A lateral stability control method for distributed drive electric vehicles based on atm

Abstract

The invention discloses a distributed driven electric automobile transversal-stability control method based on ATSM and belongs to the technical field of electric automobile control. The control method comprises the following steps that 1, a three-freedom-degree nonlinear finished automobile reference model is established; 2, based on a twisting sliding mode (TSM) control algorithm, an upper-layer controller of a distributed driven electric automobile transversal-stability controller is designed; 3, the self-adaption law of twisting sliding mode gain in the step 2 is designed; 4, stability analysis is conducted on the designed control method, and stability conditions are given. Compared with an existing distributed driven electric automobile transversal-stability control method based on a one-step sliding-mode control algorithm, control system buffeting can be effectively inhibited, the control precision and control stability are remarkably improved, and the transversal stability of a distributed driven electric automobile is effectively ensured. The transversal stability control precision of the distributed driven electric automobile can be effectively improved, and control system buffeting can be effectively inhibited by adopting the method.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle control, and in particular relates to an ATSM-based distributed drive electric vehicle lateral stability control method. Background technique [0002] Pure electric vehicle technology is one of the themes proposed for priority development in "Made in China 2025". With the development of electric vehicle technology, the power transmission forms of pure electric vehicles are becoming more and more diverse, and the distributed drive of hub motors is one of the new types. drive mode. The hub motor has both an information unit and an execution unit, the torque / speed information of the hub motor can be accurately obtained, and the torque is precisely and controllable. Therefore, compared with traditional vehicles, distributed drive electric vehicles have significant control advantages in terms of active safety. It is necessary to study the lateral stability control method of electric vehicles ...

AI Technical Summary

Problems solved by technology

However, under extreme sudden change conditions, it is difficult to effectively suppress the chattering inherent in the first-order sliding mode control, and the control performance will be greatly reduced, which cannot guarantee the lateral stability of the vehicle; the national patent 201610622367. Selecting the corresponding first-order sliding mode control gain in the form of a table improves the robustness of the control system and suppresses the chattering of the control system to a certain extent.

However, since it retains the output in the form of a symbolic function, chattering suppression under all working conditions cannot be guaranteed; the national patent 201610532348.4 calculates the adjustment yaw moment through the design model rules, and finally distributes the real-time yaw moment control through the rear wheel torque

However, this method does not take full advantage of the advantages of four-wheel distributed drive, and when the rear wheel torque output is saturated, the lateral stability of the vehicle cannot be guaranteed.

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