The invention discloses a longitudinal driving force coordination control method for an off-road vehicle. The method comprises the following steps that: when wheel slip instability occurs, anti-skidding control intervention is driven; for single-wheel slip instability, an optimal slip rate is determined firstly, then on the basis of the principle of a sliding mode variable structure control algorithm, the optimal slip rate serves as a control target, the torque of a drive motor serves as a control variable, and a pre-designed global sliding mode controller is adopted for longitudinal drive force coordination control; for slip instability of a whole vehicle wheel, a longitudinal vehicle speed and a steering angle of a vehicle are selected as safety constraint condition parameters, a coordination optimization principle is determined, and then slip loss torque compensation is adjusted dynamically by taking the longitudinal vehicle speed and the steering angle of the vehicle as input variables and taking a dynamic property compensation coefficient as output; and finally, according to the torque compensation expectation, torque compensation distribution is carried out based on a coordination optimization principle for different slip conditions. The working condition adaptability of vehicle stability and dynamic property control can be improved.

    本发明公开了一种越野车辆纵向驱动力协调控制方法,包括:当发生车轮滑转失稳时,驱动防滑控制介入:针对单车轮滑转失稳:首先确定最优滑转率,然后基于滑模变结构控制算法原理,以最优滑转率为控制目标,以驱动电机转矩作为控制变量,采用预设计的全局滑模控制器进行纵向驱动力协调控制;针对整车车轮滑转失稳:首先选取车辆纵向车速和转向角作为安全性约束条件参数,确定协调优化原则,然后以车辆纵向车速和转向角作为输入变量、以动力性补偿系数作为输出,对滑转损失转矩补偿进行动态调节;最后根据转矩补偿期望,针对不同滑转工况基于协调优化原则进行转矩补偿分配。本发明能够提高车辆稳定性与动力性控制的工况适应性。


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    Titel :

    Longitudinal driving force coordination control method for off-road vehicle


    Weitere Titelangaben:

    一种越野车辆纵向驱动力协调控制方法


    Beteiligte:
    FU XIANG (Autor:in) / LIU DAOYUAN (Autor:in) / LI DONGYUAN (Autor:in) / YANG PENG (Autor:in) / WU SEN (Autor:in)

    Erscheinungsdatum :

    30.10.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion