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Electric vehicle dynamics system modeling method

An electric vehicle and system modeling technology, which is applied in the field of electric vehicle dynamics system modeling, can solve the problems of high cost of detection devices, increased computational burden of vehicle controllers, and no response to vehicle stability information, and achieves suppression of uncertain interference. , the effect of safe and stable steering

Inactive Publication Date: 2017-05-17
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] No matter how many degrees of freedom the vehicle model adopts, the design of the controller mostly considers the two controlled variables of the yaw rate and the side slip angle of the vehicle body. The cost of the detection device is high and it is difficult to commercialize it in the vehicle system. In order to pursue better control performance, people have proposed many methods to indirectly measure the side slip angle of the vehicle body, which invisibly increases the calculation burden of the vehicle controller. The traditional vehicle dynamics The stability information of the vehicle is not reflected in the vehicle model

Method used

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  • Electric vehicle dynamics system modeling method

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Embodiment 1

[0138] Such as Figure 6 As shown, when the electric vehicle is on a good road condition and the lateral wind speed is 0 meters per second and 17 meters per second, the closed-loop control effect of the vehicle yaw rate, the tire longitudinal force distribution effect and the vehicle yaw angle Speed ​​closed-loop control curve and error curve, Figure 6 (a) represents the yaw rate when the side wind speed is 0 meters per second, Figure 6 (b) represents the tire longitudinal force distribution when the lateral wind speed is 0 meters per second, Figure 6 (c) represents the yaw rate when the side wind speed is 17 meters per second, Figure 6 (d) represents the tire longitudinal force distribution when the lateral wind speed is 17 meters per second, Figure 6 (e) represents the closed-loop control curve of the yaw rate at two crosswind speeds, Figure 6 (f) shows the error curves of the yaw rate at two crosswind speeds.

Embodiment 2

[0140] Such as Figure 7 As shown, when the electric vehicle is under the condition of poor road conditions, when the lateral wind speed is 0 meters per second and 17 meters per second, the closed-loop control effect of vehicle yaw rate, the distribution effect of tire longitudinal force and the vehicle yaw angle Speed ​​closed-loop control curve and error curve, Figure 7 (a) represents the yaw rate when the side wind speed is 0 meters per second, Figure 7 (b) represents the tire longitudinal force distribution when the lateral wind speed is 0 meters per second, Figure 7 (c) represents the yaw rate when the side wind speed is 17 meters per second, Figure 7 (d) represents the tire longitudinal force distribution when the lateral wind speed is 17 meters per second, Figure 7 (e) represents the closed-loop control curve of the yaw rate at two crosswind speeds, Figure 7 (f) shows the error curves of the yaw rate at two crosswind speeds.

[0141] Depend on Figure 6 , ...

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Abstract

The invention provides an electric vehicle dynamics system modeling method. A lateral dynamics vehicle non-linear model is built, an electric vehicle 2DOF linear vehicle model is built, an electric vehicle semi-uncertainty dynamics model is built, and a robust control experiment of the electric vehicle semi-uncertainty dynamics model is carried out. The electric vehicle semi-uncertainty dynamics model disclosed by the invention considers the stability problem, thus, when a vehicle steering controller is designed, vehicle body distortion angle information is not needed, the bivariate combination control effect can be achieved only by controlling the yaw angle rate, when self parameters of a vehicle are perturbed and uncertain disturbance exists in the external environment, a robust controller based on the electric vehicle semi-uncertainty dynamics model can well inhibit the uncertain disturbance, and the effect that the vehicle conducts steering safely and stably is ensured.

Description

technical field [0001] The invention relates to the technical field of lateral active collision avoidance of an electric vehicle, in particular to a modeling method for a dynamic system of an electric vehicle. Background technique [0002] With the development of science and technology and the improvement of people's living standards, electric vehicles are becoming more and more popular in the field of family vehicles. As a key technology for vehicle driving safety, the lateral active collision avoidance technology of electric vehicles has become more and more popular The concern of workers, in the prior art, the modeling method of electric vehicle dynamic system mainly: [0003] 2-Degree-of-freedom (DOF) two-dimensional plane model, that is, the bicycle model. This model has the simplest structure and is the most widely used. This model considers the lateral and yaw motion of the vehicle, and reflects the main performance of the car in a concentrated manner. , and the vehi...

Claims

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Application Information

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IPC IPC(8): B60W40/103B60W40/114
CPCB60W40/103B60W40/114
Inventor 廉宇峰李丙林刘克平
Owner CHANGCHUN UNIV OF TECH
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