The invention relates to a cooperative control method for a four-wheel independent driving and steering electric automobile, which comprises the following steps of: calculating an expected yaw velocity according to a steering wheel angle and a current automobile running speed, and limiting the amplitude of an expected value of the yaw velocity according to a current road adhesion condition to generate a final expected value of the yaw velocity; constructing an optimization problem according to the current vehicle motion state and the expected yaw velocity value, and solving the optimization problem to obtain an expected active rear wheel steering angle control quantity and an expected additional yaw moment control quantity; the additional torque of each tire is calculated according to the expected additional yaw moment control quantity, the expected active rear wheel rotation angle is obtained according to the expected lateral force control quantity, and then the additional torque of each tire and the expected active rear wheel rotation angle are fed into an actuator of the vehicle for cooperative control. Compared with the prior art, the scheme of the invention avoids the conflict of a plurality of controlled variables, reduces the accumulated error of the model, and greatly improves the solving speed.

    本发明涉及一种四轮独立驱动与转向电动汽车的协同控制方法,包括以下步骤:根据方向盘转角和当前的车辆行驶速度计算期望的横摆角速度,并根据当前的路面附着条件对横摆角速度的期望值进行限幅,生成最终的横摆角速度期望值;根据当前的车辆运动状态以及横摆角速度期望值构建优化问题,对优化问题进行求解并得到期望的主动后轮转角控制量与期望的附加横摆力矩控制量;根据期望的附加横摆力矩控制量计算出各个轮胎的附加转矩,根据期望的侧向力控制量得到期望的主动后轮转角,之后将各个轮胎的附加转矩和期望的主动后轮转角送入车辆的执行器进行协同控制。与现有技术相比,本发明方案避免了多个控制量的冲突,减低模型累积误差并大幅提升求解速度。


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    Titel :

    Cooperative control method for four-wheel independent driving and steering electric automobile


    Weitere Titelangaben:

    一种四轮独立驱动与转向电动汽车的协同控制方法


    Beteiligte:
    CHEN HONG (Autor:in) / LIU XINGXING (Autor:in) / ZHANG LIN (Autor:in)

    Erscheinungsdatum :

    2023-06-23


    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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