Stability integrated control method for intelligent wheel and electric driven automobile

An integrated control and stability technology, applied in the direction of electrical digital data processing, special data processing applications, instruments, etc., can solve the problem that the system response time cannot achieve optimal control, the system robustness is weak, and the uncertainty of the vehicle model is not considered and external interference to achieve the effect of integrated control of stability

Active Publication Date: 2017-07-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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 I

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  • Stability integrated control method for intelligent wheel and electric driven automobile
  • Stability integrated control method for intelligent wheel and electric driven automobile
  • Stability integrated control method for intelligent wheel and electric driven automobile

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[0059] The present invention provides a stability integrated control method of an intelligent wheel-electric drive vehicle. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be pointed out that the specific implementations described here are only used to explain the present invention, not to limit the present invention.

[0060] Control method of the present invention is:

[0061] 1) Collect or calculate the signals of parameters such as the vehicle's yaw rate, center of mass side slip angle, steering wheel angle, etc. through sensors and observers;

[0062] 2) Input the collected or calculated yaw rate, center-of-mass side slip angle, and steering wheel angle signals into the vehicle driving state nominal value calculator 1 to calculate the nominal values ​​of the center-of-mass side slip angle and yaw...

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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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Application Information

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IPC IPC(8): B60W30/02G06F17/50
CPCB60W30/02G06F30/15G06F30/20G06F2119/06
Inventor 李玉芳赵万忠陈明诺张文浩
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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