Strong-robustness self-adaptive driving antiskid control method used for hub motor driven electric vehicle and capable of improving acceleration comfort

Abstract

The invention relates to a strong-robustness self-adaptive driving antiskid control method used for a hub motor driven electric vehicle and capable of improving acceleration comfort. Influence of tirerelaxation characteristics during design is fully considered, and a regional pole assignment algorithm is used to assign poles near a real axis to reduce longitudinal jitter of acceleration during intervention of a driving antiskid system; a segmented robust control method is adopted to ensure the robustness of a controller when the working condition changes, and a gain scheduling algorithm is used to ensure the adaptability of the controller at any vehicle speed; the anti-skid method provided by the invention has the advantages that the robustness is high, adaptability to working condition is high, the stability of anti-skid control during running at any vehicle speed with change of road adhesion and vertical load can be ensured, the smoothness requirement of the vehicle during intervention of driving anti-skid control is met, longitudinal oscillation of vehicle body acceleration is reduced, and the riding comfort during vehicle acceleration is improved.

Description

technical field [0001] The invention relates to a strong robust self-adaptive drive anti-skid control method for an electric vehicle driven by a hub motor that improves acceleration comfort, and belongs to the field of design and manufacture of new energy vehicles. Background technique [0002] The hub motor drive electric vehicle saves the complicated transmission system, releases the body space to the greatest extent, reduces the mass of the powertrain, and effectively improves the power transmission efficiency. The hub motor has the characteristics of precise control and fast response. Through various Reasonable distribution of wheel torque can realize a variety of dynamic behaviors of the vehicle. Therefore, in-wheel motor-driven electric vehicles have been considered by researchers in the international automotive field to be one of the most promising electric vehicle architectures. Driving anti-skid control is an important aspect of the vehicle. One of the active safety...

AI Technical Summary

Problems solved by technology

[0004] It can be seen that most research mainly improves the effect of drive anti-skid control by improving the algorithm. However, some essential problems cannot be solved. When the driving anti-skid system intervenes, there will often be longitudinal movement of the vehicle, resulting in a serious reduction in the longitudinal comfort of the vehicle during acceleration. The reason is the vibration of the longitudinal acceleration and the longitudinal force of the tire; It is the relaxation characteristic of the tire, which increases the underdamped characteristics of the wheel dynamics system, so that the force of the tire will produce underdamped oscillations at low speeds; however, in the modeling process of the existing driving antiskid algorithm, there is no The relaxation characteristics of the tire are not considered, so the designed controller does not have good anti-longitudinal vibration ability; in addition, the existing control methods usually only consider the control of the slip rate in the linear region of the tire, which is difficult for large-scale wheel slip Control, the robustness is poor, and the vehicle speed has a great influence on the stability of the controller, while the existing controller usually only considers the driving anti-slip control at a specific vehicle speed, and the adaptability to the changing vehicle speed in actual driving is poor. Control divergence often occurs, leading to vehicle instability

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