本发明公开了一种分布式驱动电动汽车操纵稳定性集成控制方法及相关设备,属于车辆操纵稳定性控制技术领域,本方法通过对魔术公式轮胎模型分段线性拟合建立分段仿射轮胎模型,在分段仿射轮胎模型基础上建立混杂逻辑动态模型,采用分层式的集成控制策略,建立了上层混杂模型预测控制器与下层四轮转矩优化分配控制器,进而计算出附加横摆力矩与附加前轮转角以及车轮驱动转矩,实现了车辆操纵的稳定性控制;采用本方法能够精确描述车辆运行过程中轮胎侧向力的变化情况,同时降低控制系统的计算量提高响应速度。

    The invention discloses a distributed driving electric vehicle handling stability integrated control method and related equipment, and belongs to the technical field of vehicle handling stability control. A hybrid logic dynamic model is established on the basis of a segmented affine tire model, a layered integrated control strategy is adopted, an upper-layer hybrid model prediction controller and a lower-layer four-wheel torque optimal distribution controller are established, and then additional yawing torque, additional front wheel steering angle and wheel driving torque are calculated. The stability control of vehicle control is realized; by adopting the method, the change condition of the tire lateral force in the vehicle running process can be accurately described, the calculated amount of a control system is reduced, and the response speed is increased.


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    Titel :

    分布式驱动电动汽车操纵稳定性集成控制方法及相关设备


    Erscheinungsdatum :

    2024-05-10


    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