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Four-wheeled independently-driven electric automobile stability control method and system

A technology for stability control and electric vehicles, applied in automatic steering control components, motor vehicles, control devices, etc., to solve problems such as reducing vehicle performance

Inactive Publication Date: 2015-03-25
SHENZHEN POLYTECHNIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at the problem existing in the prior art that when the direct yaw moment control system and the active rear wheel steering system of an electric vehicle work at the same time, there will be coupling between the two safety systems and the performance of the whole vehicle will be reduced. Independently driven electric vehicle stability control method and system to improve vehicle maneuverability at low speeds and stability at high speeds

Method used

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  • Four-wheeled independently-driven electric automobile stability control method and system
  • Four-wheeled independently-driven electric automobile stability control method and system
  • Four-wheeled independently-driven electric automobile stability control method and system

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Embodiment 1

[0060] An embodiment of the present invention provides a stability control method for a four-wheel independent drive electric vehicle; wherein, the four-wheel independent drive electric vehicle is provided with four independent power drive motors and four independent steering drive motors, that is, each wheel is There are two driving motors, one is used as power drive, and the other is used as steering drive. This wheel drive design makes the angle of rotation of the car larger, and each wheel can perform 180-degree steering (including forward and Reverse 90 degrees each), and can even move laterally, as shown in Figure 1; specifically, Figure 1A Indicates that the car turns in place, Figure 1B Indicates that the vehicle is traveling laterally, Figure 1C Indicates that the vehicle deflects in the same direction (if the original driving direction is right, the steering direction is still right), Figure 1D Indicates that the vehicle deflects in different directions (such a...

Embodiment 2

[0189] Based on the same inventive concept, please refer to Figure 13 , the embodiment of the present invention also provides a four-wheel independent drive electric vehicle stability control system, the system includes the steps of:

[0190] The steering wheel angle and vehicle speed acquisition unit 1301 is used to acquire the steering wheel angle and vehicle speed of the electric vehicle when the four-wheel independent steering electric vehicle is in working condition and needs to be turned; wherein, the vehicle speed is a variable speed;

[0191] The variable transmission ratio acquisition unit 1302 is used to obtain the variable transmission ratio between the steering wheel and the rear wheel angle of the electric vehicle at different vehicle speeds based on the vehicle speed and the mathematical model of the vehicle speed transmission ratio;

[0192] A front wheel angle acquiring unit 1303, configured to acquire the front wheel angle of the electric vehicle based on the...

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Abstract

The invention discloses a four-wheeled independently-driven electric automobile stability control method and system. The technical problem that an ARS safety system and a DYC safety system of an electric automobile in the prior art work simultaneously and accordingly coupling and whole-automobile performance reduction are caused is solved. The four-wheeled independently-driven electric automobile stability control method comprises the steps of obtaining a turn angle of a steering wheel and the speed of an automobile when the automobile turns; obtaining the variable-transmission ratio of the steering wheel to the turn angles of rear wheels based on an automobile speed and automobile speed transmission ratio mathematical model; obtaining the turn angle of front wheels based on the turn angle of the steering wheel; obtaining an ideal state of the automobile based on an ideal variable-transmission ratio model of the automobile, the speed of the automobile and the turn angles of the front wheels; obtaining an actual state of the automobile based on an electric automobile non-linear eight-degree of freedom model, the speed of the automobile and the turn angles of the front wheels; obtaining errors of the actual state of the automobile compared with the ideal state of the automobile; controlling, eliminating or decreasing the errors of the state of the automobile through the ARS and DYC safety systems or the ARS safety system respectively in a nonlinear area or a linear area where the automobile works so as to achieve stable operation of the automobile.

Description

technical field [0001] The invention relates to the technical field of electric vehicle stability control, in particular to a stability control method and system for a four-wheel independently driven electric vehicle. Background technique [0002] With the development of automobile technology, electric vehicles do not emit harmful gases that pollute the atmosphere because they use high-efficiency rechargeable batteries or fuel cells as power sources. Even if the power consumption is converted into emissions from power plants, except for sulfur and particles, Other pollutants are also significantly reduced, greatly improving social and economic benefits. In addition, relevant studies have shown that the same crude oil is sent to a power plant to generate electricity after rough refining, and then charged into a battery, and then the battery drives a car. Saving energy and reducing carbon dioxide emissions are just these advantages that make the research and application of el...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B62D15/00B60W30/045B62D113/00B62D101/00B62D137/00
CPCB60W30/045B60W40/105B60W2300/18B60W2520/10B60W2540/18
Inventor 邱浩董铸荣周琳梁松峰张亚琛李占玉李世勇
Owner SHENZHEN POLYTECHNIC
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