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Layered coordination control method for four-wheel independently driven, braking and steering electric vehicles

A four-wheel independent drive, electric vehicle technology, applied in the field of electric vehicle control, can solve the problems of no consideration of energy feedback efficiency, low energy feedback efficiency, etc.

Inactive Publication Date: 2014-10-08
SHANDONG JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The energy feedback efficiency is not considered in the above coordination method, and the energy feedback efficiency is low

Method used

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  • Layered coordination control method for four-wheel independently driven, braking and steering electric vehicles
  • Layered coordination control method for four-wheel independently driven, braking and steering electric vehicles
  • Layered coordination control method for four-wheel independently driven, braking and steering electric vehicles

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Embodiment Construction

[0068] The general idea of ​​the hierarchical coordinated control method for four-wheel independent driving, braking and steering of the electric vehicle of the present invention is: on the premise of ensuring the vehicle yaw stability, the braking torque of the wheels is fully and preferentially used for energy feedback. The feature of the present invention is that the "controller + distributor" structure is adopted, the input signal of the controller is the deviation between the actual yaw rate of the vehicle and the ideal yaw rate, and the output signal is the required torque M for maintaining the yaw stability of the vehicle body. des , the allocator depends on the vehicle state and M des Hierarchical formation of braking, driving and active steering commands to the wheels. Under the premise of ensuring the yaw stability of the vehicle, the method fully and preferentially utilizes the wheel braking torque for energy feedback, so as to achieve the purpose of improving the e...

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Abstract

The invention discloses a layered coordination control method for four-wheel independently driven, braking and steering electric vehicles. By the adoption of a controller+distributor structure, an input signal of the controller is the difference between the actual yaw velocity and the ideal yaw velocity of a vehicle, an output signal of the controller is moment Mdes required for maintaining the yaw stability of a vehicle body, and the distributor forms wheel braking, driving and active steering instructions in a layered mode according to vehicle conditions and the Mdes. By means of the layered coordination control method, on the premise of guaranteeing the yaw stability of the vehicle, the wheel braking moment is fully utilized as priority for energy feedback, and therefore the purpose of improving the energy feedback efficiency is achieved.

Description

technical field [0001] The invention relates to an electric vehicle suitable for four-wheel independent drive, braking and steering, and a method for controlling yaw stability when energy feedback efficiency is considered, and belongs to the technical field of electric vehicle control. Background technique [0002] Compared with internal combustion engine vehicles, single-motor central drive electric vehicles, and two-wheel independent drive electric vehicles, electric vehicles with four-wheel independent drive, braking and steering have advantages in terms of chassis structure, modular design, and vehicle dynamics control. its unique advantages. Energy regenerative braking technology is one of the key means for electric vehicles to increase cruising range and improve energy utilization efficiency. [0003] The existing four-wheel independent driving, braking and steering electric vehicle yaw stability control system consists of a direct yaw moment control subsystem and an ...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W10/08B60W10/18B60W10/20
CPCB60W10/08B60W10/119B60W10/18B60W10/20B60W30/02B60W2710/18B60W2720/30
Inventor 杨福广阮久宏李贻斌裴文慧荣学文尹占芳朱梅梅
Owner SHANDONG JIAOTONG UNIV