Electric automobile wheel type driving control system based on hierarchical control and control method thereof

Abstract

The invention discloses an electric automobile wheel type driving control system based on hierarchical control. The electric automobile wheel type driving control system based on the hierarchical control comprises an integrated controller, hub motor rotation speed sensors, a vehicle vertical and horizontal acceleration sensor, a yaw velocity sensor, a steering wheel steering angle sensor, an electronic accelerating pedal, an electronic braking pedal, a GPS receiver, a power battery, a battery management system, hub motors, inverters, an SRAM memory, an external clock module and a liquid crystal display module; the integrated controller comprises an auxiliary module, an upper module, a middle module and a lower module; the auxiliary module is used for judging the motion state of an automobile and estimating road adhesion coefficient and state variable in the automobile running process; the upper module is in charge of estimating expected vehicle reference velocity and yaw velocity; themiddle module is used for calculating yawing moment and driving force of the automobile by using a sliding mode control method; and the lower module outputs the voltage values of the inverters to control the hub motors to rotate and synchronizes the rotation speeds of the hub motors during high speed linear running.

Description

technical field [0001] The invention belongs to the field of electric vehicle drive control, in particular to a layered control-based electric vehicle wheel drive control system and a control method thereof. Background technique [0002] In recent years, electric vehicle technology has become an important field of research and investment for automobile companies. These companies produce various electric and hybrid vehicles, among which electric vehicles driven by four independent hub motors are one of the hot spots. The all-wheel independent drive system has been recognized as a breakthrough concept that will have a significant impact on the design of future electric and hybrid vehicles, which can conveniently and flexibly control the driving force and braking force of the wheels. Although the all-wheel independent drive system has many advantages, how to grasp the balance of the four independent hub motors is the most challenging problem faced by designers. In order to solv...

AI Technical Summary

Problems solved by technology

However, the invention has four in-wheel motor controllers corresponding to the four in-wheel motors, the control strategy is single, and the problem of wheel speed synchronization during high-speed straight-line driving is not considered.

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