Direct yaw moment control method for electric vehicle stability based on high-order sliding mode

Abstract

The invention provides a method for controlling the electric automobile stability direct yawing moment based on a high-order slip mold and relates to the field of control over electric automobile stability. The method includes the steps that the rotation angle of a steering wheel and the longitudinal automobile speed are detected through a signal acquisition and conditioning circuit, so that the ideal yawing angular speed value is obtained; according to the detected yawing accelerated speed at the current moment of an automobile and the actual yawing angular speed, the side slip angle estimated value is obtained through a robust slip mold observer based on active control and self-adaptive estimation; two parameters of the difference of the yawing angular speed and the ideal yawing angular speed and the actual slide slip angle of the automobile serve as input variables, a high-order slip mold control strategy is adopted, and the direct yawing moment meeting the requirement for automobile stability is obtained; and finally, the automobile stability margin serves as an objective function and a constraint condition, and a support vector machine algorithm is used for distributing drive force or brake force. By the adoption of the method, the finite time constriction of an automobile stability direct yawing moment control system is achieved, and the travel stability of the automobile under the limit conditions of the high speed, the severe road and the like is improved.

Description

technical field [0001] The invention relates to the field of electric vehicle stability control, in particular to a high-order sliding mode-based direct yaw moment control method for electric vehicle stability. Background technique [0002] Under normal circumstances, the steering control of electric vehicles can achieve relatively stable steering control, but in extreme situations, it is very easy to cause the vehicle to enter a dynamic instability state, causing serious oversteering or understeering problems, and even tail flicking. The development of automobile direct yaw moment control (hereinafter referred to as DYC Direct yaw moment control) is aimed at diluting the influence of the driver's operating skills on the safety of vehicle movement, and through the force on each wheel in various driving states of the vehicle Adjust to overcome oversteer or understeer, so as to actively control the dynamics of the vehicle and improve the handling stability of electric vehicles...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem of excessive steering or understeer in the direct yaw moment control system of electric vehicle stability under extreme conditions such as high speed and bad roads, parameter perturbation and changes in external environmental conditions lead to the failure of the designed control strategy. To solve the problem of driving stability, the present invention proposes a direct yaw moment control method for electric vehicle stability based on high-order sliding mode, which effectively improves the rapidity and robustness of the dynamic response of the system, and improves the stability of electric vehicles at high speeds and bad roads. Driving stability under extreme conditions

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