A control method for in-wheel motor-driven vehicles based on a self-tuning particle model

Abstract

The invention relates to a control method of a wheel hub motor driven car based on a self-regulating particle model. The self-regulating particle model is established according to vehicle dynamics. The control method is suitable for linear and nonlinear region of the vehicles. In particularly, the control method provides a moderate vehicle motion state reference value under the road adhesion limit to ensure the handling stability and the driving safety of the vehicles. The establishment of the self-regulating particle model comprises the following steps: 1. According to the neutral veering feature of the vehicle dynamics, the variation of the vehicles ideal reference lateral acceleration is received after the analysis of a two-degree-of-freedom linear reference model. 2. When the vehicles have both a longitudinal acceleration and the lateral acceleration requirements, the corresponding mapping function MAP relationship is established as an ideal resultant acceleration from a reference resultant acceleration by the construction in a G-G acceleration friction circle. 3. Through the transition of coordinate systems between the vehicles movement locus and the vehicles centroid, the vehicles ideal reference motion state value is required. The control method of the wheel hub motor driven car based on the self-regulating particle model ensures the handling stability and the active safety of the vehicles under the road adhesion limit and also guarantees the controllability of the vehicles to the drivers.

Description

technical field [0001] The present application relates to a control method for a vehicle driven by an in-wheel motor, in particular to a method based on a self-adjusting particle model, which is suitable for providing a reasonable vehicle motion state value under the limit of road surface adhesion. Background technique [0002] In-wheel motor-driven vehicles are currently one of the research hotspots in the field of electric vehicles. When in-wheel motor-driven vehicles are running at the adhesion limit, it is usually necessary for a reference model to provide a reasonable reference motion state value of the vehicle in order to truly exert the performance of in-wheel motor-driven vehicles. Advantage. At present, the two-degree-of-freedom linear model is generally used as the reference model to generate the reference state value of the vehicle control system. However, the two-degree-of-freedom linear model has limitations in the following three aspects: (a). The two-degree-o...

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Problems solved by technology

However, the two-degree-of-freedom linear model has limitations in the following three aspects: (a). The two-degree-of-freedom model is linear and can only represent the basic characteristics of the vehicle in the linear region where the lateral acceleration is less than 0.4g, and cannot truly reflect The dynamic characteristics of the vehicle in the nonlinear region (large lateral acceleration); (b). Near the road-tire adhesion limit, the two-degree-of-freedom model will provide unreasonable vehicle dynamics state values; (c). When the vehicle needs When the generalized force exceeds the road adhesion limit, the target state value of the vehicle will reach saturation in a certain way. At this time, the nonlinear reference model should be used to analyze the driver input signal; otherwise, the mutual coupling relationship between the driver input signal and the vehicle target trajectory is saturated. point will become very faint, in other words, the driver will lose control over the trajectory of the vehicle

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