The invention discloses a steering control method for a hub motor automobile. The steering control method comprises the following steps that the target rotating speed of a hub motor during center steering is set; calculating the target torque of each wheel according to the difference value between the actual rotating speed and the target rotating speed of each current hub motor by adopting a PI algorithm with the same parameter and different proportions; calculating the sum of the target torques of the left and right hub motors; obtaining a larger value Tmax of the sum of the target torques of the left and right hub motors; calculating a difference value between the sum of the target torques of the left and right motors and the Tmax; the hub motors on the same side are distributed according to the rotating speed percentage; calculating a first execution target torque, a second execution target torque and a third execution target torque of each hub motor; and the rotation directions of the left hub motor and the right hub motor and the execution driving target torque of each hub motor are set. According to the algorithm, steering of the hub motor automobile around the geometric center of the automobile is achieved through forward and reverse rotation of the left hub motor and the right hub motor, the turning radius of the automobile is greatly reduced, and the trafficability of the automobile is improved.
本发明公开了一种轮毂电机汽车转向控制方法,包括以下步骤:设定中心转向时的轮毂电机目标转速;采用共参数、不同比例的PI算法,根据当前各轮毂电机的实际转速与目标转速之间的差值计算各轮的目标转矩;计算左侧和右侧轮毂电机目标转矩总和;获取左侧与右侧轮毂电机目标转矩总和的较大值Tmax;计算左侧和右侧电机目标转矩总和与Tmax的差值;在同侧轮毂电机间根据转速百分比进行分配;计算各轮毂电机的第一、第二、第三执行目标转矩;设定左侧轮毂电机和右侧轮毂电机旋转方向和各轮毂电机执行驱动目标转矩。本发明的算法通过左右侧轮毂电机正反转实现轮毂电机汽车绕车辆的几何中心进行转向,极大地减小了车辆的转弯半径,提高了车辆的通过性。
Wheel hub motor automobile steering control method
一种轮毂电机汽车转向控制方法
2023-06-06
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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