Handling stability control system used for multi-axle distributed type electromechanical drive vehicle

Abstract

The invention discloses a handling stability control system used for a multi-axle distributed type electromechanical drive vehicle. On the basis that front axle wheels are driven by an engine, rear axle wheels are driven electrically, and an electrical driving part of the system comprises a vehicle control unit, a steering wheel angle sensor, a vehicle body posture sensor, wheel edge drive motors arranged for the rear axle wheels respectively, and motor controllers of the wheel edge drive motors. In a yawing moment allocation algorithm, the vehicle control unit enables the magnitude relation of vertical loads of the rear axle wheels driven electrically to be taken into account, larger motor torque is allocated for wheel motors with lager vertical loads, and therefore the adhesive ability of each wheel is used better, and the stability margin of the vehicle is improved; furthermore, an adjustable model taking neutral steering as a standard is adopted for target yawing angular speed calculation, after a parameter A is modified, steering characteristics needing to be achieved by the vehicle will be changed, and the purpose of changing the steering characteristics of the vehicle can be achieved.

Description

technical field [0001] The invention belongs to the field of vehicle dynamics stability control systems, in particular to a handling stability control system for multi-axis distributed electromechanical drive vehicles. Background technique [0002] Multi-axle vehicles have outstanding advantages such as reasonable load distribution, strong power, and good passability, and are widely used in military wheeled vehicles and civilian heavy-duty wheeled vehicles. However, taking the traditional all-wheel drive 8×8 vehicle as an example, it needs at least 4 inter-wheel differentials and 3 inter-axle differentials to realize all-wheel drive, which has complex structures and inflexible inter-axle and inter-wheel drive forces. Disadvantages such as distribution, so there has been a distributed electromechanical drive vehicle scheme as proposed in publication number CN103587403A. The wheels of the front two axles are driven by mechanical roads, and the wheels of the rear two axles are ...

AI Technical Summary

Problems solved by technology

[0004] However, the existing distributed drive vehicle handling stability control systems are all developed based on 4-wheel civilian vehicles, and there are no reports on multi-axle vehicles such as 8×8.

For the existing distributed drive vehicle handling stability control system, the mapping algorithm used to distribute the yaw moment to the torque of each motor is mostly an average distribution algorithm, which does not combine the vertical load and adhesion capacity of each wheel. Proportionally distributing the motor torque will bring the problem that it is difficult to guarantee the adhesion margin of each wheel; moreover, the yaw rate reference model adopted is a linear two-degree-of-freedom single-track model, which does not change the inherent steering of the original vehicle. characteristics, but the transient response speed of the yaw rate is only improved through the tracking of the controller, and the steady-state steering performance of the vehicle cannot be improved, and the steering characteristics of the vehicle cannot be properly adjusted.

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