Energy-saving and stable distributed-type electric automobile driving control method

Abstract

The invention provides an energy-saving and stable distributed-type electric automobile driving control method. The energy-saving and stable distributed-type electric automobile driving control methodcomprises the following steps that, 1, longitudinal force is estimated; 2, the yaw velocity and the side slip angle are estimated; 3, an upper layer controller is designed; and 4, a lower layer controller is designed. According to the energy-saving and stable distributed-type electric automobile driving control method, vehicle yaw stable control and energy optimization are effectively combined together, and the multi-objective vehicle control effect under a single control strategy can be achieved; in the energy optimization process, the energy-saving effect brought by optimizing distributionof torque of front and rear wheel hub motors is taken into account, the theoretical foundation and feasibility of achieving energy saving through the torque in the steering process are further proved,and a new torque optimizing distribution scheme which takes stability, motor energy saving and steering energy saving into account is provided. The energy-saving and stable distributed-type electricautomobile driving control method can be used for replacing a GPS and an inertial navigation device to obtain the vehicle yaw velocity and the side slip angle, the estimated cost is reduced, and the foundation is provided for vehicle control.

Description

technical field

[0001] The invention belongs to the field of electric vehicle research, and in particular relates to a control method for a distributed drive electric vehicle with energy saving and stability in mind. Background technique

[0002] Distributed drive electric vehicles are independently driven by four hub motors, and the torques of the four hub motors are independently controllable. This advantage provides a new degree of freedom for vehicle stability control and energy management. In recent years, many scholars at home and abroad have devoted themselves to the research of vehicle stability control and achieved some important research results, but there are few control methods that can combine vehicle stability control and vehicle energy saving at the same time. In the research on stability control of electric vehicles with distributed drives, real-time vehicle motion control is mostly achieved through directional control distribution of drive motor torque. How...

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