Test prototype automobile of electric wheel driving automobile and driving stability control method

Abstract

The invention discloses a test prototype automobile of an electric wheel driving automobile and a driving stability control method. The test prototype automobile of the electric wheel driving automobile comprises an automobile body, a steering wheel, an independent suspension and an electric wheel assembly. A wheel speed sensor, a steering wheel rotation angle sensor, a gyroscope and a control system are arranged on the automobile body. The control system comprises a sensor signal processor, a road surface state evaluator, a CAN bus, an electronic differential controller, a yawing moment controller, a driving skid-resistance controller, a torque coordinating distributor and an automobile driving state evaluation system. The driving stability control method comprises the following steps that (A) the automobile driving state is calculated and judged; (B) driving skid-resistance control is conducted; (C) electronic differential control is conducted; and (D) yawing moment control is conducted. By the adoption of the test prototype automobile of the electric wheel driving automobile and the driving stability control method, four-wheel independent driving and independent steering can be achieved, and various control methods of the electric wheel driving automobile can be verified through the test prototype automobile.

Description

technical field [0001] The invention relates to the field of electric wheel vehicles, in particular to a test sample vehicle of an electric wheel drive vehicle and a driving stability control method. Background technique [0002] With the depletion of oil resources, the automotive field began to explore new energy-driven vehicles, and electric vehicles came into being. During the exploration of electric vehicles, electric wheel drive electric vehicles have become an important part of the development of new energy vehicles. Electric wheel vehicles use multiple independently driven hub motors as the power source. Compared with traditional vehicles and electric vehicles, the complex mechanical transmission system is eliminated, the transmission efficiency is greatly improved, the chassis structure is simplified, and the body space is increased. It is beneficial to realize the electronicization and automation of the chassis, and has positive significance for improving the stabi...

AI Technical Summary

Problems solved by technology

At present, the driving stability control of electric wheel-driven electric vehicles mainly includes driving anti-skid control, direct yaw moment control, electronic differential speed control, brake anti-lock control, etc.; but individual control methods have their control blind spots and defects. The drive anti-slip control is to control the slip rate of the drive wheel to be near the optimal slip rate. When the slip rate of the drive wheel is too large, the control system will control the slipping wheel to reduce the torque, but this will cause The driving force of the left and right wheels is different, forming an unstable yaw moment and reducing the dynamic performance of the car. Moreover, different road conditions correspond to different optimal slip rates and maximum adhesion rates. If it is estimated, the optimal control result cannot be obtained; the yaw moment control achieves the purpose of balancing the yaw moment by increasing or decreasing the torque of the drive wheel, but the torque margin of the motor torque is different under different driving conditions. Yes, when the torque increased by the yaw moment control exceeds the peak value of the motor torque, the purpose of balancing the yaw moment will not be achieved, especially when the vehicle is running at a higher speed and the motor torque is larger; the electronic differential The control is to ensure that the non-steering wheels have the same slip rate on the left and right sides when the vehicle is turning, but it cannot guarantee the optimal control of the slip rate; at the same time, if the vehicle is equipped with more control systems, there may be conflicts between the systems Interference, mainly reflected in the interference of sensor signals and the coupling of control targets, etc.

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