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Maneuverability improving and controlling method based on distributively driven electric vehicle

A technology of electric vehicles and control methods, which is applied in the direction of electric vehicles, control drives, vehicle components, etc., and can solve problems such as the influence of vehicle yaw motion and the influence of driver's steering wheel torque

Active Publication Date: 2014-05-14
TONGJI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, previous studies are often limited to the study of differential steering assist or torque vector control alone, but differential steering assist will have an impact on the yaw motion of the vehicle, and torque vector control will also have an impact on the driver's steering wheel torque. influences

Method used

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  • Maneuverability improving and controlling method based on distributively driven electric vehicle
  • Maneuverability improving and controlling method based on distributively driven electric vehicle
  • Maneuverability improving and controlling method based on distributively driven electric vehicle

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Embodiment Construction

[0054] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0055] 1. Principle and framework of the control method of the present invention

[0056] In order to achieve the two control objectives of steering assist and improving the response of yaw rate, the present invention is based on the control method for improving the maneuverability of distributed drive electric vehicles. The wheel torque differential control is used to achieve the control goal of improving the yaw rate response. The method specifically includes:

[0057] The step of obtaining the ideal differential steering assist curve is to obtain the differential steering assist ...

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Abstract

The invention relates to a maneuverability improving and controlling method based on a distributively driven electric vehicle. The method includes steps: acquisition of an ideal differential power-assisted steering curve, namely acquiring the differential power-assisted steering curve according to a longitudinal vehicle speed and a steering wheel torque; calculation of a reference yaw velocity, namely calculating an ideal yaw velocity target value according to a steering wheel turn angle and vehicular running parameters, and taking the calculated ideal yaw velocity target value as the reference yaw velocity; calculation of an additional yaw torque, namely tracking the calculated reference yaw velocity in real time, calculating the additional yaw torque through feedforward control and feedback control; longitudinal force distribution, namely distributing driving torques of front-axle left and right wheels and rear-axle left and right wheels according to the ideal differential power-assisted steering curve and the additional yaw torque. Compared with the prior art, the method has the advantages that overall yaw velocity response is improved while operating burden is relieved for a driver, and accordingly maneuverability of the whole vehicle is effectively improved.

Description

technical field [0001] The invention relates to a control method for an electric vehicle, in particular to a control method for improving the maneuverability of an electric vehicle based on distributed drive. Background technique [0002] The development of energy-saving, environmentally friendly and safe electric vehicles (EV) is considered to be one of the most promising measures to solve future energy and environmental problems and realize active safety. Distributed drive electric vehicles are independently driven by multiple motors, and the output torque of the motors is independently and precisely controllable. The torque of each wheel can be distributed according to any ratio within the range of the motor's capacity, and even one side is driven and the other side is braked. The vehicle has a compact structure , high transmission efficiency, so distributed drive electric vehicles are considered to be an important direction for the development of electric vehicles in the...

Claims

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Application Information

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IPC IPC(8): B60L15/32B62D11/04
Inventor 余卓平刘军冯源熊璐
Owner TONGJI UNIV
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