Aiming to the torsional vibration destabilization phenomenon of the wheel-side transmission system direct-driven by the high-power motor, the system torsional vibration bifurcation characteristics and control strategy are analyzed. Through defining the system electromechanical coupling relationship between the electrical link and the mechanical link, the dynamic model of the wheel-side direct-driven transmission system is constructed. Then, based on the Routh–Hurwitz stability criterion, the system Hopf bifurcation characteristics caused by the change of the wheel-ground friction during driving are revealed. Furthermore, with the nonlinear feedback controller and the Washout filter combined, the system torsional vibration stabilization controller is constructed by introducing the system torsional vibration signals into the motor control voltage. The results show that the linear part of the torsional vibration stabilization controller can effectively change the system stability region, as well as the cubic nonlinear part of the torsional vibration stabilization controller can control the stability of the system bifurcation points and suppress the limit cycle amplitude. The research results can provide theoretical basis and technical support for the performance improvement and integrated application of the wheel-side direct-driven transmission system in the electric bus.

中文翻译：

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轮侧直驱传动系统机电耦合扭振分岔与控制研究

针对大功率电机直驱轮侧传动系统存在扭振失稳现象，分析了系统扭振分岔特性及控制策略。通过定义电气连杆和机械连杆之间的系统机电耦合关系，构建了轮侧直驱传动系统的动力学模型。然后，基于 Routh-Hurwitz 稳定性判据，揭示了在行驶过程中由车轮与地面摩擦力变化引起的系统 Hopf 分岔特性。此外，结合非线性反馈控制器和Washout滤波器，将系统扭振信号引入电机控制电压，构建系统扭振稳定控制器。结果表明，扭振稳定控制器的线性部分可以有效地改变系统稳定区域，扭振稳定控制器的三次非线性部分可以控制系统分岔点的稳定性并抑制极限环幅值。研究成果可为轮侧直驱传动系统在电动客车中的性能提升及集成应用提供理论依据和技术支持。