The invention discloses a stability control method for a distributed driving electric vehicle. The method mainly comprises the following steps of: firstly, judging whether a vehicle is in a stable state at a moment based on a difference value of stability parameters between an ideal two-degree-of-freedom model and an actual vehicle model; if it is judged that the vehicle is in an unstable state at the moment, adopting a longitudinal force optimal distribution mode, and with a tire utilization rate as a target optimization function, solving the longitudinal force of each wheel according to the target function; or if the vehicle is in a stable state at the moment, adopting a proportional distribution mode and solving the longitudinal force according to the vertical load of each wheel; and enabling the control system to achieve a rapid and accurate control effect by utilizing fuzzy PID under different working conditions, wherein the parameters Kp, Ki and Kd of a PID controller achieve a self-adaptive adjustment function. According to the method, the characteristic that all the wheels of a distributed driving electric automobile can be accurately and independently controlled can be fully utilized, the direct yawing moment control effect of the whole automobile can be guaranteed, the road surface attachment utilization rate of the wheels is minimized, and the driving stability of the whole automobile is improved.
本发明公开了一种分布式驱动电动汽车稳定性控制方法。该方法主要包括以下步骤:首先,基于理想的二自由度模型和实际的车辆模型之间稳定性参数的差值,判断此时车辆是否处于稳定性状态。如果判断此时车辆处于不稳定状态,则采取纵向力优化分配模式,以轮胎利用率为目标优化函数,根据目标函数求解每个车轮的纵向力;若此时车辆处于稳定性状态,则采取比例分配模式,根据每个车轮的垂直载荷求解其纵向力。其次,利用模糊PID使控制系统在不同的工况下达到快速精确的控制效果,PID控制器的参数Kp、Ki和Kd达到自适应调整的功能。该方法不仅能够充分利用利用了分布式驱动电动汽车各个车轮可以精确、独立控制的特点,并且能够避在保证整车的直接横摆力矩控制效果的同时,最小化车轮的路面附着利用率,提高整车的行驶稳定性。
Stability control method for distributed driving electric vehicle
一种分布式驱动电动汽车稳定性控制方法
18.06.2021
Patent
Elektronische Ressource
Chinesisch
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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