Longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub

An electric vehicle, wheel hub drive technology, applied in the field of electric vehicle control

Active Publication Date: 2019-01-15
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The object of the present invention is to adopt a layered cooperative control structure to solve the four shortcomings of the existing control system, and to optimize the longitudinal, lateral and vertical force integrated control method of the wheel drive electric vehicle

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  • Longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub
  • Longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub
  • Longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub

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Embodiment Construction

[0083] The invention relates to a control method belonging to the field of integrated optimization control of the chassis of a four-wheel hub-driven electric vehicle. The optimized distribution and cooperative control method of vector force integration can improve the maneuverability, stability and comfort of the vehicle. The electric vehicle longitudinal-lateral-vertical force integrated control system based on model predictive control designed by the present invention can well solve the above four problems. The invention adopts a layered cooperative control structure to control the chassis integrated control system. Specifically divided into three layers, the upper layer includes the driver control layer and the motion control layer, the middle tire force distribution layer and the lower actuator control layer. The present invention uses measurable quantities such as torque and speed information of four wheels, gives control instructions through the driver control layer, an...

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Abstract

A longitudinal, transverse and vertical force integrated control optimization method for electric vehicles driven by hub belongs to that technical field of electric vehicle control. The object of theinvention is to adopt a layered cooperative control structure so as to solve the four shortcomings existing in the prior art control system of a longitudinal, lateral and vertical force integrated control optimization method of an electric vehicle driven by a hub. The invention brings the relationship between vehicle resultant force and four-wheel tire force into the vehicle body six-degree-of-freedom equation to obtain the expected values of vehicle kinematics control target longitudinal speed, lateral speed, vertical speed, pitch angle, roll angle and yaw angle, thereby optimizing the vehicle kinematics control target. The layered longitudinal, lateral and vertical force unified optimal distribution integrated control method eliminates the conflict between different chassis electronic control systems and enhances the complementarity, and comprehensively improves vehicle handling stability and vehicle driving posture, which is embodied in the improvement of vehicle road tracking performance, safety, maneuverability, stability and comfort.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle control. Background technique [0002] With the advancement and development of automobile technology, the independent control of each subsystem of the previous decentralized automobile chassis system can no longer meet people's increasing requirements for the overall performance of the automobile. The integrated optimal control of the automobile chassis system has become a research hotspot in the current automobile chassis control. . The distributed chassis control system mainly performs independent active control from the three aspects of tire longitudinal, lateral and vertical forces, thereby improving the vehicle's handling and stability and optimizing the vehicle's driving posture. However, due to the strong nonlinearity of the vehicle system, and the severe coupling between the dynamics of the vehicle's motion in all directions and the forces in all directions of the tires, the use ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10B60W40/107B60W40/109
CPCB60W40/10B60W40/105B60W40/107B60W40/109B60W40/11B60W40/112B60W40/114
Inventor 赵海艳赵津杨张艺林陈虹陶冶冯宇驰陈伟轩
Owner JILIN UNIV
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