Combined second-order sliding mode control method for torque compensation of four-wheel hub motor driven automobile

Abstract

The invention discloses a combined second-order sliding mode control method for torque compensation of a four-wheel hub motor driven automobile. The method comprises the following steps: 1, obtainingthe ideal yaw velocity of a vehicle through the boundary dimension of the vehicle, basic parameters of the vehicle mass, vehicle attitude data and road surface state data in combination with a vehicletwo-degree-of-freedom model, and wherein the ideal yaw velocity of the vehicle serves as a real-time yaw velocity following a control target; 2, acquiring the initial control torque of a four-wheel hub motor according to the driving intention information and the current vehicle speed information; and 3, designing a sliding mode control model taking the real-time vehicle yaw velocity and a vehicleside slip angle as control variables, applying an additional yaw moment to the vehicle in an unstable state through the sliding mode control model, and compensating the additional yaw moment on the initial control torque of the four-wheel hub motor. The four-wheel drive yawing torque of the hub can be compensated, so that the operation stability of the vehicle is more effectively improved, and the steering sensitivity of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of pure electric vehicle control, in particular to a combined second-order sliding mode control method for torque compensation of a four-wheel hub motor driven vehicle. Background technique [0002] In-wheel motor technology and application change the traditional automobile transmission system through subversive innovation. It is quite forward-looking in the new energy automobile industry and has been widely concerned. It is considered to be the mainstream development trend of new energy automobile drive technology in the future. Its industrialization has great prospects for development. Compared with the traditional centralized drive internal combustion engine or electric motor, the hub motor adopts distributed drive, which integrates the driving, transmission and braking devices into the hub, omitting the clutch, transmission, drive shaft, differential, transfer case and other transmission parts. In-wheel...

AI Technical Summary

Problems solved by technology

[0004] The existing wheel-hub four-wheel drive pure electric vehicle torque compensation method generally adopts the PID control algorithm. PID control is a pure mathematical algorithm that does not consider the vehicle dynamics model, and cannot achieve adaptive control; although some controls use an independent first-order sliding mode Or independent second-order sliding mode control, but in the sliding mode movement, or serious chattering problems occur, or the sliding mode approach speed is slow, and the system response efficiency is low

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