Steering redundancy and integrated control system and method of four-wheel independent driving electric automobile

Abstract

The invention relates to a steering redundancy and integrated control system and method of a four-wheel independent driving electric automobile. The control method comprises the steps that a differential action power reference curve is determined by an automobile controller according to the steering wheel hand power demands of a driver; an electric power steering module obtains a power torque command according to the measured steering wheel rotating angle data and sends the power torque command to an EPS (Electronic Power Steering, electronic power steering system); a differential action powersteering module utilizes the differential action power reference curve to obtain a front axle differential action torque of the electric automobile according to the measured data; a reference yaw angle velocity is obtained according to the measured automobile practical yaw angle velocity, the steering wheel rotating angle and the automobile speed data, and accordingly the additive yawing moment is obtained; and the automobile controller utilizes the front axle differential action torque and the additive yawing moment to obtain a four-wheel driving motor target output torque. Compared with theprior art, the steering redundancy and integrated control system and method have the advantages that the individualized demands of the driver can be met, the driving safety of the automobile is improved, and the manipulation burden of the driver is relieved.

Description

Technical field [0001] The invention relates to the field of automobile control, in particular to a steering redundancy and integrated control system and method for a four-wheel independent drive electric automobile. Background technique [0002] The four-wheel independent drive electric vehicle is to install four drive motors directly in or near the drive wheel, and has the characteristics of simple structure, short transmission path, and high transmission efficiency. The electric motor is not only the information unit of the car, but also the quick response control execution unit. Since each electric wheel can be controlled independently, the dynamic state of each wheel can be effectively controlled by changing the torque and speed of a single wheel motor. [0003] In order to reduce the operating force of the driver on the steering wheel when the distributed drive electric vehicle is steering, the system that uses external power to generate steering assistance is called the ste...

AI Technical Summary

Problems solved by technology

At present, both the electric power steering system and the steer-by-wire system need to add a booster motor to the steering system. When the booster motor fails or the communication of the booster system fails, the driver will obviously feel the difficulty of steering.

For steer-by-wire systems, it is indispensable to realize redundant control, but the current solution hardware structure is quite complicated

In addition, for four-wheel independent drive electric vehicles, there will also be a series of problems such as how to formulate the differential power steering curve, and the four-wheel torque distribution when the differential power steering and control improvement control are coordinated.

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