High-order variable structure control method for transverse stability of distributed driving electric automobile based on grey prediction

Abstract

The invention discloses a high-order variable structure control method for the transverse stability of a distributed driving electric automobile based on grey prediction, and belongs to the technical field of electric automobile control. The high-order variable structure control method comprises the steps of 1) predicting vehicle driving state parameters based on a multi-variable grey model MGM; 2) proposing an adaptive supercoiling sliding mode ASTSM control algorithm based on the vehicle driving state parameters acquired in the step 1), and designing an upper controller of a control system; 3) performing stability analysis on the upper controller in the step 2), and giving stability conditions; and 4) designing a lower controller of the control system based on an optical algorithm. According to the invention, active intervention is performed in advance through predicting the stability trend of a vehicle, and the risk of vehicle instability is greatly reduced; meanwhile, the upper controller is designed through introducing a high-order variable structure control algorithm, so that the chattering of the control system is effectively suppressed; and finally, the torque of four wheels is allocated based on an optimal algorithm, so that the stability margin of the vehicle is effectively improved.

Description

Technical field [0001] The invention belongs to the technical field of electric vehicle control, and in particular relates to a high-order variable structure control method of distributed drive electric vehicle lateral stability based on gray prediction. Background technique [0002] With the development of the world economy, the energy crisis has gradually deepened, and the problems of air pollution and global warming have become increasingly severe. It is the inevitable choice of mankind to develop clean energy and follow the path of sustainable development. In this environment, electric vehicle technology is developing rapidly. Distributed drive electric vehicles have become a research hotspot in the field of new energy vehicles in recent years. Its outstanding advantages include: short drive transmission chain, efficient transmission and compact structure, and hub motors are also automotive information. The feedback unit and the quick-response controllable execution unit are...

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Problems solved by technology

However, the two-degree-of-freedom reference model is too simple to reflect the ideal driving state of the vehicle, and it belongs to "first deviation, then control". There is a risk of loss of control under sudden changes in working conditions, and it cannot be prevented before it happens; national patent 201610137131.3 is based on the first-order sliding mode control algorithm to design a direct yaw moment controller, using a saturation function instead of a sign function, which can suppress the chattering of the control system to a certain extent Vibration, improve control accuracy

However, if the car is working under the condition of multiple sudden changes, when the control system needs to apply frequent and changeable direct yaw moments, the chattering of the control system will increase greatly, and the performance of the control system will deteriorate sharply at this time, and it cannot be guaranteed lateral stability of the vehicle

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