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Method of wheel torque distribution for multi-axle drive electric vehicle based on online optimization of driving energy

A multi-axis drive, electric vehicle technology, applied in the direction of electric vehicles, control drives, vehicle components, etc., can solve problems such as independent research on stability or economy, restrictions on the development of high-performance electric wheel drive vehicles, and other performance deterioration

Active Publication Date: 2018-10-19
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current research generally studies the stability or economy alone, and rarely considers the stability and economy of electric wheel drive vehicles at the same time. The pursuit of one performance will inevitably lead to the deterioration of other performances, which limits the high performance. Further development of electric wheel drive vehicles

Method used

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  • Method of wheel torque distribution for multi-axle drive electric vehicle based on online optimization of driving energy
  • Method of wheel torque distribution for multi-axle drive electric vehicle based on online optimization of driving energy
  • Method of wheel torque distribution for multi-axle drive electric vehicle based on online optimization of driving energy

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] Such as figure 1 As shown, the lateral force control is realized by controlling the yaw rate of the vehicle body, and the control process includes the following steps:

[0084] Step 1. Obtain the basic parameters of the car, including vehicle mass m, wheel rolling radius r w , Steering system angular transmission ratio i s , the vehicle wheelbase l, and obtain the vehicle's driving speed V and steering wheel angle δ through the bus or sensors sw , Yaw rate and the lateral acceleration a y ;

[0085] Among them, for a two-axle drive vehicle, the vehicle wheelbase l is the wheelbase of the front and rear axles, and for a multi-axis drive vehicle, the parameter l is the distance from the vertical foot of the vehicle longitudinal axis to the front axle from the instantaneous center of turning; the vehicle wheelbase l can be According to the number of vehicle axles and steering axles and the distribution position, it is calculated by the distance between the axles. The...

Embodiment 2

[0098] Such as figure 2 As shown, the lateral force control is realized by controlling the lateral acceleration, and the control process is as follows:

[0099] Step 1. Obtain the basic parameters of the car, including vehicle mass m, wheel rolling radius r w , Steering system angular transmission ratio i s , front and rear axle wheelbase l; and obtain the vehicle's driving speed V and steering wheel steering angle δ through the bus or sensors sw , Yaw rate and the lateral acceleration a y ;

[0100] The definition of automobile wheelbase 1 is the same as in embodiment 1, no longer repeat them;

[0101] Step 2. Judging the lateral acceleration a y Is it greater than 0.6g; among them, g is the acceleration of gravity; if the lateral acceleration a y If it is greater than 0.6g, it means that the tires of the car have entered an obvious nonlinear region, indicating that the car is in danger of instability. At this time, turning energy saving should not be considered. The...

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Abstract

The invention discloses a method of wheel torque distribution for a multi-axle drive electric vehicle based on online optimization of driving energy. The method comprises the following steps that thevehicle parameters are obtained and required torque difference values between a left side vehicle body and a right side vehicle body are obtained, after a total torque difference value is applied to the left side vehicle body or the right side vehicle body separately, whether the required torque of the one-side vehicle body is larger than the maximum torque which all drive motors of the one-side vehicle body can output is judged, according to an objective function and a constraint condition, the initial optimization of data is carried out, and first distribution of drive torque of each wheel is carried out; the slip ratio of each drive wheel is calculated, and a fitting coefficient is obtained by fitting a characteristic curve of an electric drive system; and combined with the fitting coefficient, according to the following optimal objection function, the data optimization is carried out once again, and drive torque of each wheel at the optimal performance of a whole vehicle is obtained.

Description

technical field [0001] The invention relates to a wheel torque distribution method of an electric wheel drive vehicle, in particular to a wheel torque distribution method of a multi-axis drive electric vehicle based on online optimization of driving energy. Background technique [0002] Under the dual pressure of environmental pollution and energy shortage, governments of various countries have introduced policies to support the development of electric vehicles, and electric vehicles have gained unprecedented development opportunities. As a type of electric vehicle, the driving torque of each wheel of the electric wheel-driven vehicle is independently controllable. Through the reasonable distribution of the driving torque among the driving wheels, not only the stability of the electric vehicle can be improved, but also the driving economy can be improved. Therefore, electric wheel drive vehicles have been favored by more and more car manufacturers. Electric wheel-driven veh...

Claims

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Application Information

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IPC IPC(8): B60L15/20B60L15/32
CPCB60L15/20B60L15/32B60L2240/421B60L2240/423B60L2260/28Y02T10/72
Inventor 王军年王岩罗正杨斌郭德东王凯刘培祥
Owner JILIN UNIV
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