Torque distribution control method for double-shaft all-wheel distributed driving electric automobile

Abstract

The invention relates to a torque distribution control method for a double-shaft all-wheel distributed driving electric vehicle. The torque distribution control method comprises the steps of 1 judging the current working mode of the electric vehicle according to different working conditions and driver requirements; 2 establishing a motor energy loss model, and solving switching points of single-shaft driving and torque average distribution; 3 based on the model predictive control theory, building a steering stability controller with the front wheel active rotation angle and the whole vehicle yawing moment as control variables; 4 establishing a piecewise linear magic tire model and a vehicle simplified model; and 5 according to the current working mode, unifying the kinetic model and the energy loss model of the four-wheel distributed driving electric vehicle, and establishing a multi-target optimization torque distribution controller to reasonably distribute torque required by a driver. According to the method, the control stability of the vehicle under the complex working condition can be improved, the problem that the low-adhesion road surface is prone to instability is solved, meanwhile, energy loss is reduced, and the optimal torque distribution control effect of multi-target optimization is achieved.

Description

technical field [0001] The invention belongs to the technical field of pure electric vehicles, and in particular relates to a torque distribution control method for a pure electric vehicle with biaxial all-wheel distributed drive. Background technique [0002] Distributed drive electric vehicles are a type of electric vehicles that use independent motor drive configurations. This new type of drive has many advantages and great potential, and has received more and more attention. Its advantages are as follows: 1) Make power control Become a soft connection to simplify the transmission system. Compared with single-motor centralized drive, the decoupling of power distribution is more thorough, and the drive efficiency is higher. It can make full use of the on-board energy of electric vehicles and improve the driving range of electric vehicles. 2) The control responds quickly, and each electric wheel can be controlled independently, which can conveniently realize the power adju...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the technical defects of the above-mentioned existing distributed electric drive control system and method based on real-time estimation of vertical load, improve the handling stability of the vehicle under complex working conditions, solve the problem of easy instability of low-adhesion road surfaces and reduce energy loss at the same time , the present invention proposes an optimal torque distribution control method for sub-mode multi-objective optimization, and the technical scheme adopted in the present invention is specifically as follows:

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