Method for stably controlling straight driving direction of distributed driving electric vehicle

A stable control method and electric vehicle technology, applied in the field of electric vehicle direction control, can solve the problems of different slip rates, poor control effect, and inability to independently and effectively control the four-wheel friction driving force, so as to avoid left and right yaw, Improves stability and reduces vibration effects

Active Publication Date: 2021-08-31
CHANGSHU INSTITUTE OF TECHNOLOGY
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Problems solved by technology

The road condition of the vehicle is complex, different road conditions, different tires have different friction with the road surface, and the distribution of vertical loads on the front and rear axles is also different, resulting in different slip ratios; Torque control cannot effectively achieve independent and effective control of the four-wheel friction driving force, the control effect is very poor, and most road conditions cannot maintain the vehicle's direct driving condition

Method used

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  • Method for stably controlling straight driving direction of distributed driving electric vehicle
  • Method for stably controlling straight driving direction of distributed driving electric vehicle
  • Method for stably controlling straight driving direction of distributed driving electric vehicle

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the examples, but not as a limitation of the present invention.

[0017] Please combine figure 1 , the direct driving direction stability control method of the distributed drive electric vehicle involved in this embodiment, the main process is to first judge the driving condition of the distributed drive electric vehicle vehicle, and divide the direct driving condition into direct driving acceleration, direct driving deceleration and direct driving Uniform speed condition. For each working condition, based on the inter-wheel differential speed algorithm, the wheel speed change rate of each driving wheel is used as the algorithm reference value to determine the frictional driving force output ratio of the four wheels, and deduce the abnormal transverse force caused by the inter-wheel differential. pendulum moment. In order to ensure that this part of the abnormal yaw moment is eliminated, it is n...

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Abstract

The invention discloses a method for stably controlling the straight driving direction of a distributed driving electric vehicle, the method comprises the following steps: determining an abnormal yawing moment generated during straight driving of the vehicle according to a ratio of wheel speed change rates of wheels on two sides of a reference axle, and utilizing a sliding mode variable structure controller to control wheels of the reference axle to deflect by a steering angle to form compensation torque for compensating the abnormal yawing torque, wherein the reference axle comprises a front axle and/or a rear axle. The sliding mode variable structure controller is adopted to control the wheel steering of the axle causing the abnormal yawing moment for deflection compensation, it is guaranteed that friction driving force generated by all the wheels is the same, and the vehicle can stably run in a straight line.

Description

technical field [0001] The invention relates to a method for controlling the direction of an electric vehicle, in particular to a method for stabilizing the direct driving direction of a distributed drive electric vehicle. Background technique [0002] Compared with traditional centralized drive vehicles, distributed drive electric vehicles provide independent distributed driving force by the hub motors distributed on the four wheels, which saves the complicated transmission system and variable differential system, and realizes four-wheel drive. Drive mode with independent controllable torque in real time. [0003] Under the driving condition of the vehicle, it is necessary to ensure that the driving force provided by the four wheels is equal to the ground friction driving force, and the direction is consistent with the driving direction of the vehicle. Otherwise, the yaw moment of the vehicle will increase, and the yaw angular velocity will gradually be generated, and the y...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02
CPCB60W30/02B60W2520/28Y02T10/72
Inventor 张文俊刘竹星王耀陈庆樟
Owner CHANGSHU INSTITUTE OF TECHNOLOGY
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