Energy Management Strategy Of Six-Wheel Independent Electric Drive UGV

For a long time, the military field and the automotive field are the first application platform of new industrial technology. With the development of human science and technology, it’s predicted that the unmanned combat system will be the core of the future war, and the EVs will be inevitably the automotive’s future direction. Wheeled electric drive UGV, which is a new type of vehicle of facing future war, is founded by the EV technology as the carrier, and by the autonomous application technology as the future direction.Nowadays, it is on the way to high efficiency and multifunctional, and has already been applied in the related field.However, For EVs,the energy management technology has been always one of the key factors of restricting its development, and will also affect the drive performance and energy consumption of UGV,which has limited on-board energy and was drived by pure electric,therefore, there has a great significance for exploring the energy management methods of wheeled electric drive UGV.On the basis of a certain type of six wheel independent electric drive UGV, this paper focuses on the energy management strategy which can enhance the utilization ratio of the vehicle, with analysis of its structural characteristics and vehicle function, the research content mainly includes the following aspects:First of all, we analyze and summarize the development and application of the EVs’energy management technology, and expound the characteristics of wheeled-independent electric drive UGV. Combination of both, overall, we summarize the definition and general methods of energy management of wheel-independent electric drive UGV and this can provide reference basis for the design of the energy management method for electric drive UGV.Secondly, we analyze the drive system structure of UGV which uses wheel drive system, then we set up and analyze the longitudinal dynamics model, motor model and energy model for the UGV.Based on above analysis,we innovatively put forward the optimizing torque distribution strategy for six independent wheels and this strategy can improve the vehicle driving efficiency and energy utilization,meanwhile,we set up the calculation model of optimizing torque distribution coefficient and the simulation model of the vehicle driving power in MATLAB/SIMULINK,and the calculation and simulation results verify the feasibility of the proposed strategy.Thirdly,on the basis of the EV energy assessment, we propose the definition and general methods of energy assessment for wheel electric drive UGV.Then we put forward the vehicle power estimation method based on the mission profile,combined with design principle of vehicle mission profile,and this method can be the theory basis of energy distribution of vehicle’s electrical equipment;Finally, in view of the real-time requirement of the energy assessment and power distribution for wheel-independent electric drive UGV,we put forward the practical significance of establshing the vehicle monitoring system of electrical equipment, and give the system design scheme based on SCM C8051F040.By monitoring the voltage and current of the on-board electrical equipments, and analyzing its power, electricity, remaining work time and so on, this system can carry on a real-time monitoring for the vehicle power demand, it’s also benefit for on-board energy’s secondly distribution and management,and can improve the energy utilization ratio of the vehicle.