Method for controlling yaw stability of multi-wheel independent drive electric vehicle during steering

Abstract

The invention specifically discloses a method for controlling yaw stability of a multi-wheel independent drive electric vehicle during steering. The method for controlling the yaw stability of the multi-wheel independent drive electric vehicle during steering comprises the following steps of step 1, distributing initial driving moments for wheels during the steering of the vehicle; step 2, calculating an ideal yaw velocity and an ideal side slip angle; step 3, obtaining a yaw velocity difference by using the ideal yaw velocity and real-time yaw velocity and obtaining a side slip angle difference by using the ideal side slip angle and a real-time side slip angle; step 4, if the yaw velocity difference is too large or the side slip angle difference is too large, executing step 4; and otherwise, returning to the step 2; and step 5, driving the electric vehicle by using calculated final driving moment and then returning to the step 2. On the basis of controlling key parameters of the multi-wheel independent drive electric vehicle during steering, the method for controlling the yaw stability of the multi-wheel independent drive electric vehicle during steering has the advantages that wheel slip state management is taken into consideration to realize the vehicle yaw stability control so that the side stability of the vehicle in the running process can be effectively guaranteed.

Description

technical field [0001] The invention relates to the technical field of multi-wheel independently driven electric vehicles, more specifically, the invention relates to a method for controlling the yaw stability of multi-wheel independently driven electric vehicles when turning. Background technique [0002] At present, multi-wheel independent electric drive vehicles often drive the wheels directly by motors, or use in-wheel motors to integrate the motors and wheels; this kind of multi-wheel independent electric drive vehicles saves the traditional In the transmission link, each wheel is driven by a separate drive motor, and the drive torque can be independently controlled, which greatly improves the transmission efficiency and facilitates the realization of the goal of mechatronics and vehicle weight reduction. [0003] However, during the steering process of multi-wheel independently driven electric vehicles, various control parameters will change. Due to the limitations of ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the conventional control method is not ideal for controlling the yaw stability of a multi-wheel independently driven electric vehicle, the present invention innovatively proposes a control method for the yaw stability of a multi-wheel independently driven electric vehicle when turning. Taking control parameters such as yaw rate, center of mass side slip angle and wheel slip state into consideration, the vehicle yaw stability control is effectively realized, and the stability of the vehicle during steering is effectively guaranteed

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