The invention relates to a strong-robustness self-adaptive driving antiskid control method used for a hub motor driven electric vehicle and capable of improving acceleration comfort. Influence of tirerelaxation characteristics during design is fully considered, and a regional pole assignment algorithm is used to assign poles near a real axis to reduce longitudinal jitter of acceleration during intervention of a driving antiskid system; a segmented robust control method is adopted to ensure the robustness of a controller when the working condition changes, and a gain scheduling algorithm is used to ensure the adaptability of the controller at any vehicle speed; the anti-skid method provided by the invention has the advantages that the robustness is high, adaptability to working condition is high, the stability of anti-skid control during running at any vehicle speed with change of road adhesion and vertical load can be ensured, the smoothness requirement of the vehicle during intervention of driving anti-skid control is met, longitudinal oscillation of vehicle body acceleration is reduced, and the riding comfort during vehicle acceleration is improved.

    本发明涉及一种改善加速舒适性的轮毂电机驱动电动汽车强鲁棒自适应驱动防滑控制方法,在设计时充分考虑轮胎弛豫特性的影响,并利用区域极点配置的算法将极点配置在实轴附近,降低驱动防滑系统介入时加速度的纵向抖动;采用了分段鲁棒控制的方法确保了工况变化时控制器的鲁棒性,并且使用增益调度的算法保证了在任意车速下控制器的自适应性;本发明提出的防滑方法不仅鲁棒性强,工况适应性好,能保证路面附着变化,垂向载荷变动,任意车速行驶时防滑控制的稳定性,并且满足了驱动防滑控制介入时车辆的平顺性要求,减小了车身加速度的纵向震荡,改善了车辆加速时的乘坐舒适性。


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    Title :

    Strong-robustness self-adaptive driving antiskid control method used for hub motor driven electric vehicle and capable of improving acceleration comfort


    Additional title:

    一种改善加速舒适性的轮毂电机驱动电动汽车强鲁棒自适应驱动防滑控制方法


    Contributors:
    YIN GUODONG (author) / SHEN TONG (author) / WANG JINXIANG (author) / REN YANJUN (author) / LU YANBO (author) / LIANG JINHAO (author) / HUANG WENHAN (author) / WANG FANXUN (author) / DING HAONAN (author) / ZHUANG WEICHAO (author)

    Publication date :

    2020-07-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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