A multi-performance optimized torque distribution method for distributed electric drive vehicles

Abstract

The invention discloses a distributed electric drive vehicle multi-performance optimization torque distribution method. A MPC controller based on an improved C / GMRES algorithm is adopted to conduct multi-performance optimization torque distribution. The multi-performance optimization torque distribution method comprises the steps that a longitudinal total driving torque and a yawing torque given by an upper controller are used as the torque distribution control input by the MPC controller, tire related information fed back from the vehicle is combined, a model is updated based on the wheel rotation dynamics and the tire slip rate state, the physical characteristics of the output torque of a hub motor are considered, the wheel load rate is taken as the stability constraint precondition, minimizing of the tire slip dissipation energy is taken as the optimization objective, the MPC optimal control problem is established, the improved C / GMRES algorithm is adopted to solve the problem of the torque optimization distribution quickly, and thus the real-time optimal control of vehicle stability and economy is achieved. According to the distributed electric drive vehicle multi-performance optimization torque distribution method, the MPC controller based on the improved C / GMRES algorithm is adopted to conduct multi-performance optimization torque distribution, the tire slip dissipation energy is minimized on the precondition of ensuring the vehicle stability, and the algorithm has high computational efficiency and is suitable for real-time application.

Description

technical field [0001] The invention relates to the field of electric vehicles and vehicle dynamics control, in particular to a multi-performance optimized torque distribution method of a distributed drive electric vehicle (DDEV). Background technique [0002] Electric vehicle (EV) has become an important development direction of the current automobile industry due to its advantages of low emission, fast response speed and high energy utilization rate. One of the special chassis structures is the distributed electric drive vehicle. Different from traditional centralized drive EVs, DDEVs are equipped with in-wheel motors (IWM) in each wheel as the main power output unit, which can effectively improve vehicle stability and control flexibility. However, due to the introduction of more control degrees of freedom, DDEV is actually an overdrive control system, that is, the control degrees of freedom (torque distribution) are larger than the vehicle degrees of freedom, which brings...

AI Technical Summary

Problems solved by technology

However, due to the need to optimize the future state, the amount of computation that cannot be underestimated in the optimization solution of the MPC controller is a major obstacle that restricts its practical application

[0005] It can be seen that the above-mentioned existing distributed drive vehicle torque distribution method obviously still has inconvenience and defects, and needs to be further improved urgently.

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