Electric automobile yaw stability control method based on self-adaptive reverse thrust controller

Abstract

The invention discloses an electric automobile yaw stability control method based on a self-adaptive backstepping controller. The method comprises the following steps: constructing an electric automobile lateral dynamics model; developing a self-adaptive backstepping controller based on a barrier Lyapunov function, and using the self-adaptive backstepping controller as an upper-layer controller to generate an expected additional yaw torque; and developing an optimal torque distribution algorithm based on a minimum objective function to serve as a lower-layer controller, and distributing the additional yawing torque. According to the method, the design of the self-adaptive backstepping controller and the torque distribution algorithm can be finally realized, the method has great significance in controlling the yaw stability of the electric automobile, the problems of tire sideslip and the like possibly occurring in the dangerous working condition of the electric automobile are solved, and the maneuverability and the driving safety of the electric automobile are effectively improved.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle yaw stability control, and in particular relates to an electric vehicle yaw stability control method based on an adaptive reverse thrust controller. Background technique [0002] As a clean energy vehicle, electric vehicles have been booming in recent years, and their safety is an issue that people focus on, because when electric vehicles drive at high speeds on roads with low adhesion coefficients, they are more likely to have tire sideslips and other traffic accidents. question. [0003] In order to avoid such traffic accidents, more and more scholars have proposed a variety of control methods, such as anti-lock braking system and active front wheel steering system, in order to improve the handling stability and driving quality of electric vehicles. It should be noted that direct yaw moment control is one of the most effective methods to improve the stability of electric vehicles, and ...

AI Technical Summary

Problems solved by technology

[0006] One of the difficulties in the control of electric vehicles is that when mitigating the lateral stability problems caused by vehicle steering, there are constraints that are difficult to satisfy, requiring that the performance indicators should be limited within a certain range

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