Torque distribution control method for electric-wheel automobile hub motor torque distribution system

Abstract

The invention discloses a torque distribution control method for an electric-wheel automobile hub motor torque distribution system, and belongs to the field of an electric-wheel automobile. The electric-wheel automobile hub motor torque distribution system comprises parts as follows: a driver intention module, a hub motor, a stability controller, a torque distributor, a slip rate controller, a whole automobile module, a pavement information module and a whole automobile sensor module, wherein the stability controller comprises a fine adjustment mode and a stable adjustment mode, and the torque distributor divides whole automobile movement into a dynamic mode, an economical mode and a stable mode. According to the torque distribution control method, a plurality of controlled variables such as the slip rate, attachment coefficient, yaw velocity, side slip angle, hub motor rotating speed and the like are combined to control the automobile, so that stability and dynamic performance of the automobile at the low speed or high speed are guaranteed; and the automobile torque is distributed, so that automobile drive capacity, motor utilization efficiency and whole automobile stability when the automobile is driven normally or has a slipping phenomenon are improved.

Description

Technical field: [0001] The invention relates to a torque distribution control method for a hub motor torque distribution system of an electric wheel vehicle, which belongs to the field of electric vehicles. Background technique: [0002] As energy saving and environmental protection become the theme of the world today, electric vehicles have set off a wave of development in the world. As an important branch of the new generation of electric vehicles, electric wheel vehicles use multiple independently controlled in-wheel motors to drive the wheels separately. There is no mechanical transmission link between the power source and the wheels and between the wheels, which cancels the complex transmission system of traditional vehicles. Electric wheel vehicles have the advantages of high transmission efficiency, flexible space layout, and easy realization of electronic and active chassis systems. They are ideal general-purpose drive technology platforms for pure electric vehicles...

AI Technical Summary

Problems solved by technology

There are mainly the following algorithms, (1) load-based torque distribution method, this method is to distribute the torque in proportion to the different loads of the wheels of the four-wheel independently driven vehicle, but due to the influence of external factors, the road surface information There are many noise components, and it is impossible to accurately evaluate the motion state of the car. Moreover, this algorithm does not consider the limit constraints of tire and road adhesion, resulting in deviations in the optimal solution during the distribution process; (2) The average distribution torque based on constraints, This method considers the constraints of the road surface and tires, and considers the road surface as a non-linear change, but because the utilization rate of the road surface adhesion is not high, the torque efficiency is very low; (3) through the driving wheel pid anti-skid control to achieve the power and stability of the vehicle

This method takes into account the driving anti-skid of the wheels, but the method of using logic gates for the torque distribution strategy directly increases the torque or a small torque to the wheels, which will easily lead to the instability of the whole vehicle

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