Method for optimizing parameters of four-driving electric car state observer based on genetic algorithm

Abstract

The invention discloses a method for optimizing parameters of a four-driving electric car state observer based on a genetic algorithm. By means of the method, the problem that parameter adjustment of an electric car state observer is difficult is solved. The method includes the following steps of building a car single-wheel rolling model and a simplified three-degree-of-freedom car model, designing a longitudinal tire force observer through a sliding-mode observer method with the wheel rotation angular velocity and driving moment of measurement information of a car sensor as input, designing a front shaft lateral tire force sliding-mode observer and a rear shaft lateral tire force sliding-mode observer correspondingly with the estimated longitudinal tire force value, the front wheel rotation angle, the lateral acceleration and the yaw velocity as input, finally designing a car speed full-dimension state observer with the estimated longitudinal and lateral tire force values, the longitudinal and lateral accelerations, the yaw acceleration and the front wheel rotation angle of a car as input, and carrying out observer parameter optimization on estimation modules through the genetic algorithm on the basic of the designed modular car state observer.

Description

technical field [0001] The invention relates to a parameter optimization method for a state observer of a modular four-wheel drive electric vehicle based on a genetic algorithm, and belongs to the technical field of vehicle state estimation. Background technique [0002] As a representative of new energy vehicles, electric vehicles have obvious advantages in terms of cleanliness, environmental protection, and energy saving compared with traditional vehicles powered by gasoline combustion. Therefore, the number of electric vehicles is increasing year by year, and its handling stability and active safety issues have also received extensive attention. [0003] The active safety control system of electric vehicles can effectively improve vehicle handling stability, thereby reducing the occurrence of traffic accidents. The prerequisite for the effective implementation of its various control logics is to accurately obtain the driving status information of the vehicle. However, d...

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Problems solved by technology

[0005] In order to solve the difficult problem of adjusting the parameters of the electric vehicle state observer, the present invention provides a method for optimizing the parameters of the four-wheel drive electric vehicle state observer based on the genetic algorithm. Taking the modular four-wheel drive electric vehicle state observer as an example, the genetic algorithm is adopted Optimizing the observer parameters

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