Method for designing hierarchical controller of electric wheel automobile chassis integrated system

An electric wheel vehicle and chassis integration technology, applied in design optimization/simulation, instrumentation, electrical digital data processing, etc., can solve the problems of vehicle ride comfort and reduced handling stability

Pending Publication Date: 2020-12-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a layered controller design method for the chassis integration system of an electr

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  • Method for designing hierarchical controller of electric wheel automobile chassis integrated system
  • Method for designing hierarchical controller of electric wheel automobile chassis integrated system
  • Method for designing hierarchical controller of electric wheel automobile chassis integrated system

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Embodiment Construction

[0194] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0195] refer to figure 1 As shown, a method for designing a layered controller of an electric wheel vehicle chassis integrated system of the present invention includes the following steps:

[0196] (1) Establish vehicle dynamics model, differential steering subsystem model, active suspension subsystem model, in-wheel motor model, tire and wheel dynamics model, and road surface input model;

[0197] The steps to build the model are as follows:

[0198] (11) Vehicle dynamics model;

[0199] According to the force analysis of the vehicle according to Newton's second law, the following dynamic balance equation is obtained:

[0200] The lateral force balance equation of the vehicle is:

[020...

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Abstract

The invention discloses a method for designing a hierarchical controller of an electric wheel automobile chassis integrated system. The method comprises the following steps: establishing a whole automobile dynamical model, a differential steering subsystem model, an active suspension subsystem model, a hub motor model, a tire and wheel dynamical model and a road surface input model; establishing an electric wheel automobile chassis integrated system control model and a reference model; adjusting the control weights of the differential steering subsystem and the active suspension subsystem in real time; and designing a lower-layer differential steering subsystem optimal controller and an active suspension subsystem self-anti-interference controller. The fuzzy controller is adopted to control the control weights of the lower-layer differential steering subsystem and the active suspension subsystem in real time, and the subsystem controllers are independently designed for the lower-layerdifferential steering subsystem and the active suspension subsystem, so that the stability of differential steering is ensured, and the vibration of a vehicle body can be inhibited.

Description

technical field [0001] The invention belongs to the technical field of vehicle chassis integrated control, and in particular relates to a design method for a layered controller of an electric wheel vehicle chassis integrated system. Background technique [0002] With the substantial increase in the number of cars in the world, the energy consumption of traditional cars and the pollution of the environment are becoming more and more serious. The development of new energy vehicles represented by electric vehicles is the best choice to achieve sustainable development of transportation. As an important branch of the new generation of electric vehicles, distributed drive electric vehicles use four independently controlled in-wheel motors to drive the wheels respectively, which has the advantages of high transmission efficiency, flexible space layout, and easy realization of electronic and active chassis systems. It has good application prospects and technical development potentia...

Claims

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Application Information

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IPC IPC(8): G06F30/15G06F30/20G06F119/14
CPCG06F30/15G06F30/20G06F2119/14Y02T90/00
Inventor 张自宇王春燕刘利锋赵万忠秦亚娟王展刘晓强
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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