Car body stable control method of four-wheel independent drive electric car

A technology for four-wheel independent drive and electric vehicles, which is applied to electric vehicles, control drives, control devices, etc., and can solve problems such as complex structures, weak real-time performance, and weak self-adaptive capabilities

Inactive Publication Date: 2015-07-22
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The PID control algorithm is simple, with few parameters and high reliability, but the PID controller has weak adaptive ability to load changes and poor anti-interference ability; fuzzy control and adaptive control also have weak real-time performance, complex structure, and unsatisfactory control results, etc. shortcoming

Method used

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  • Car body stable control method of four-wheel independent drive electric car
  • Car body stable control method of four-wheel independent drive electric car
  • Car body stable control method of four-wheel independent drive electric car

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0045]figure 1 It is a block diagram of the body stability control system.

[0046] In this example, if figure 1 As shown, the control algorithm adopts a double-layer control structure, the upper layer is the direct yaw moment setting layer, and the lower layer is the torque distribution layer. In the direct yaw moment formulation layer, the vehicle parameters longitudinal speed u and front wheel rotation angle δ are obtained from the vehicle model of the four-wheel independent drive electric vehicle, and the expected value of the yaw rate ω is obtained through the linear two-degree-of-freedom steering model of the vehicle rd , the expected value of the center of mass sideslip angle β d is 0, the actual yaw rate value ω r and the expected yaw rate value ω rd Subtracting each other to get the yaw rate deviation eωr ;Center of mass sideslip angle value β and center of mass sideslip angle expected value β d Subtraction to get the center of mass slip angle deviation e β , be...

example

[0086]The total mass m=1650kg, the wheelbase L=3.05m, the distance from the center of mass to the front axle a=1.40m, the distance from the center of mass to the rear axle b=1.65m, the cornering stiffness of the front wheel C af =-40500, rear wheel cornering stiffness C ar =-40500 four-wheel drive electric vehicle, when verifying that the vehicle speed is 70km / h, verify the tracking characteristics and anti-disturbance characteristics of the controller designed by the present invention.

[0087] figure 2 It is the curve diagram of the steering wheel angle setting during the tracking ability test.

[0088] In this example, if figure 2 As shown, the set curve is similar to a triangle wave or a sine wave, which means that for any steering wheel angle setting, according to figure 2 The steering wheel angle is used to verify the tracking ability of the controller.

[0089] image 3 It is the simulation curve of the yaw rate deviation during the tracking ability test.

[00...

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PUM

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Abstract

The invention discloses a car body stable control method of a four-wheel independent drive electric car. A yaw velocity expected value is obtained through a car linear two-freedom-degree control model, after a side slip angle expected value is set to zero, based on the active disturbance rejection control theory, a yaw velocity deviation active disturbance rejection controller and a side slip angle deviation active disturbance rejection controller are designed, an additional yawing moment deltaMwr and an additional yawing moment deltaMB are obtained, the additional yawing moment deltaMwr and the additional yawing moment deltaMB are linearly added to obtain a total additional yawing moment deltaMYSC acting on the car, finally torque of all wheels is distributed through the value of the total additional yawing moment, distributed instruction torque is input into four motors of the car, and therefore the yaw lateral movement of the electric car is controlled, and the car body is stabilized.

Description

technical field [0001] The invention belongs to the technical field of electric vehicles, and more specifically relates to a vehicle body stability control method of an electric vehicle with independent four-wheel drive. Background technique [0002] During the driving process of the car, changes in the road surface and body parameters, as well as various disturbances to the car can cause the body to become unstable. When doing body stability control, the yaw rate and the side slip angle of the center of mass are generally selected as the control variables. The process of vehicle body stability control is actually the process of controlling the yaw rate and side slip angle of the vehicle to make them track the desired value. [0003] Patent No. 201410781886.8 "A Method for Controlling Yaw Rate of Four-Wheel Independently Driven Electric Vehicle" describes a method for controlling the yaw rate. However, controlling the yaw rate alone cannot satisfy the stability of the car bo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W10/08B60W40/10
CPCB60L15/32B60L2240/20B60L2240/423B60W40/114
Inventor 辛晓帅陈锐邹见效徐红兵
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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