轮毂电机机-电-磁耦合偏心动力学特性与鲁棒预测控制研究

doi:10.16731/j.cnki.1671-3133.2025.05.018

摘要/Abstract

摘要： 针对轮毂驱动电动汽车(Hub Mator Driven Electric Vehicles,HMD-EV)轮毂电机转子偏心引起的平顺性恶化问题,提出一种基于粒子群算法(Particle Swarm Optimization algorithm,PSO)的主动悬架系统H₂/H_∞鲁棒模型预测控制策略。首先,建立HMD-EV垂向-横向动力学耦合模型,深入分析轮毂电机转子静态偏心所引起的径切向磁场畸变以及不平衡电磁力等关键影响因素,获得外部扰动下HMD-EV轮毂永磁同步电机转子偏心对机-电-磁耦合的影响规律。设计了一种优化反馈增益矩阵K的主动悬架系统的PSO-H₂/H_∞混合控制器,仿真结果表明,该控制器能够显著改善HMD-EV机-电-磁耦合所带来的不利影响,有效提高了HMD-EV的平顺性和舒适性。

关键词: 轮毂电机驱动, 不平衡电磁力, 簧下质量, 平顺性指标

Abstract: To address the ride comfort degradation caused by hub motor rotor eccentricity in Hub Motor Driven Electric Vehicles (HMD-EV),an H₂/H_∞ Robust Model Predictive Control (RMPC) strategy for an active suspension system based on a Particle Swarm Optimization algorithm (PSO) is proposed. Firstly,a vertical-lateral dynamic coupling model of the HMD-EV is established,and the key factors such as radial and tangential magnetic field distortions and Unbalanced Electromagnetic Forces (UEF) resulting from the rotor′s static eccentricity are thoroughly analyzed. The dynamic interaction between the rotor eccentricity in the permanent magnet synchronous hub motor and the electromechanical-magnetic coupling under external disturbances is studied. An active suspension PSO-H₂/H_∞ hybrid controller,optimized by feedback gain matrix (K),is designed. Simulation results demonstrate that the controller effectively mitigates the adverse effects of electromechanical-magnetic coupling in HMD-EV,significantly improving the vehicle′s ride comfort and smoothness.

Key words: hub motor drive, unbalanced electromagnetic force, unsprung mass, ride comfort indicators

中图分类号:

U461

黄开启, 熊毅. 轮毂电机机-电-磁耦合偏心动力学特性与鲁棒预测控制研究[J]. 现代制造工程, 2025, 536(5): 144-152.

HUANG Kaiqi, XIONG Yi. Research on electromechanical-magnetic coupling dynamics and robust predictive control of eccentricity in hub motors[J]. Modern Manufacturing Engineering, 2025, 536(5): 144-152.

参考文献

[1] ALOEYI E F,ALI N,WANG Q,et al.A review of in-wheel motors for electric vehicle propulsion[C]//2022 IEEE Transportation Electrification Conference and Expo, Asia-Pacific(ITEC Asia-Pacific). Haining:IEEE,2022,1-6.
[2] DEEPAK K,FRIKHA M A,BENÔMAR Y,et al.In-wheel motor drive systems for electric vehicles:state of the art[J].Energies,2023,16(7):3121.
[3] CHEN Y,LIANG S,LI W,et al.Faults and diagnosis methods of permanent magnet synchronous motors :a review[J].Applied Sciences,2019,9(10):2116.
[4] ZHAO Z,TAGHAVIFAR H,DU H,et al.In-wheel motor vibration vontrol for distributed-driven electric vehicles:a review[J].Transactions on Transportation Electrification,2021,7(4):2864-2880.
[5] LI Z,ZHENG L,GAO W,et al.Electromechanical coupling mechanism and control strategy for in-wheel-motor-driven electric vehicles[J].Transactions on Industrial Electronics,2019,66(6):4524-4533.
[6] MARULASIDDAPPA H B,PUSHPARAJESH V.Various control methods of permanent magnet synchronous motor drives in electric vehicle:a technical review[J].Telecommunication Computing Electronics and Control,2022,20(6):1225-1229.
[7] ZHU Y Y,ZHAO C W,ZHANG J X,et al.Vibration control for electric vehicles with in-wheel switched reluctance motor drive system[J].Access,2020,8:7205-7216.
[8] WANG H,LIU S,WU S,et al.Optimal design of permanent magnet structure to reduce unbalanced magnetic pull in surface-mounted permanent-magnet motors[J].Access,2020,8:77811-77819.
[9] TAN D,WU Y,FENG J,et al.Lightweight design of the in-wheel motor considering the coupled electromagnetic-thermal effect[J].Mechanics Based Design of Structures and Machines,2020,50(3):935-953.
[10] MENG L,ZOU Y,QIN Y,et al.A new electric wheel and optimization on its suspension parameters[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2020,234(12):2759-2770.
[11] YANG X,SONG H,SHEN Y,et al.Study on adverse effect suppression of hub motor driven vehicles with inertial suspensions[J].Proceedings of the Institution of Mechanical Engineers,Part D:Journal of Automobile Engineering,2022,236(5):767-779.
[12] SHI P,SHI P,YAN C,et al.Analysis of the electric wheel vibration reduction system of a wheel-hub motor-driven vehicle[J]. Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2019,233(3):848-856.
[13] WU H,ZHENG L,LI Y,et al.Robust control for active suspension of hub-driven electric vehicles subject to in-wheel motor magnetic force oscillation[J].Applied Sciences,2020,10(11):3929.
[14] LI R H.Multi-objective optimization of the suspension parameters in the in-wheel electric vehicle[J].Journal of Computational Methods in Sciences and Engineering,2021,20(4):1013-1020.
[15] XING C,ZHU Y,WU H,et al.Electromechanical coupling braking control strategy considering vertical vibration suppression for vehicles driven by in-wheel motors[J].Transactions on Mechatronics,2022,27(6):5701-5711.
[16] QIN Y,WANG Z,YUAN K,et al.Comprehensive analysis and optimization of dynamic vibration-absorbing structures for electric vehicles driven by in-wheel motors[J].Automotive Innovation,2019,2(4):254-262.
[17] JIN X J,WANG J D,HE X K,et al.Improving vibration performance of electric vehicles based on in-wheel motor-active suspension system via robust finite frequency control[J].Transactions on Intelligent Transportation Systems,2023,24(2):1631-1643.
[18] LAI F,JIANG C Y.Establishment and simulation analysis of 18 dof unified dynamics model of automobile chassis[J].International Journal of Control, Automation and Systems,2021,19(6):2323-2342.
[19] FAIZ J,HOSSEIN N.Eccentricity fault diagnosis indices for permanent magnet machines:state-of-the-art[J].IET Electric Power Applications,2019,13(9):1241-1254.
[20] 戴振泳,李涛,宋廷伦,等.不同平顺性评价指标对悬架最优阻尼比的影响[J].科学技术与工程,2020,20(21):8798-8803.