The invention relates to a torque distributing method for in-wheel-motor driven vehicles. Through the distribution of the output torque of in-wheel motors and the output torque of a mechanical brake, the whole-vehicle target control force and the whole-vehicle force moment, which are needed by vehicle handling stability, are realized. The torque distributing method comprises the following steps: step 1, establishing an optimal control distribution equation for longitudinal force of electric wheels according to whole-vehicle needed longitudinal resultant force, whole-vehicle needed lateral resultant force and whole-vehicle needed yawing moment by adopting an optimal control distribution method; step 2, obtaining the optimal longitudinal force of each electric wheel according to the established optimal control distribution equation for the longitudinal force of the electric wheels, and combining the optimal longitudinal force with the relationship between the output torque of the electric wheels and the longitudinal force of the electric wheels so as to obtain the output torque of the electric wheels; and step 3, obtaining the output torque of the in-wheel motors and the output torque of the brake according to the relationship between the output torque of the in-wheel motors and the output torque of the brake.
Torque distributing method for in-wheel-motor driven vehicles
2015-12-02
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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