Integrated control method for yaw and roll stability of off-road vehicles driven by hub motors

Abstract

The invention discloses an integrated control method for yaw and roll stability of an off-road vehicle driven by a wheel hub motor, which obtains the operating parameters of the vehicle, obtains the lateral load transfer rate and lateral motion balance equation at the current moment, and then obtains the predicted lateral load at the next moment Transfer rate; determine the yaw stability working condition according to the yaw angular velocity and the side slip angle of the center of mass; determine the control mode of the yaw and roll integrated control system according to the predicted lateral load transfer rate and yaw stability working condition. When the absolute value of the predicted lateral load transfer rate is less than the safety threshold, the yaw stability control is the primary goal; when the absolute value of the predicted lateral load transfer rate is greater than or equal to the safety threshold, the roll stability control is the primary goal. Stability control is a secondary goal. The invention realizes the coordinated optimization of the roll stability control system and the yaw stability control system, eliminates conflicts when the two subsystems are independently controlled, and performs coordinated control to ensure the safety of the vehicle.

Description

technical field [0001] The invention relates to the technical field of automobile stability control, in particular to an integrated control method for yaw and roll stability of an off-road vehicle driven by a hub motor. Background technique [0002] In the yaw stability control of the vehicle, when the lateral acceleration of the vehicle is too large or the road adhesion is poor, the side slip phenomenon is very likely to occur, and the vehicle cannot drive according to the driver's expected trajectory. At this time, the tire lateral force has reached Saturation, and the longitudinal force of the tire has a larger margin than the lateral force. An additional yaw moment can be applied to the vehicle through the adjustment of the longitudinal force of the tire to ensure the stability of the vehicle. Under extreme conditions, the direct yaw moment Control (Direct Yaw-momentControl, DYC) has a good control effect. The DYC of traditional vehicles is realized through differential...

AI Technical Summary

Problems solved by technology

However, in the middle-level strategy development of this technology, the optimal tire force is only distributed through the design, and there is no coordinated selection of the control system for different working conditions. There should be different control modes under different threshold judgment conditions.

Chassis active control technology is only designed for a single function and chassis subsystem. However, during the driving process of the vehicle, the chassis subsystems are not completely independent, but interact with each other. When multiple control systems exist at the same time, if Each control system is an independent control that does not consider the multi-system coupling relationship, so it cannot give full play to the advantages of multi-system joint control, so in some cases there is even a problem of functional conflict

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