Distributed drive electric vehicle torque vector distribution control method

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...

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.

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