The invention discloses a method for controlling a semi-active suspension of an electric vehicle driven by a hub motor, which comprises the following steps of: calculating the motor excitation of the hub motor according to the corner position of a rotor of the hub motor and the eccentricity of a stator and a rotor, and establishing a 1/4 three-degree-of-freedom vehicle model; at any sampling moment, the MLD model carries out prediction iteration according to a state variable obtained from the 1/4 three-degree-of-freedom vehicle model, a mixed integer quadratic programming problem with a target function as a standard form is solved, and the optimal control force is output; and the damping reverse model generates control current to the damping adjustable shock absorber according to the optimal control force output by the controller and the relative speed of the suspension, and outputs damping force to act on the 1/4 three-degree-of-freedom vehicle model. The method has the advantages that nonlinear constraint conditions existing in a semi-active suspension optimization method are solved, adverse effects caused by the hub motor are effectively restrained, and the smoothness and comfort of an automobile are improved.
本发明公开了一种轮毂电机驱动电动汽车半主动悬架控制方法,根据轮毂电机转子的转角位置和定转子的偏心量计算轮毂电机的电机激励,建立1/4三自由度车辆模型;在任意采样时刻,MLD模型根据从1/4三自由度车辆模型获得的状态变量进行预测迭代,再结合目标函数为标准形式的混合整数二次规划问题进行求解,输出最优控制力;阻尼逆向模型根据控制器输出的最优控制力和悬架的相对速度,产生控制电流给阻尼可调减振器,并输出阻尼力作用于1/4三自由度车辆模型。本发明优点是解决半主动悬架优化方法中存在的非线性约束条件,有效抑制轮毂电机带来的不良影响,提升汽车的平顺性和舒适性。
Control method for semi-active suspension of electric automobile driven by hub motor
一种轮毂电机驱动电动汽车半主动悬架控制方法
2023-08-04
Patent
Elektronische Ressource
Chinesisch
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