Differential torque anti-rollover control method and device for vehicle driven by hub motor

A control method and in-wheel motor technology, applied in the field of vehicle safety, can solve the problem of low stability against rollover and the like

Active Publication Date: 2021-09-10
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a differential torque anti-rollover control method, equipment and storage

Method used

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  • Differential torque anti-rollover control method and device for vehicle driven by hub motor
  • Differential torque anti-rollover control method and device for vehicle driven by hub motor
  • Differential torque anti-rollover control method and device for vehicle driven by hub motor

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Embodiment Construction

[0062] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0063] see figure 1 , the differential torque anti-rollover control method of an in-wheel motor-driven vehicle provided in an embodiment of the present invention includes the following steps:

[0064] S100. Obtain the real-time lateral load transfer rate of the current vehicle, and judge the rollover state of the current vehicle according to the real-time lateral load transfer rate and its change rate for several cycles and a preset lateral load transfer rate threshold.

[0065] In this example, if figure 2 As shown, the degree of roll instability is judged by the current vehicle state, and the ...

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Abstract

The invention discloses a differential torque anti-rollover control method and device for a wheel hub motor driven vehicle and a storage medium, and the method comprises the steps: obtaining the real-time transverse load transfer rate of the current vehicle, and judging the rollover state of the current vehicle according to the real-time transverse load transfer rate of a plurality of cycles, the change rate of the real-time transverse load transfer rate and a preset transverse load transfer rate threshold value; based on the rollover state of the current vehicle, adopting a variable universe fuzzy self-adaptive P ID controller to calculate additional yawing moment needed by the current vehicle; according to the additional yawing moment, based on a preset optimal wheel selection law, calculating target difference torsional moments of four wheels of the vehicle; and converting the target difference torsional moments of the four wheels into actual moments, and inputting the actual moments into the whole vehicle model, so that the vehicle acts according to the actual moments of the wheels. The technical problem that in the prior art, the anti-rollover stability of the vehicle based on differential torque control is not high is solved.

Description

technical field [0001] The invention relates to the technical field of vehicle safety, in particular to a differential torque anti-rollover control method, device and storage medium for a hub motor driven vehicle. Background technique [0002] With the continuous development of new energy vehicle technology, the form of electric drive is showing a trend of diversification, gradually developing from a single power source centralized drive system to a multi-power source distributed drive system. Among them, hub motor drive technology is a technical route of distributed drive architecture. In terms of structural integration, the hub motor vehicle integrates the power source, deceleration device, and braking device in the hub to form a power configuration that integrates power, transmission, and braking. It has the advantages of short transmission chain and compact structure, and has incomparable advantages in space layout and response speed. In terms of dynamic control, the i...

Claims

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Application Information

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IPC IPC(8): B60L15/20B60L15/38
CPCB60L15/20B60L15/38B60L2220/42B60L2220/44B60L2240/10B60L2240/423Y02T10/72
Inventor 黄松刘泽轩张傅玥何宗权王佳刘道远付翔
Owner WUHAN UNIV OF TECH
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