A Control Method for Distributed Drive Electric Vehicles Considering Energy Saving and Stability
A technology of electric vehicles and control methods, applied in the direction of electric vehicles, control drives, control devices, etc.
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[0133] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
[0134] figure 1 Shown is an implementation of the energy-saving and stable distributed drive electric vehicle control method of the present invention, the energy-saving and stable distributed drive electric vehicle control method, the specific method flow chart is as follows figure 1 shown, including the following steps:
[0135] Step S1: Longitudinal force estimation.
[0136] Let the wheel numbers 1, 2, 3, and 4 correspond to the left front, right front, left rear, and right rear wheels respectively. Each wheel of a four-wheel independent drive electric vehicle is independently driven by a hub motor. The drive wheel composed of the hub motor and the wheel is an independent drive unit. The rotational dynamics equation of a single wheel is:
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