Control method for differential-motion power-assisted steering stability of electric car driven by wheel hub motor

A technology of stability control and in-wheel motors, which is applied to automatic steering control components, power steering mechanisms, steering mechanisms, etc., and can solve problems such as instability and danger

Inactive Publication Date: 2017-08-15
HEFEI UNIV OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

On the other hand, if the power assist produces an excessive positive yaw moment, it

Method used

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  • Control method for differential-motion power-assisted steering stability of electric car driven by wheel hub motor
  • Control method for differential-motion power-assisted steering stability of electric car driven by wheel hub motor
  • Control method for differential-motion power-assisted steering stability of electric car driven by wheel hub motor

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Embodiment Construction

[0071] Such as figure 1 , figure 2 as shown, figure 1 , figure 2 The invention proposes a method for controlling the stability of a differential power steering of an electric vehicle driven by an in-wheel motor.

[0072] refer to figure 1 , figure 2 , the hub motor drive electric vehicle differential power steering stability control method that the present invention proposes, comprises the following steps:

[0073] S1. Obtain the reference yaw rate of the car, and obtain the actual yaw rate and the actual side slip angle of the car, and calculate the difference between the reference yaw rate and the actual yaw rate of the car to obtain the yaw rate deviation, and extract the yaw rate The deviation and the actual center-of-mass sideslip angle constitute the characteristic state;

[0074] Specifically, it includes collecting the actual center-of-mass side slip angle β and actual yaw rate ω of the vehicle dynamics model r , and obtain the reference yaw rate and for th...

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Abstract

The invention discloses a control method for differential-motion power-assisted steering stability of an electric car driven by a wheel hub motor. The method comprises the following steps that (1) the characteristic states formed by yaw velocity deviation and actual side slip angles are extracted; (2) based on the extension theory, extension coordination control correlation functions under different set states are calculated; (3) according to the correlation functions, the corresponding differential-motion power-assisted moment weight coefficient and yawing moment weight coefficient of the correlation functions under the different set states are determined; (4) a differential-motion power-assisted steering controller is built and combined the differential-motion power-assisted moment weight coefficient to obtain the differential-motion power-assisted moment; (5) a yawing moment controller is built and combined with the yawing moment weight coefficient to obtain the yawing moment; (6) according to the actual car speed information, through PID controlling, the total driving turning moment needed by the target car speed is obtained; and (7) the differential-motion power-assisted moment, the yawing moment and the total driving turning moment are distributed, and constraint conditions are built so as to meet the different requirements of a car under different states for turning moment adjustment.

Description

technical field [0001] The invention relates to the technical field of new energy vehicles, in particular to a method for controlling the stability of a differential power steering of an electric vehicle driven by an in-wheel motor. Background technique [0002] The electric vehicle driven by in-wheel motor has the characteristics of independently controllable four-wheel torque, and has significant advantages in vehicle stability control and steering assistance. [0003] In terms of steering assistance, by adjusting the driving torque of the steering wheel, the driving force of the left and right steering wheels is changed, so that the driving force difference acts on the steering system to provide assistance for the driver's steering. This process is called differential power steering. (differential drive assisted steering, DDAS for short). In electric vehicles driven by in-wheel motors, DDAS can not only replace the role of electric power steering (EPS), but also simplify...

Claims

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Application Information

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IPC IPC(8): B62D5/00B62D7/14B62D6/00B62D137/00G06F17/50
CPCB62D5/00B62D6/00B62D7/14G06F30/20
Inventor 汪洪波陈无畏孙晓文
Owner HEFEI UNIV OF TECH
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