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Method for torque distribution controller to distribute driving torque to each hub motor of a vehicle

A wheel hub motor and driving force technology, which is applied in the direction of control drive, control device, vehicle components, etc., can solve problems such as prone to instability, lower control accuracy, and consideration of vehicle lateral stability control, etc., to achieve accurate tracking and demand high precision effect

Active Publication Date: 2022-01-18
DALIAN NATIONALITIES UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most unmanned vehicle trajectory tracking algorithms simply decouple the longitudinal motion and lateral motion, and assume that the vehicle speed is a certain value, but the vehicle is a highly nonlinear and strongly coupled system. relationship, then the control accuracy and vehicle stability cannot be guaranteed
Especially when the vehicle is driving in high-speed and low-attachment conditions, it is more prone to instability
On the other hand, most of the existing control algorithms involve kinematics control, that is, they do not take the lateral stability and longitudinal motion control of the vehicle into consideration. If the dynamic constraints are not considered, it will increase the Unsafe driving, reducing control accuracy

Method used

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  • Method for torque distribution controller to distribute driving torque to each hub motor of a vehicle
  • Method for torque distribution controller to distribute driving torque to each hub motor of a vehicle
  • Method for torque distribution controller to distribute driving torque to each hub motor of a vehicle

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Embodiment Construction

[0062] The present invention will take four-wheel-independent electric vehicles (FWID-EV, Four-Wheel-Independent electric vehicle) as the object, and study the trajectory tracking control strategy of unmanned vehicles. Requirements for driving stability in low-attachment conditions.

[0063]In order to improve the stability and accuracy of trajectory tracking of vehicles on high-speed and low-lying roads, the present invention provides a trajectory tracking algorithm for four-wheel independently driven unmanned electric vehicles. In view of the fact that the previous research content of unmanned vehicle trajectory tracking algorithm does not consider vehicle stability control and longitudinal vehicle speed control, and is not suitable for four-wheel independent drive electric vehicles. The invention proposes a layered trajectory tracking control strategy for four-wheel independently driven unmanned electric vehicles.

[0064] The trajectory tracking strategy designed by the p...

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Abstract

The method of the torque distribution controller to distribute the driving torque to each wheel hub motor of the vehicle belongs to the field of unmanned vehicle control. The provided limit adhesion ratio is the tire utilization ratio, and the sum of the tire utilization ratios is used as the optimization goal to solve the total driving torque of the vehicle, and establish its optimization problem, the effect is to ensure that the tires are in a stable range without super adhesion The limit, the higher accuracy of its distribution requirements, makes the tracking of the longitudinal speed more accurate.

Description

technical field [0001] The invention belongs to the field of unmanned vehicle control, in particular to a four-wheel independently driven unmanned electric vehicle track tracking control working method. Background technique [0002] As the current development direction of the automobile industry, electrification and intelligence have become the research hotspots of scholars, research institutes and enterprises at home and abroad. Electric vehicles can not only reduce human consumption of non-renewable resources and improve environmental problems, but also bring NVH quality that traditional fuel vehicles cannot match. The independent drive of four-wheel hub motors is a unique driving form of electric vehicles. Since the power system is directly integrated into the wheels, it can independently and precisely control the driving torque and speed of each wheel. This structure lays the foundation for the realization of advanced control algorithms. Unmanned driving technology is a...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/00B60L15/20
CPCB60W50/00B60L15/20B60L2240/423B60W2050/0037B60W2710/083Y02T10/72
Inventor 葛平淑赵秀春张江燕张涛宋鹏
Owner DALIAN NATIONALITIES UNIVERSITY