本发明公开了一种分布式驱动电动汽车直接横摆力矩控制系统及方法,通过分析熟练驾驶员的驾驶行为,揭示熟练驾驶员调整车辆运动状态的动力学机理并用于计算车辆横向稳定性控制目标理论值;基于自适应容积卡尔曼滤波NACKF算法设计车辆状态观测器;根据控制目标的理论值和车辆状态的观测值的偏差基于自适应模糊滑模FSMC算法设计直接横摆力矩系统,决策出所需的附加横摆力矩值,再通过电机控制系统和电子液压制动系统相结合的分配方法将附加横摆力矩分配给各个车轮从而达到控制汽车横向稳定性的目的。本发明提出的方法在保证操纵稳定性的基础上能够代替驾驶员的部分工作并降低其操作负荷,并提高车辆横向稳定性控制精度。

    The invention discloses a direct yaw moment control system and method for a distributed driving electric vehicle, and the method comprises the steps: revealing a dynamics mechanism of a skilled driver for adjusting the motion state of a vehicle through analyzing the driving behavior of the skilled driver, and calculating a theoretical value of a vehicle transverse stability control target; designing a vehicle state observer based on an adaptive volume Kalman filter NACKF algorithm; designing a direct yaw moment system based on an adaptive fuzzy sliding mode (FSMC) algorithm according to the deviation between a theoretical value of a control target and an observed value of a vehicle state, and deciding a required additional yaw moment value; and distributing the additional yawing moment to each wheel through a distribution method of combining a motor control system and an electronic hydraulic brake system, so the purpose of controlling the transverse stability of the automobile is achieved. The method provided by the invention can replace part of work of a driver and reduce the operation load of the driver on the basis of ensuring the control stability, and improves the transverse stability control precision of the vehicle.


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    Titel :

    一种分布式驱动电动汽车直接横摆力矩控制系统及方法


    Erscheinungsdatum :

    2024-05-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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