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A stability control method for a vehicle driven by an in-wheel motor

A technology for stability control and in-wheel motors, which can be used in electric vehicles, control drives, control devices, etc., and can solve problems such as lack of

Active Publication Date: 2020-02-14
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, there is still a lack of nonlinear control methods in this field to realize the joint control of vehicle speed, yaw rate and side slip angle, and to obtain the target longitudinal force and target yaw moment of the vehicle respectively. It is necessary to fully consider the wheel hub when distributing the tire longitudinal force. Motor external characteristics, ground adhesion conditions, and friction circle constraints and performance objective functions to improve vehicle stability control

Method used

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  • A stability control method for a vehicle driven by an in-wheel motor
  • A stability control method for a vehicle driven by an in-wheel motor
  • A stability control method for a vehicle driven by an in-wheel motor

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Embodiment Construction

[0085] The technical solution of the present invention will be further explained in detail below in conjunction with the accompanying drawings.

[0086] The stability control method for the hub motor driven vehicle provided by the present invention, such as figure 1 As shown, it specifically includes the following steps:

[0087] Step 1, collect the longitudinal speed v of the vehicle x , Yaw rate ω z and the center-of-mass slip angle β parameter.

[0088] Step 2. Based on the parameters collected in the step 1, combined with the reference longitudinal vehicle speed v xdes , reference yaw rate ω zdes and the reference center-of-mass slip angle β des A sliding mode controller is constructed to obtain the target longitudinal force during motion, and a yaw moment synthesis controller is designed to track the vehicle motion state to the reference state to obtain the target yaw moment.

[0089] Step 3. Based on the target longitudinal force and the target yaw torque obtained ...

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Abstract

The invention provides a stability control method for a hub-motor-driven vehicle. A control strategy for the vehicle stability is designed based on a layered control structure; nonlinear joint controlover the vehicle speed, the yaw velocity and the centroid side slip angle is achieved based on nonlinear sliding mode variable structure control; and the torque of a motor is controlled based on a control allocation method. The stability control strategy can obviously improve the vehicle control stability, and compared with the prior art, multiple non-obvious beneficial effects are achieved.

Description

technical field [0001] The invention relates to an energy management method of a plug-in hybrid electric vehicle, in particular to an energy management method of a plug-in hybrid electric vehicle based on deep reinforcement learning. Background technique [0002] When the current in-wheel motor drives the vehicle to turn, the braking force generated by the brake usually generates the yaw moment required for the vehicle movement, so that the actual yaw moment of the vehicle tracks the reference yaw rate. However, this control method weakens the longitudinal control effect of the vehicle, and is effective when the sideslip angle of the center of mass is not large, and almost fails when the sideslip angle of the center of mass is too large. In order to effectively improve vehicle stability, it is necessary to jointly control the vehicle yaw rate and the side slip angle of the center of mass. At present, the commonly used method is to control the yaw rate and the side slip angl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2220/44B60L2240/12B60L2240/22B60L2240/423Y02T10/72
Inventor 张承宁张勇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY