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Coordinated control method for differential power steering and stability of electric wheel drive vehicles

A power steering and coordinated control technology, applied in the automotive field, can solve problems such as limiting the efficacy of differential power steering, failing to guarantee the stability of the vehicle, and not considering extreme working conditions, etc., to achieve stability assurance, extensive practical value, and control logic Clear and reliable results

Active Publication Date: 2019-07-30
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The existing differential power steering and stability coordination control method mainly adopts the method of rear wheel real-time differential compensation for yaw rate, but this method does not take into account the influence of rear wheel real-time differential on front wheel road feel, and also The effect of differential power steering is limited, and this method does not consider the extreme working conditions. In fact, in some working conditions, the differential torque provided by the rear wheels alone cannot guarantee the stability of the vehicle.

Method used

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  • Coordinated control method for differential power steering and stability of electric wheel drive vehicles
  • Coordinated control method for differential power steering and stability of electric wheel drive vehicles
  • Coordinated control method for differential power steering and stability of electric wheel drive vehicles

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Embodiment Construction

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0062] Such as figure 1 As shown, the present invention provides an implementation flow chart of a differential power steering and stability coordination control method, and the control method includes the following steps:

[0063] Step 1. Obtain the yaw rate ω of the vehicle from the yaw rate sensor r signal, the vehicle speed signal v is obtained by the vehicle speed sensor or the vehicle speed observer, and the center of mass sideslip angle β and the sideslip angular velocity of the center of mass are obtained by the center of mass slip angle observer Signal, the road surface adhesion coefficient μ is obtained by real-time observation by the road surface adhesion coefficient observer.

[0064] Step 2. Obtain the boundary parameter value B of the stable region according ...

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Abstract

The invention discloses a differential assisted steering and stability coordination control method of an electric wheel drive automobile. The method includes the steps that the front wheel differential moment generated after a vehicle travels and the yawing moment required for maintaining stability are calculated; a phase plane control region where the vehicle belongs in the traveling process is judged, a differential steering work weight coefficient is determined according to the phase plane control region, and the front wheel differential moment is adjusted through the work weight coefficient; the drive moment generated after the vehicle travels is calculated; and according to the phase plane control region where the vehicle belongs, the drive moment, the adjusted front wheel differential moment and the yawing moment are distributed to wheels and corrected, and corrected wheel required moment data are output.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a method for coordinated control of differential power steering and stability of electric wheel-driven automobiles. Background technique [0002] The electric wheel independent drive vehicle saves the transmission system of the traditional car, and the power is directly provided by the hub motor or the wheel side motor installed in the wheel or on the side of the wheel to drive the wheel. The electric wheel drive vehicle has a simple structure, saves space, and is easier to realize integrated control of advanced chassis dynamics. [0003] Differential Drive Assist Steering (DDAS) technology is a new steering assist technology based on the electric wheel drive vehicle platform. Differential power steering makes full use of the characteristics that the torque of each wheel of the electric wheel drive vehicle can be independently controlled, and uses the torque difference gener...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D11/04B60L15/20B60L15/32
CPCB60L15/2036B60L15/32B60L2240/423B62D11/04Y02T10/72
Inventor 王军年罗正郭德东刘培祥
Owner JILIN UNIV
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