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An integrated chassis control method for four-wheel drive electric vehicles

A technology of electric vehicles and four-wheel drive, applied in the direction of control devices, combustion engines, internal combustion piston engines, etc., to achieve the effects of strong maneuverability, good real-time performance, and guaranteed coordination

Active Publication Date: 2021-07-20
CHANGCHUN UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides an integrated chassis control method for a four-wheel drive electric vehicle aimed at a four-wheel independent drive electric vehicle with active front wheel steering. The torque distribution of the vehicle realizes the handling stability of the vehicle, which solves the above-mentioned shortcomings of the existing four-wheel drive electric vehicles

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  • An integrated chassis control method for four-wheel drive electric vehicles
  • An integrated chassis control method for four-wheel drive electric vehicles
  • An integrated chassis control method for four-wheel drive electric vehicles

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Embodiment Construction

[0129] An integrated chassis control method for a four-wheel drive electric vehicle, the method comprising the following steps:

[0130] Step 1. In order to determine the relevant state quantities that affect the lateral stability of the vehicle, based on the four-wheel linear two-degree-of-freedom vehicle model of the body motion plane, the vehicle steering and acceleration motion states are analyzed, and the active front wheel steering, direct The yaw moment is used as the control input, and the side slip angle and yaw rate of the vehicle are regarded as state variables, and the influence of front wheel active steering and yaw moment on vehicle stability is analyzed;

[0131] Step 2. For the researched integrated chassis control of four-wheel drive electric vehicles, use relevant dynamic models, including 14 degrees of freedom vehicle model, permanent magnet synchronous motor control model and driver model, and conduct model verification based on the above models ;

[0132]...

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Abstract

The invention belongs to the field of electric vehicles, in particular to an integrated chassis control method of a four-wheel drive electric vehicle. The present invention utilizes the distributed drive electric vehicle dynamics model, that is, the fourteen-degree-of-freedom vehicle handling model, the UniTire tire model, the motor control model, and the driver model to design the vehicle state and parameter online estimation system, the center of mass side slip angle observer, and the stability judgment System, integrated coordinated chassis control model, model predictive control, multi-step center correction interior point optimization algorithm considering constraints; by analyzing the two-degree-of-freedom vehicle model, an off-line optimization system that obtains the reference state trajectory and reference expected control variables. The invention combines two control methods of active front wheel steering and direct yaw moment control, and improves the handling stability of the vehicle by optimizing the control structure of the vehicle chassis, rationally designing the integrated chassis control algorithm and optimizing the torque distribution of the dispatching motor.

Description

technical field [0001] The invention belongs to the field of electric vehicles, in particular to an integrated chassis control method of a four-wheel drive electric vehicle. Background technique [0002] As we all know, cars are an important means of transportation in people's lives. Most of the cars currently in use are fuel vehicles. With the reduction of resources and the aggravation of environmental problems, new energy vehicles will eventually replace fuel vehicles and become one of the most important means of transportation in the future. , and electric vehicles, with their advantages of zero emission, low pollution, and high efficiency, will become the main development direction of new energy vehicles in the future. [0003] Nowadays, the main mass-produced models are divided into motor front-drive, motor rear-drive, and dual-motor front and rear axle independent drive according to the powertrain. However, whether it is front wheel active steering or rear wheel active...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/00B60W2050/0031Y02T10/40
Inventor 赵彬李何为于微波李响劳红鹏
Owner CHANGCHUN UNIV OF TECH
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