Non-smooth technique-based direct yaw moment control method of electric vehicles

Abstract

The invention discloses a non-smooth technique-based direct yaw moment control method of electric vehicles. By means of the method, the vehicle stability under extreme driving circumstances can be increased under the conditions of external disturbances and system uncertainty. The method comprises the following main steps: (1) building a linear two-degree-of-freedom vehicle dynamic model and a seven-degree-of-freedom whole vehicle dynamic model; 2, calculating the ideal yaw velocity and ideal side slip angle of the vehicles through the linear two-degree-of-freedom model, and constructing a state observer to observe the actual side slip angle of the vehicles; 3, designing a non-smooth control module controlled by yaw moment on the basis of non-smooth control technique; and 4, distributing the yaw moment by using a moment distributing module, thereby realizing the stable control of the vehicles. The method disclosed by the invention has the advantages that (1) the system has fast convergence performance and better disturbance-resistant performance; and (2) a chattering phenomenon is effectively avoided while good robust performance is obtained at the same time.

Description

technical field [0001] The invention relates to the control strategy of the direct yaw moment of the electric vehicle, in particular to the design of the non-smooth controller and the design of the yaw moment distribution method. Background technique [0002] Against the background of environmental and energy issues, electric vehicles are increasingly becoming an important part of the automotive industry of the future. In recent years, distributed drive electric vehicles (In-wheel motor Electric, IEV) have received widespread attention from researchers. It drives the wheels through the hub motor placed in the wheel hub or places two motors in the differential position to provide power to the vehicle. IEV has the advantages of fast corresponding speed, short transmission chain and high transmission efficiency, and is an important development direction in the field of electric vehicles. [0003] At present, the stability control of IEV still needs to be improved, such as the...

AI Technical Summary

Problems solved by technology

However, compared with discontinuous control methods, controllers based on smooth control methods are less robust to external disturbances and system uncertainties

Therefore, under complex working conditions, the direct yaw moment control based on the smooth control method is sometimes difficult to achieve a satisfactory control effect

On the other hand, although discontinuous control has strong robustness, it can well overcome various uncertainties and disturbances in the dynamics of electric vehicles, but because its controller is discontinuous, it will produce jitter during control. vibration, and even cause system crash

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