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

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...

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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 electric-wheeled vehicle to solve the problems existing in the prior art due to the increased unsprung mass of the electric-wheeled vehicle. The problem of vehicle ride comfort and handling stability decline

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