The invention provides an electric vehicle four-wheel steering control method based on a variable steering transmission ratio. The electric vehicle four-wheel steering control method comprises the steps that vehicle parameter information is obtained; obtaining an ideal variable steering transmission ratio based on vehicle parameter information and a steady-state yaw velocity gain formula, and designing a variable steering transmission ratio strategy based on a set vehicle speed threshold value; performing smooth fitting and data interpolation on a variable steering transmission ratio curve in the variable steering transmission ratio strategy through a cubic quasi-uniform B spline to obtain an optimized variable steering transmission ratio strategy; based on vehicle parameter information, deducing a fast adaptive superhelix control algorithm, establishing a sliding mode surface based on an error between an actual yaw velocity and an ideal yaw velocity, and designing to obtain an equivalent sliding mode control law; and based on the optimized variable steering transmission ratio strategy and the equivalent sliding mode control law, a four-wheel steering controller is established, and the four-wheel steering angle of the automobile is controlled through the four-wheel steering controller. The steering sensitivity and stability of the vehicle can be improved.
本发明提供一种基于变转向传动比的电动汽车四轮转向控制方法,包括:获取车辆参数信息;基于车辆参数信息及稳态横摆角速度增益公式得出理想变转向传动比,并基于设定的车速阈值设计可变转向传动比策略;通过三次准均匀B样条对可变转向传动比策略中的可变转向传动比曲线进行平滑拟合和数据插值,得到优化后的可变转向传动比策略;基于车辆参数信息,推导快速自适应超螺旋控制算法,基于实际横摆角速度与理想横摆角速度误差建立滑模面,设计得到等效滑模控制律;基于优化后的可变转向传动比策略以及等效滑模控制律,建立四轮转向控制器,通过四轮转向控制器对汽车四轮转向转角进行控制。本发明能够提高车辆转向的灵敏性和稳定性。
Electric vehicle four-wheel steering control method based on variable steering transmission ratio
一种基于变转向传动比的电动汽车四轮转向控制方法
2024-05-28
Patent
Elektronische Ressource
Chinesisch
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