A kind of EPS and dyc integrated control system and method for electric wheel vehicle

Abstract

The invention discloses an integration control system and method for an electric power steering system (EPS) and direct yaw moment control (DYC) of an electric wheel automobile. The system comprises a steering wheel rotation angle sensor, a steering wheel torque sensor, an accelerator pedal opening degree sensor, a wheel speed sensor, a yaw rate sensor, a lateral acceleration sensor, an integration controller, a DYC controller, an EPS controller, a back axle hub motor controller, a front axle hub motor controller, an assisted motor, an assisted motor controller and a hub motor. The EPS and DYC can be integrated very well, advantages of the EPS are utilized, the advantage of stability control of DYC on the electric wheel automobile is combined, and therefore the defects of the independent EPS are made up, the steering unstability of the automobile on the low-attachment road surface on the limiting condition such as a high-speed large turning angle can be solved very well, the problem that stability control needs to be added during automobile steering is solved, and by means of coordination control, positive effects are produced for the work of a DYC system of the electric wheel automobile.

Description

technical field [0001] The invention relates to the fields of electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel vehicles (electric wheel vehicles) driven by four-wheel hub motors, in particular to vehicles equipped with traditional EPS systems. Background technique [0002] In order to solve today's energy crisis and serious environmental problems, the research and development of automobiles in various countries have invested in the field of electric wheel vehicles. Among them, the hub motor drive vehicle is to install the hub motor directly on the wheel of the car to drive the car, which is the driving force for future electric wheel vehicles. direction of development. Electric wheel vehicles have the following advantages: [0003] 1) Compared with the electric vehicle driven by the central motor, the mechanical transmission system is cancelled, the transmission efficiency has been improved by leaps and bounds, the controller direct...

AI Technical Summary

Problems solved by technology

[0014] The existing traditional EPS is very good at improving the handling stability of the car, but it still cannot solve the steering feel and return performance on the road with low adhesion coefficient. The design idea of ​​the traditional EPS system does not take into account the handling stability. However, the driver’s operation on the steering wheel will directly affect the stability of the vehicle. Therefore, in emergency situations such as vehicle steering, especially at high-speed and large corners, it is necessary to add stability control and other issues. The present invention can produce yaw in combination with DYC. torque, and it has been proved that it still has the advantages of good control effect when it is close to the adhesion limit. In electric wheel vehicles, EPS and DYC are integrated for control

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