A four-wheel hub motor driven electric vehicle yaw stability control method
A stability control and electric vehicle technology, applied in the field of control, can solve problems such as tire lateral force constraints, decreased vehicle tracking ability, and large additional torque of automotive motors
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[0098] The invention is mainly aimed at the four-wheel hub motor-driven electric vehicle under extreme working conditions, and uses a model predictive control algorithm to realize the yaw stability control of the electric vehicle. Pass the desired centroid slip angle β * And the desired yaw rate γ * Tracking, so that the car has better stability; at the same time, the tire lateral force is limited, and at each sampling moment in the prediction time domain, it is judged whether the tire lateral force is saturated or not, and the obtained tire lateral force is used for Predict the future system state to make the prediction model more accurate; then constrain the additional yaw moment, put it in the objective function for optimization, obtain a smaller additional yaw moment, and reduce energy loss; finally, it will be solved The additional yaw moment generated is converted into additional torque and distributed to the four in-wheel motors. The invention can well solve the above th...
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