Vector distribution control method for torque of distributed-driven electric automobile

An electric vehicle and torque vector technology, applied in electric vehicles, control drive, power management, etc., can solve problems such as inability to meet control requirements, limited drive torque output range, and increased driver manipulation burden.

Active Publication Date: 2019-05-14
SHANGHAI MUNICIPAL ELECTRIC POWER CO
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, only the drive motor is considered as the execution system. Due to the limited output range of the drive torque, the control requirements of the entire range cannot be met when the vehicle is turning, making the steering of the vehicle unstable and increasing the driver's control burden on the vehicle.

Method used

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  • Vector distribution control method for torque of distributed-driven electric automobile
  • Vector distribution control method for torque of distributed-driven electric automobile
  • Vector distribution control method for torque of distributed-driven electric automobile

Examples

Experimental program
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Effect test

Embodiment

[0098] Embodiment: The distributed drive electric vehicle torque vector distribution control method is carried out according to the following steps:

[0099] a. Establish a vehicle dynamics model to represent the relationship between the stability of the vehicle's driving state and the desired yaw rate, and use the Dugoff tire model to calculate the tire longitudinal slip rate;

[0100] b. Use the vehicle dynamics model to design the yaw moment controller, and input the expected yaw angular velocity into the yaw moment controller to calculate the additional yaw moment; The minimum value between the maximum value of the moment and the additional yaw moment, specifically M z_sat =min(M z , M max ),Formula 1)

[0101] In the formula: M z_sat is the generalized additional yaw moment; M z Additional yaw moment; M max is the maximum value of driving torque that can be generated by the driving wheel motor;

[0102]c. According to the accelerator pedal opening and steering whee...

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PUM

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Abstract

The invention discloses a vector distribution control method for torque of a distributed-driven electric automobile. Through the relation between vehicle driving state stability and the expected yaw velocity under a vehicle dynamical model, an ideal motion state of a vehicle under generalized additional yawing moment is worked out, and control stability of a system is judged and analyzed through the expected yaw velocity so as to determine whether yawing moment control is required or not; a tyre longitudinal slip rate is set as a specific value in a stable state, and driving torque is precisely distributed under the condition that a coefficient of road adhesion is met. Through reasonable distribution of driving or braking torque of front and back axles, the response speed to the expected yaw velocity can be remarkably increased, so that the vehicle has an ideal motion state when passing a curve, the problem of difficult steering of the vehicle when acceleration is not enough is effectively restrained, curve passing efficiency is improved, vehicle driving stability and smoothness are improved, control burden of the driver is remarkably reduced, and driving safety is improved.

Description

technical field [0001] The invention relates to the field of electric vehicle control, in particular to a torque vector distribution control method for a distributed drive electric vehicle. 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 steering characteris...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20B60W50/00
CPCY02T10/72
Inventor 李强张新闻
Owner SHANGHAI MUNICIPAL ELECTRIC POWER CO
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