Stability integrated control method for intelligent wheel and electric driven automobile

Abstract

The invention discloses a stability integrated control method for an intelligent wheel and electric driven automobile. According to the stability integrated control method, a cooperative control method and a generalized internal model control method are utilized to design and develop the automobile stability control method based on the yaw velocity and the mass center side slip angle; and a drive signal, a brake signal and steering wheel angle driving demand which are provided by a driver and measured or estimated automobile state information serve as input, and through a stability integrated control algorithm and cooperative control over three stability intervention modes, ideal yaw moment response is obtained, control over the automobile is finally converted into independent control over wheels, all the wheels can achieve independent drive, brake and steering, and system robustness of the automobile is improved.

Description

technical field [0001] The invention belongs to the field of automobile control, and specifically refers to a stability integrated control method of an intelligent wheel-electric drive automobile. Background technique [0002] The stability control of traditional automobiles is gradually developed with the development of ABS (Anti-lock Brake System). The yaw moment generated by the difference of the braking force can prevent or reduce the uncontrollable sideslip phenomenon. Intelligent wheel electric drive vehicle is one of the research hotspots in the field of pure electric vehicles at home and abroad. Its main feature is that the control amount of the vehicle is finally transformed into independent control of the four wheels, and each wheel can be independently driven and independently braked. And independent steering, this intelligent wheel electric drive vehicle brings a new design idea to stability control. [0003] At present, the stability control of intelligent whe...

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Problems solved by technology

However, there are still the following problems in general: First, because collaborative control can optimize and analyze multiple single systems, eliminate conflicts between subsystems, and explore the complementary potential of each subsystem, it is important to improve the comprehensive performance of vehicle dynamics. It has important meaning and function, so it is widely used in the stability control of automobiles. However, the traditional coordinated control method does not consider the influence of ground tangential reaction force on the lateral characteristics when the vehicle is in the limit condition. At the same time, if If the calculated lateral force and longitudinal force for vehicle stability control exceed the range of maximum lateral force and longitudinal force achievable by the vehicle, more reasonable optimal control cannot be achieved in terms of system response time or control results

Second, when there are external uncertain factors, such as windy weather interference, the vehicle will be impacted by a large yaw moment, but the commonly used methods such as optimal control, linear quadratic regulation, etc., do not take into account the vehicle model Uncertainty and external interference and other problems, the robustness of the system is weak

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