Anti-skid control system and method for distributed drive electric vehicle considering vehicle body roll

Abstract

The invention discloses an anti-skid control system of a distributed drive electric vehicle considering vehicle body roll, including vehicle controllers, the measured sensor connected to the vehicle controller, a drive wheel torque distribution calculation module is also included, the measured sensor includes a roll sensor and a yaw angle sensor, according to the measured data of the vehicle and the roll angle and the yaw angle speed of the vehicle, an eight-degree-of-freedom vehicle model is established. The torque ratio of the driving wheels is calculated according to the tire load transferof the driving wheels. The output torque of the two driving wheels is obtained according to the expected output torque. The torque control of the driving motor is carried out by the torque distribution controller. When the vehicle turns on the road with low adhesion coefficient, the output torque of the two driving wheels is calculated and adjusted by the anti-skid control system in order to control the slip rate of the driving wheels and keep the vehicle running stably, taking into account the lateral transfer of the tire vertical load caused by the deviation of the vehicle's center of mass when the vehicle is rolled.

Description

technical field [0001] The invention belongs to the technical field of anti-skid control of distributed drive electric vehicles, and in particular relates to an anti-skid control system and method of distributed drive electric vehicles considering vehicle body roll. Background technique [0002] Compared with traditional electric vehicles, distributed drive electric vehicles cancel the transmission, reducer, differential and steering mechanism, and each driving wheel is driven by a separate hub motor. When the vehicle is turning, if the adhesion coefficient of the road surface is low and the driving torque of the motor exceeds the adhesion limit between the tire and the ground, it will cause the driving wheel to slip excessively, which will easily cause the vehicle to slip and slip, causing traffic accidents. Therefore, reasonable methods need to be adopted to avoid the above problems. [0003] The invention patent with the application number of 201710134285.1 discloses an ...

AI Technical Summary

Problems solved by technology

However, when the body rolls, the influence of the lateral transfer of the tire vertical load caused by the offset of the vehicle's center of mass is not considered, which is quite different from the real driving state of the actual vehicle, especially an electric bus with a large mass

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