Method for controlling steering stability of distributed-drive electric vehicle

A technology for stability control and electric vehicles, applied in electric vehicles, control drives, control devices, etc., to reduce convergence time, improve rapidity and robustness

Inactive Publication Date: 2017-12-01
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Sliding mode control is good for robust control of systems with uncertain model parameters, but suffers from "chattering" problems

Method used

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  • Method for controlling steering stability of distributed-drive electric vehicle
  • Method for controlling steering stability of distributed-drive electric vehicle
  • Method for controlling steering stability of distributed-drive electric vehicle

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with accompanying drawing.

[0021] like figure 1 , image 3 As shown, according to the driver's steering wheel angle input signal and the vehicle longitudinal speed signal, the vehicle model module calculates the vehicle reference yaw rate ω rd .

[0022] The reference vehicle model described in the present invention is a vehicle two-degree-of-freedom linear model, and the two-degree-of-freedom are two degrees of freedom of the center of mass sideslip angle and yaw rate, and the state equation of the reference model is:

[0023]

[0024] Among them, β is the sideslip angle of the center of mass of the vehicle, ω r is the yaw rate of the vehicle, k 1 is the cornering stiffness of the front axle, k 2 is the cornering stiffness of the rear axle, a is the distance from the front axle to the center of mass of the vehicle, b is the distance from the rear axle to the center of mass of the vehicle, m ...

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Abstract

The invention discloses a method for controlling steering stability of a distributed-drive electric vehicle. The method comprises the following steps of: step 1: according to signals detected by a vehicle speed sensor and a steering wheel angle sensor, obtaining a longitudinal vehicle speed u and a forewheel steering angle delta of a running vehicle through calculation of a state observation module; step 2: according to the longitudinal vehicle speed u and the forewheel steering angle delta obtained in the step 1, and obtaining a reference yaw rate omega rd of the running vehicle by a linear two-degree-of-freedom vehicle dynamic model; step 3: detecting an actual yaw rate omega r of the vehicle by using a gyroscope; step 4: according to the reference yaw rate omega rd and the actual yaw rate omega r, designing a steering stability controller and obtaining a yaw moment required by the steering stability control of the vehicle; and step 5: using the minimum tire utilization rate as an optimization objective, designing a distribution function and obtaining a driving torque Ti of four wheel hub motors. The phenomenon of ''chattering'' of a system is effectively suppressed, robustness is improved, and the steering stability of the distributed-drive electric vehicle is well controlled.

Description

technical field [0001] The invention relates to steering stability control of distributed drive electric vehicles, in particular to a yaw rate control method for distributed drive electric vehicles based on adaptive inversion sliding mode. Background technique [0002] With the increasingly serious energy crisis and environmental pollution, electric vehicles are getting more and more attention, especially because of the simple structure of distributed drive electric vehicles, it only needs to control the driving torque of the four hub motors when performing stability control , making the control more convenient. Under normal circumstances, when a distributed drive electric vehicle is turning, due to the driver's misoperation and external interference, it often causes dangerous situations such as sideslip and tail flicking, which seriously affects the safety and comfort of driving. When the sideslip angle of the center of mass of the vehicle is small, the yaw rate is directl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/045B60W40/114B60L15/20B60L15/32
CPCB60L15/20B60L15/32B60L2220/42B60L2220/44B60L2240/423B60W30/045B60W40/114B60W2520/10B60W2540/18B60W2710/083B60W2720/14Y02T10/72
Inventor 耿国庆吴镇华一丁韦斌源江浩斌唐斌
Owner JIANGSU UNIV
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