Heading tracking control method for four-wheel independent drive electric vehicle

A technology of four-wheel independent drive and electric vehicles, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/height control, etc., can solve unsatisfactory control results, weak self-adaptability, resistance Problems such as poor interference ability, achieve the effects of low dependence on the algorithm's accurate model, improved dynamic performance, and strong anti-interference ability

Inactive Publication Date: 2019-12-06
AIR FORCE ENG UNIV OF PLA AIRCRAFT MAINTENACE MANAGEMENT SERGEANT SCHOOL
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  • Description
  • Claims
  • 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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  • Heading tracking control method for four-wheel independent drive electric vehicle
  • Heading tracking control method for four-wheel independent drive electric vehicle
  • Heading tracking control method for four-wheel independent drive electric vehicle

Examples

Experimental program
Comparison scheme
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Embodiment

[0046] Example: see Figure 1-Figure 5 .

[0047] figure 1 It is a structural block diagram of the four-wheel independently driven electric vehicle heading tracking control system of the present invention;

[0048] In this example, if figure 1As 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

[0081] 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.

[0082] figure 2 It is a comparison chart of the simulation results of the heading angle during the tracking ability test;

[0083] 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 invention discloses a course tracking control method of a four-wheel independently driven electric vehicle, comprising the following steps: a. setting the course angle ψ of the vehicle to be tracked ref And the real-time value of the vehicle heading angle ψ is used as the input of the intermediate value of the yaw rate ADRC1 to calculate the intermediate value of the yaw rate ω rd ; b. Then the intermediate value of yaw rate ω obtained in step a rd As the expected value of the yaw rate and the real-time value ω of the vehicle's yaw rate r As the input of the additional yaw moment ADRC2, the additional yaw moment ΔM is calculated; c, according to the additional yaw moment value ΔM in step b, the torque of each wheel is distributed, and then the command of each wheel distributed is The torque is input to the four motors corresponding to the wheels, so as to control the yaw and lateral movement of the electric vehicle, so that the heading angle of the vehicle can track the set value. The invention can well suppress the influence of various disturbances, make the heading angle of the vehicle quickly and accurately track the set value, and improve the monitoring performance of the heading of the electric vehicle.

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 Patents(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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