Vehicle Pitch Angle Control Near Zero Torque Switching
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Solution Overview
Problem
Existing vehicle control systems face issues with kickback and vibration due to pitch angle control near zero driving force, affecting vehicle stability and comfort, particularly on uneven surfaces.
Innovation Solution
A vehicle behavior control apparatus that limits pitch angle control near zero driving torque and employs zero-crossing smoothing control to manage driving torque changes, using a motor connected to wheels and incorporating a pitch angle control apparatus and zero-crossing smoothing control apparatus to adjust driving forces based on vertical acceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If pitch angle control is performed near zero driving force, then vehicle pitch angle stability is improved, but motor kickback and vibration occur
Solution Approach 1:
The control system applies different control strategies to different operating regions. In the first driving region (away from zero torque), normal pitch angle control is applied. In the second driving region (near zero torque), pitch angle control is limited or suspended. This local differentiation resolves the contradiction by avoiding kickback in the problematic region while maintaining stability control in safe regions.
Solution Approach 2:
The system changes the control parameter (pitch angle control authority) based on the operating condition (driving torque magnitude). When torque approaches zero, the control system reduces or limits pitch angle control actions, thereby preventing kickback while maintaining stability during normal operation.
2Object-affected harmful factors
If pitch angle control is limited near zero driving torque, then motor kickback is suppressed, but pitch angle control effectiveness is reduced
Solution Approach 1:
The driving region is segmented into multiple zones: the first driving region where normal pitch angle control is effective, and the second driving region near zero torque where control is limited. This segmentation allows the system to maintain high control effectiveness in most operating conditions while avoiding kickback only in the specific problematic region.
Solution Approach 2:
Instead of completely disabling pitch angle control near zero torque, the system applies partial control action by limiting rather than fully suspending control. This partial action approach maintains some stabilizing effect while preventing the excessive control actions that cause kickback.
Data Source
AI summary
A vehicle behavior control apparatus, which can improve vehicle behavior stability, is provided. The vehicle behavior control apparatus includes a motor and a pitch angle control apparatus. The motor is connected to at least one of a front wheel and a rear wheel of a vehicle. The pitch angle control apparatus is configured to execute pitch angle control to adjust a pitch angle through adjusting a driving force of each of the front wheel and the rear wheel. The pitch angle control apparatus performs the pitch angle control when a driving torque of the motor belongs to a first driving region not including zero and limits the pitch angle control when the driving torque of the motor belongs to a second driving region. The second driving region is a region before and after positive and negative torque switching of crossing zero.