The invention discloses a longitudinal drive control method for a distributed electric drive commercial vehicle. The longitudinal drive control method comprises the steps that the optimal slip rate of a current road surface is determined; estimating the slope of the road surface; determining the pre-driving torque of the vehicle, and distributing the pre-driving torque of the vehicle to each wheel to obtain the pre-driving torque of each wheel; a vehicle three-degree-of-freedom model and a wheel dynamics model are constructed, and a linear state space expression of the relation between the slip rate of each wheel and the driving anti-slip torque of each wheel is obtained according to the vehicle three-degree-of-freedom model and the wheel dynamics model; under the constraint condition, according to the linear state space expression, the driving anti-skid torque of each wheel meeting the optimization target is determined to serve as the expected driving anti-skid torque of each wheel; wherein the optimization target is that the output torque is minimum, the torque change rate is minimum, and the actual slip rate tracks the optimal slip rate; and the driving torque of each wheel is controlled to be # imgabs0 #, the # imgabs1 # is the pre-driving torque of the wheel ij, and the # imgabs2 # is the expected driving anti-skid torque of each wheel ij.
本发明公开了一种分布式电驱动商用车纵向驱动控制方法,包括:确定当前路面的最优滑移率;估计路面坡度;确定车辆的预驱动扭矩,并将车辆的预驱动扭矩分配到各车轮,得到各车轮的预驱动扭矩;构建车辆三自由度模型和车轮动力学模型,并根据车辆三自由度模型和车轮动力学模型得到各车轮滑移率与各车轮驱动防滑力矩关系的线性状态空间表达式;在约束条件下,根据线性状态空间表达式确定满足优化目标的各车轮驱动防滑力矩,作为各车轮的期望驱动防滑扭矩;其中,优化目标为:输出扭矩最小、扭矩变化率最小以及实际滑移率跟踪最优滑移率;控制各车轮的驱动扭矩为:#imgabs0#其中,#imgabs1#为车轮ij的预驱动扭矩,#imgabs2#为各车轮ij的期望驱动防滑扭矩。
Longitudinal drive control method for distributed electric drive commercial vehicle
一种分布式电驱动商用车纵向驱动控制方法
2024-02-27
Patent
Elektronische Ressource
Chinesisch
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 |
Distributed electric drive unmanned vehicle control method
Europäisches Patentamt | 2022
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