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Torque vector control method for distributed drive electric vehicles based on double-layer control

A technology for torque vectoring and electric vehicles, which is used in the control of drives, electric vehicles, control devices, etc., can solve the problems of complex operation of torque control algorithms, inability to distribute torque vector control, and increase the driver's burden on vehicle manipulation.

Active Publication Date: 2020-10-20
ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are researches on torque control strategies for distributed drive electric vehicles, but the torque control algorithms in the existing research strategies are complex and inefficient, and cannot effectively and quickly perform torque vector distribution control when the vehicle is turning, resulting in The steering of the vehicle is unstable, increasing the burden on the driver to control the vehicle

Method used

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  • Torque vector control method for distributed drive electric vehicles based on double-layer control
  • Torque vector control method for distributed drive electric vehicles based on double-layer control
  • Torque vector control method for distributed drive electric vehicles based on double-layer control

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Embodiment

[0067] Embodiment: Torque vector control method for distributed drive electric vehicles based on double-layer control, as attached figure 1 shown, and follow the steps below:

[0068] a. Establish a vehicle dynamics model to represent the stability of the vehicle's driving state, and use the Dugoff tire model to calculate the tire slip rate;

[0069] The vehicle dynamics model includes a two-degree-of-freedom vehicle dynamics model; the mathematical model of the two-degree-of-freedom vehicle dynamics model is:

[0070]

[0071] in: h β =C F +C R ;H δ =-C F ;

[0072] G β = a C F -b C R ;G δ =-C F ;

[0073] Where: ω r is the desired yaw rate, δ is the front wheel rotation angle, C F is the front wheel cornering stiffness, C R is the cornering stiffness of the rear wheel, a and b are the distances from the center of mass to the front and rear axles, respectively.

[0074] as attached figure 2 As shown, the vehicle dynamics model also includes a seven-de...

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Abstract

The invention discloses a distributed driving electric automobile torque vector control method based on double-layer control. The control method comprises the following steps: establishing a vehicle dynamic model, and calculating a tire slip rate by utilizing a Dugoff tire model; establishing a torque distribution controller based on the vehicle dynamic model and the Dugoff tire model, wherein thetorque distribution controller comprises an upper controller and a lower controller; calculating the current drive torque of each driving wheel of the vehicle by the upper controller according to body yawing angular velocity; calculating a compensating torque needed for remaining an ideal slip rate of each driving wheel by the lower controller according to the ideal slip rate of each driving wheel serving as a control objective, and further performing compensation distribution on the driving torque, so that an actual torque is output to the driving wheel, and torque vector control is completed. According to the control method disclosed by the invention, the automobile torque can be effectively subjected to vector distribution, the vehicle driving stability and smoothness are improved, theoperating burden of the driver is obviously decreased, and the driving safety is improved.

Description

technical field [0001] The invention relates to the field of electric vehicle control, in particular to a torque vector control method for distributed drive electric vehicles based on double-layer control Background technique [0002] The research and development of the driving dynamics control system of the traditional internal combustion engine vehicle has achieved fruitful results. It mainly adopts the measures of applying braking torque to the wheels and sacrificing the power to control the motion state of the vehicle, such as ABS, ESP, and DYC and other dynamic control systems. , There is also a complex mechanical device that makes full use of road adhesion conditions and applies braking torque at the output of the differential to vectorize the drive torque (TVC), which can make up for the control dead zone caused by threshold judgment to a certain extent. Traditional vehicles generally use differential braking or differential torque vector distribution to control steer...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20B60W50/00
CPCB60L15/20B60L2240/423B60L2240/46B60W50/00B60W2050/0034B60W2050/0039Y02T10/72
Inventor 李强赵涛
Owner ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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