Distributed EV Yaw Moment Control With Fast Tire Torque Optimization
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Solution Overview
Problem
Existing methods for deciding additional yaw moments in distributed drive electric vehicles, such as sliding mode controllers and model predictive control, face challenges in providing optimal control inputs due to error-based feedback and high computational demands, especially for non-linear models.
Innovation Solution
A real-time control method that uses a vehicle dynamics model to optimize the additional yaw moment by constructing linear expressions for sideslip angle and yaw rate, allowing for explicit calculation of the optimal additional yaw moment distribution across tires, thereby improving control performance and reducing calculation time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If sliding mode controller or error tracking-based feedback control is used to calculate desired additional yaw moment, then control implementation is simplified, but optimal control performance cannot be ensured
Solution Approach 1:
The patent transforms the control problem by changing the mathematical parameters and formulation approach. Instead of using traditional error-tracking feedback control parameters, it formulates an optimization problem with objective function parameters that directly minimize the difference between actual and desired yaw moment, thereby achieving optimal control performance while maintaining implementation feasibility through systematic parameter optimization
2Measurement precision
If model predictive control (MPC) with non-linear models is used for additional yaw moment optimization, then optimization decision accuracy is improved, but calculation time and computational power requirements increase significantly
Solution Approach 1:
The patent employs a simplified vehicle dynamics model that sacrifices some complexity to achieve faster calculation. This 'cheaper' model formulation allows real-time optimization without requiring computationally expensive non-linear models, thereby reducing calculation time while maintaining sufficient accuracy for real-time control applications
Solution Approach 2:
The patent changes the mathematical parameters of the vehicle dynamics model to create a simplified formulation that is computationally efficient. By transforming the model parameters and using a different mathematical representation, it achieves real-time calculation capability while maintaining optimization accuracy, effectively resolving the trade-off between model complexity and calculation speed
Data Source
AI summary
The present disclosure relates to a real-time control method for an additional yaw moment of a distributed drive electric vehicle, including the following steps: acquiring and inputting a real-time motion state of the distributed drive electric vehicle into a vehicle dynamics model, using a yaw rate and a sideslip angle of the distributed drive electric vehicle as tracking targets to suppress actuation energy, and performing optimization calculation on an additional yaw moment to acquire an amount of the additional yaw moment distributed for each tire; and in the optimization calculation process, a linear expression of the sideslip angle with respect to the additional yaw moment and a linear expression of the yaw rate with respect to the additional yaw moment are constructed, so as to perform search calculation on the additional yaw moment.