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Cooperative control method of four-wheel independent-drive electric car

A four-wheel independent drive and collaborative control technology, applied in electric vehicles, control drives, vehicle components, etc., can solve the problems of lack of real-time performance and poor self-adaptive ability, improve vehicle handling stability and safety, meet the Strong real-time, fast response effect

Inactive Publication Date: 2016-04-20
HUNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a CPS-based four-wheel independent drive cooperative control method for electric vehicles, which overcomes the shortcomings of traditional electric vehicle control systems that lack real-time performance and poor self-adaptive capabilities

Method used

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  • Cooperative control method of four-wheel independent-drive electric car
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  • Cooperative control method of four-wheel independent-drive electric car

Examples

Experimental program
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Effect test

Embodiment 1

[0057] Embodiment 1, driving in a straight line, including starting acceleration, constant speed, and deceleration;

[0058] Step 1, the steering angle sensor 42 input is 0, the front wheel angle δ f =0, vehicle speed V 0 = 0;

[0059] Step 2, the first acceleration sensor 43 receives the acceleration signal and sends it to the decision-making control unit ECU10;

[0060] Step 3: After receiving the acceleration signal, the decision-making control unit ECU10 calls the battery management unit 60 to supply power to the drive execution unit 40, and outputs the desired torque T to the four SR motors 211 according to the set torque distribution strategy 0i , i=1,2,3,4;

[0061] Step 4, each SR motor drive system 21 controls the SR motor 211 to output torque after receiving the instruction;

[0062] Step 5, the monitoring perception unit 30 collects the vehicle speed V 1 (km / h), four wheel speed n i (r / s), i=1, 2, 3, 4, and feed back to the decision-making control unit ECU10, ...

Embodiment 2

[0068] Embodiment two, turn to, particularly relate to front-wheel steering;

[0069] Step 1, the steering angle sensor inputs δ>0, the vehicle turns left (δ<0, turns right), and the initial velocity of the vehicle is V;

[0070] Step 2, the monitoring and sensing unit 30 collects the vehicle speed V, the yaw rate γ 0 , longitudinal acceleration lateral acceleration Front wheel angle δ 0 , center of mass slip angle β 0 , and sent to the decision-making control unit ECU10;

[0071] Step 3, the decision-making control unit ECU10 calculates the expected yaw rate γ and the expected center-of-mass sideslip angle β according to the formula, for Δγ=γ 0 -γ, △β=β 0 -β for sliding mode variable structure control;

[0072] Step 4, control the vehicle steering according to the driving force distribution strategy: define the sampling interval △t, the yaw acceleration increment

[0073] The driving torque distribution strategy includes the following four points:

[0074] (1), F...

Embodiment 3

[0085] Embodiment 3, reversing; the D / R conversion signal is input externally, and the D gear is switched to the R gear. The D / R conversion sensor 44 receives the shift signal and sends it to the decision-making control unit ECU10. The decision-making control unit ECU10 controls the four SR motors The drive system 21 issues instructions to change the energization sequence of each phase circuit of the SR motor 211 to realize the output of reverse torque and rotational speed, and realize the reverse.

[0086] From the perspective of CPS, the present invention realizes the real-time interaction between the external environment and the internal information environment of the four-wheel independently driven electric vehicle. The decision-making control unit ECU10 completes the calculation and decision-making of real-time information, and the drive execution unit 20 completes the motor torque and For speed control, the SR motor drive control system 21 adopts a control strategy optimize...

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Abstract

The invention discloses a cooperative control method of a four-wheel independent-drive electric car based on CPS. The cooperative control method comprises an ECU, SR electromotor driving systems, a vehicle-mounted battery group and a communication network. Power of the four SR motor driving systems and the ECU are all supplied by the vehicle-mounted battery group. The ECU is communicated with four motor controllers via the communication network. The ECU serves a control network core and is used for collecting and analyzing information of all sub-controllers and all sensors and then sending an execution instruction to all the motor controllers which are used for controlling SR motors to output rotating speed and torque. In-loop feedback control of an overall car is achieved in a real-time manner. A driving torque distribution strategy adopts fuzzy control based on slip rate and yawing moment. Control of the SR motors adopts a self-adaptive fuzzy control algorithm. The cooperative control method of a four-wheel independent-drive electric car based on CPS has following advantages: energy utilizations rate is increased; manipulation stability is improved; and driving safety of the four-wheel independent-drive electric is enhanced.

Description

technical field [0001] The invention belongs to the field of complete vehicle control of electric vehicles, and in particular relates to a four-wheel independent drive cooperative control method for electric vehicles based on a cyber-physical system. Background technique [0002] A driverless car is a smart car that senses the road environment through an on-board sensor system, automatically plans a driving route, and controls the vehicle to reach a predetermined target. It uses on-board sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle based on the road, vehicle position and obstacle information obtained from the perception, so that the vehicle can drive safely and reliably on the road. [0003] Integrating many technologies such as automatic control, architecture, artificial intelligence, and visual computing, it is a product of the highly developed computer science, pattern recognition, and intelligent contr...

Claims

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Application Information

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IPC IPC(8): B60L15/32
CPCB60L15/32
Inventor 安吉尧周兴黄仲曹张保李涛
Owner HUNAN UNIV
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