Four-wheel independent driving electric car course tracking control method

A four-wheel independent drive, electric vehicle technology, applied in non-electric variable control, two-dimensional position/navigation control, vehicle position/route/altitude control, etc. The problem of poor interference ability, etc., achieves the effect of low dependence on the accurate model of the algorithm, improved dynamic performance, and strong anti-interference ability.

Inactive Publication Date: 2016-11-30
AIR FORCE ENG UNIV OF PLA AIRCRAFT MAINTENACE MANAGEMENT SERGEANT SCHOOL
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  • 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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  • Four-wheel independent driving electric car course tracking control method
  • Four-wheel independent driving electric car course tracking control method
  • Four-wheel independent driving electric car course tracking control method

Examples

Experimental program
Comparison scheme
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Embodiment

[0048] Example: see Figure 1-Figure 5 .

[0049] figure 1 It is a structural block diagram of the four-wheel independently driven electric vehicle heading tracking control system of the present invention;

[0050]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 real-time value ψ of vehicle heading angle and the real-time value ω of vehicle yaw angular velocity are obtained from the four-wheel independent drive electric vehicle vehicle model r ; Set the heading angle of the vehicle to be tracked ψ ref And the real-time value of the vehicle heading angle ψ is used as the input of the designed active disturbance rejection controller ADRC1 to calculate the intermediate value of the yaw rate ω rd . The middle value of the yaw rate ω rd As the expected value of the ya...

example

[0085] 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 heading tracking controller designed by the present invention.

[0086] figure 2 It is a comparison chart of the simulation results of the heading angle during the tracking ability test;

[0087] In this example, if figure 2 As shown, the solid line represents the setting curve that needs to be tracked, which is set as a sinusoidal signal, and the dotted line is the real-time tracking effect of the heading angle after adopting the heading tracking control algorithm designed by the present invention. It can be seen that the gap between...

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Abstract

The present invention discloses a four-wheel independent driving electric car course tracking control method. The method comprises the following steps: a, taking a car course angle setting value [Psi]ref and a car course angle setting value [Psi] required to be tracked as the input of a yaw velocity median value active-disturbance-rejection controller (ADRC1), and calculating a yaw velocity median value [Omega]rd; b, taking the yaw velocity median value [Omega]rd obtained in the step a as a yaw velocity expected value, and taking the car yaw velocity ral0time value [Omega]r as the input of an additional yawing moment active-disturbance-rejection controller (ADRC2), and calculating an additional yawing moment [Delta]M; and c, distributing each wheel torque according to the additional yawing moment [Delta]M obtained in the step b, and inputting the instruction torque of distributed each wheel to four motors of the corresponding wheels, so that the yawing lateral motion of the electric car is controlled to allow the car course angle to track the setting value. The four-wheel independent driving electric car course tracking control method can inhibit the influence of various disturbances to allow a car course angle to rapidly and accurately track a setting value and improve the monitoring of the electric car course.

Description

Technical field: [0001] The invention relates to a heading control method for an electric vehicle, in particular to a heading tracking control method for a four-wheel independently driven electric vehicle. Background technique: [0002] The intelligent control of automobile has important military and civilian significance. Unmanned driving control, which can help or even replace the driver, is one of the core technologies of intelligent vehicle control, and has attracted extensive attention from governments and scholars in various countries. In the application of unmanned vehicles, the control of heading is particularly important. It is not only an important guarantee for the vehicle to track the reference trajectory, but also plays an important role in ensuring the stability and safety of the vehicle. [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. Ho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/041G05D1/021
Inventor 张强张虎城贾涛赵辉贾德宇丁永强陶祁赵文俊黄家成王欣陈锐
Owner AIR FORCE ENG UNIV OF PLA AIRCRAFT MAINTENACE MANAGEMENT SERGEANT SCHOOL
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