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A power distribution method for a vehicle driven by an in-wheel motor

A hub motor and distribution method technology, applied in electric vehicles, control drives, vehicle components, etc., can solve problems such as disordered motor efficiency maps, complex efficiency functions that do not have universal applicability, and look-up table methods that cannot be used to avoid Effects of functional overlap and structural interference

Active Publication Date: 2019-03-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the above method has certain limitations. For example, the motor efficiency map is chaotic, and the fitting accuracy is difficult to guarantee; different motors have different efficiency maps, so the complex efficiency function fitted is not universally applicable.
In addition, the controlled variable includes the tire longitudinal force which is closely related to the working torque of the motor, so the motor efficiency value cannot be obtained by using the look-up table method

Method used

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  • A power distribution method for a vehicle driven by an in-wheel motor
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  • A power distribution method for a vehicle driven by an in-wheel motor

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Embodiment Construction

[0058] The present invention provides a method for dynamic distribution of in-wheel motor-driven vehicles, as shown in the attached figure 1 As shown, it specifically includes the following steps:

[0059] 1).According to the steering wheel angle and acceleration / brake pedal signal command input by the driver, analyze the reference state value of the vehicle and complete the drive mode selection;

[0060] 2). By comparing the actual state value of the vehicle with the reference state value, the nonlinear sliding mode control is used to obtain the generalized control force and moment to ensure that the vehicle tracks the reference state value;

[0061] 3). Based on the selected driving mode, road surface adhesion conditions and actuator constraints, the generalized control force / torque required by the vehicle is optimally distributed to each wheel, and the vehicle reference state value is tracked;

[0062] 4). According to the dynamic model of wheel rotation, the sliding mode ...

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Abstract

The invention provides a power distribution method for a hub-motor-driven vehicle. According to a wheel rotating dynamic model, a longitudinal force and a lateral force, which are obtained in the distribution, are controlled by using a sliding-mode control theory in a follow-up manner to obtain an output torque of each electric wheel and a rotating angle of each wheel so that a slip rate and a slip angle are controlled; therefore, driving, braking and steering sub systems of the vehicle are controlled in an integrated manner, function overlap and structural interference are avoided, and the multi-objective optimal controls of vehicle handling stability and energy saving are also realized.

Description

technical field [0001] The invention belongs to the field of dynamic control of electric vehicles, and relates to a method for distributing power of a vehicle driven by a hub motor, in particular to a method for optimizing the distribution of longitudinal force and lateral force of each tire. Background technique [0002] In-wheel motor-driven vehicles are one of the research hotspots in the field of electric vehicles. In the in-wheel motor drive system, each wheel can be driven, braked and turned independently, so a reasonable control method is required to truly exert the performance advantages of the in-wheel motor-driven vehicle. At present, the vehicle dynamics control subsystem is usually developed separately. When multiple control subsystems coexist, there will be functional overlap / conflict and structural interference between the systems. Most of the research on the dynamic control of the in-wheel motor drive vehicle system is only for the control of the longitudinal...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2220/42B60L2220/44B60L2240/12B60L2240/20B60L2240/24B60L2240/423Y02T10/72
Inventor 张承宁张蕊
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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