Intelligent steering control method for electric vehicle with two hub motors

An electric motor and intelligent steering technology, which is applied in the field of vehicle driving stability control, can solve the problems of not being able to ensure the stability of the whole vehicle when steering, the real-time steering and safe steering requirements, and poor robustness.

Active Publication Date: 2018-11-16
HEBEI UNIV OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide an intelligent steering control method for electric vehicles with dual hub motors, which adopts a gradient strategy to deal with steering situations at different vehicle speeds, and achieves intelligent steering by corresponding to different sliding mode controllers

Method used

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  • Intelligent steering control method for electric vehicle with two hub motors
  • Intelligent steering control method for electric vehicle with two hub motors
  • Intelligent steering control method for electric vehicle with two hub motors

Examples

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Example Embodiment

[0089] Example 1

[0090] This embodiment is an intelligent steering control method for a dual-wheel hub motor electric vehicle. A gradient strategy is applied to respond to the steering situation at different vehicle speeds. Through the corresponding sliding mode controllers, the intelligent steering control is achieved through torque distribution. The specific steps are as follows :

[0091] The first step is to divide the speed stage:

[0092] The vehicle speed is divided into three stages: the low-speed stage is less than 20km / h, the medium-speed stage is greater than or equal to 20km / h and less than or equal to 40km / h, and the high-speed stage is greater than 40km / h;

[0093] The second step is to obtain the ideal centroid deflection angle β d And ideal yaw rate γ d :

[0094] Taking the vehicle speed and steering angle as input, the ideal centroid deflection angle β is obtained through the vehicle two-degree-of-freedom model d And ideal yaw rate γ d , The deflection angle of the ...

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Abstract

The invention discloses an intelligent steering control method for an electric vehicle with two hub motors and relates to the control of driving stability of the vehicle with improved steering performance. The intelligent steering control method utilizes a staged strategy to divide the speed of the vehicle into three stages to cope with steering situations at different speeds, wherein the speed isless than 20km/h in a low-speed stage; the speed is greater than or equal to 20km/h and less than or equal to 40km/h in a medium-speed stage; and the speed is greater than 40km/h in a high-speed stage. Through the correspondence to different sliding-mode controllers which comprise a centroid deflection angle sliding-mode controller, a combined sliding-mode controller and a yaw rate sliding-mode controller and through the torque distribution, the intelligent steering control is achieved so as to overcome the defects in the prior art that the stability of the whole vehicle, the real-time performance of steering and safe steering requirements in different speed stages can not be ensured at the same time in the steering process of the vehicle, and that the robustness of open-loop control is poor.

Description

technical field [0001] The technical solution of the invention relates to the control of vehicle driving stability for improving steering performance, in particular to an intelligent steering control method for electric vehicles with dual hub motors. Background technique [0002] Nowadays, cars have become an indispensable means of transportation in people's lives, and the ensuing environmental pollution problems have become increasingly serious. The exhaust emission of traditional vehicles has become one of the important factors of environmental pollution. At the same time, due to the depletion of petroleum energy, the advantages of electric vehicles are gradually emerging. At the same time, people's requirements for cars are also becoming more humanized, hoping that cars will become safer, more comfortable and more intelligent. Due to its distributed drive mode, in-wheel motor electric vehicles can completely replace the complicated steering control methods of traditional...

Claims

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Application Information

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IPC IPC(8): B60L15/20
CPCB60L15/2036B60L2220/42B60L2220/44Y02T10/72
Inventor 杨鹏张恒韩雪晶张高巍孙昊
Owner HEBEI UNIV OF TECH
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