The invention discloses a yaw angular velocity control method for a four-wheel independent driving electric vehicle. The method comprises the following steps: obtaining a tracking signal of an electric vehicle yaw angular velocity set point and a differential of the tracking signal by designing a tracking differentiator, and estimating a state parameter and uncertain disturbance of an electric vehicle system by designing an extended state observer at the same time; then calculating an error signal and an error differential signal of a control system through the value obtained from the above two steps, substituting the two signals into a nonlinear combining function, obtaining an error feedback controlled quantity, compensating the error feedback controlled quantity through the estimated value, obtained by the extended state observer, of uncertain disturbance of the electric vehicle system, obtaining an additional yaw moment value; finally, distributing torque of all wheels through the additional yaw moment value, inputting the distributed instruction torque to four motors of the electric vehicle, and thereby controlling the yaw angular velocity of the electric vehicle.
Yaw angular velocity control method for four-wheel independent driving electric vehicle
2015-05-06
Patent
Electronic Resource
English
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 |
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