Electro-hydraulic composite body stability control system and method for electric wheeled automobile

Abstract

The invention discloses an electro-hydraulic composite body stability control system and method for an electric wheeled vehicle. The control method is applied to a distributed drive electric wheeled vehicle with a hydraulic braking system. A vehicle control unit processes the information collected by each sensor to obtain vehicle speed information, corresponding wheel cylinder pressure, steering wheel angle, slip rate, lateral acceleration and yaw rate information; then according to the collected and processed information and the estimated information, by adopting a hierarchical control algorithm, adaptive sliding mode control based on a neural network and a genetic algorithm is used as upper control to calculate the additional yaw moment needed to maintain stability, the lower level control adopts an optimal allocation algorithm based on the minimum tire utilization ratio to allocate to two sets of four-wheel actuators, and finally the two sets of actuators perform corresponding actions on the wheels to improve the vehicle body stability.

Description

technical field [0001] The invention relates to the field of distributed drive electric vehicle chassis control, in particular to a system and method for controlling the body stability of an electric wheel vehicle equipped with a hydraulic braking system. Background technique [0002] With the increasing air pollution and the support of national policies, electric vehicles have gradually become a research hotspot in various enterprises, research institutes and universities. The biggest feature of the electric wheel electric vehicle is the layout of its power transmission system. The four hub motors are used as the power source to directly drive the corresponding wheels, thus abandoning the complicated traditional transmission system. Make the electric wheel vehicle become a kind of emerging means of transportation. However, there are few studies on its body stabilization system and the effect is general. The key to the vehicle body stability control system is to solve the ...

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Problems solved by technology

[0003] In order to solve the above problems, the present invention obtains a more accurate and appropriate additional yaw moment and eliminates some unfavorable factors (such as chattering phenomenon), so that the electric wheel vehicle can maintain the stability of the vehicle body more quickly under extreme working conditions, and proposes an electric wheel vehicle. Automotive Electro-hydraulic Composite Body Stability Control System

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