Distributed driving vehicle steering stability control system and control method thereof

Abstract

The invention discloses a distributed driving vehicle steering stability control system and a control method thereof. A whole vehicle system outputs a mass center slip angle beta and a mass center slip angle speed yaw velocity omega z to a stability judgment module according to input vehicle motion state parameters; the vehicle longitudinal speed vx, the front wheel rotation angle delta f and the road adhesion coefficient mu are outputted to an ideal state module; the ideal state module calculates and outputs omega exp and beta exp to a beta omega joint controller; whether the vehicle is stable or not based on the yaw velocity threshold value and the stability index is judged; in an unstable state, the beta omega combined controller performs sliding mode control to output additional yawing moments delta M beta and delta M omega; a joint coefficient distribution module distributes a control proportion according to the stability index to obtain a weighted additional yawing moment delta M; the torque distribution module distributes the delta M to each wheel through a dynamic load distribution algorithm; stability of the vehicle body can be accurately judged under different working conditions, so the control proportion is reasonably distributed, and control efficiency of the controller is improved.

Description

technical field [0001] The invention relates to the field of vehicle active safety, in particular to a distributed drive vehicle steering stability control system and a control method thereof. Background technique [0002] With the emergence of the global oil crisis and the increasingly serious environmental pollution problems, distributed drive electric vehicles have become the focus of research in the automotive field. In the field of vehicle active safety control, distributed drive electric vehicles are also more reliable than traditional vehicles and centralized electric vehicles because of their special performance that the wheels can be driven / braked independently and the torque can be distributed within a certain range. Advantages of coordination and flexibility. At present, many combined control methods of yaw rate and center of mass sideslip angle have fully utilized the advantages of distributed drive electric vehicles in vehicle active safety control, but for the...

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Problems solved by technology

At present, many combined control methods of yaw rate and center of mass sideslip angle have fully utilized the advantages of distributed drive electric vehicles in vehicle active safety control, but for the joint control of yaw rate and center of mass sideslip angle controller, the ratio of The allocation problem is less considered, and the control ratio is only allocated based on the vehicle state, without establishing a relationship with the vehicle stability index

Under the condition that the center of mass side slip angular velocity is small enough but the center of mass side slip angle is large enough and the stable area is extremely small, the judgment of the vehicle stability domain and the control of the stability of the vehicle body are inaccurate, which leads to problems in its applicability

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