Torque distribution method between wheels for energy saving in turning
A distribution method and torque technology, which is applied in electric vehicles, control drive, transportation and packaging, etc., can solve the problems of reducing vehicle speed and increasing energy consumption, so as to reduce turning resistance, reduce the degree of descent, and avoid extra power consumption Effect
Active Publication Date: 2017-04-12
JILIN UNIV
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Problems solved by technology
However, when the vehicle is turning, due to the wheel angle and tire slip angle, the lateral force of the front wheel will generate a reaction force along the longitudinal axis of the vehicle body, which will cause the vehicle to reduce the speed for no reason and increase energy consumption.
Method used
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[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.
[0045] like figure 1 As shown in Fig. 1, the analysis of the force on the electric rear-wheel independent drive vehicle is carried out when the vehicle is turning. When analyzing the force of the vehicle, the electric wheel independently driven vehicle is simplified to a two-degree-of-freedom vehicle model. For the stress situation of the front wheel 21 and the rear wheel 22, the vehicle dynamics model equation can be established as follows:
[0046]
[0047]
[0048]
[0049] In the formula, m is the mass of the vehicle; J is the moment of inertia of the vehicle; V is the vehicle speed; β is the side slip angle of the center of mass; ψ is the yaw angle; is the yaw rate; is the yaw angular acceleration; R is the turning radius of the vehicle; δ is the front wheel ...
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The invention discloses a torque wheel inter-wheel distribution method for steering energy conversation. The torque wheel inter-wheel distribution method comprises the following steps that firstly, the running speed, the steering angle of a steering wheel and the yaw velocity of an automobile are measured through sensors; secondly, the torque difference between two drive wheels is calculated; thirdly, the drive torque needed by the automobile is kept constant, and different torques are distributed to the left drive wheel and the right drive wheel. According to the torque wheel inter-wheel distribution method, on the premise that the automobile is stable, after the steering angle of the steering wheel is input into the automobile and the automobile enters the steering process, the torque difference between an inner wheel and an outer wheel is generated by distributing the drive torques to the left wheel and the right wheel again, and therefore the position yaw torque is generated; on the premise that the automobile completes running at the steering radius equal to the steering radius existing when no control is performed, the steering resistance is reduced, the deceleration degree of the automobile speed is reduced during steering, and the situation that extra power consumption is caused because a driver increases power output after the automobile speed is reduced due to the steering resistance is avoided.
Description
technical field [0001] The invention relates to a wheel torque distribution method when an automobile is turning, in particular to a torque wheel distribution method for turning and energy saving. Background technique [0002] Independent drive of each wheel means that each drive wheel can independently output drive torque, that is, the torque can be arbitrarily distributed between each drive wheel according to the control law. This type of car can achieve good handling stability, power and passability, and has considerable driving maneuverability and driving pleasure. It is a driving form commonly used by high-performance sports cars. In addition, the independent drive of each wheel is not limited to the form of power source. It can be driven by a traditional internal combustion engine, or a hybrid drive or a pure electric drive. A typical representative of independent drive vehicles, he represents the development trend of electric vehicles in the future. For example, ind...
Claims
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IPC IPC(8): B60L15/32
Inventor 王军年孙文巴特王庆年
Owner JILIN UNIV