 ff2 fs2 fc0 sc0 ls0 ws0">ABS</div><div class="t m0 x144 h6 y194 ff1 fs2 fc0 sc0 ls2 ws0">的改进线性二次型最优控制</div></div><div class="pi" data-data='{"ctm":[1.612022,0.000000,0.000000,1.612022,0.000000,0.000000]}'></div></div>
平衡车模糊PID控制
