The invention belongs to the field of electric vehicles, and particularly relates to an integrated chassis control method of a four-wheel drive electric vehicle. The method comprises the following steps: utilizing a distributed driving electric vehicle kinetic model, namely a fourteen-degree-of-freedom vehicle control model, a UniTire tire model, a motor control model and a driver model, designinga vehicle state and parameter online estimation system, a side slip angle observer, a stability judgment system, an integrated coordination chassis control model, model prediction control and a multi-step center correction interior point optimization algorithm considering constraints; by analyzing the two-degree-of-freedom vehicle model, obtaining an off-line optimization system of a reference state trajectory and expected control variable. In the invention, two control methods of active front wheel steering and direct yawing moment control are combined, and the control stability of the vehicle is improved by optimizing the chassis control structure of the vehicle, reasonably designing an integrated chassis control algorithm and optimizing moment distribution of a dispatching motor.
本发明属于电动汽车领域,具体的说是一种四轮驱动电动汽车的集成底盘控制方法。本发明利用分布驱动电动汽车动力学模型即十四自由度车辆操纵模型、UniTire轮胎模型、电机控制模型以及驾驶员模型设计了车辆状态与参数在线估计系统、质心侧偏角观察器、稳定性判断系统、集成协调底盘控制模型、模型预测控制、考虑约束的多步中心矫正内点优化算法;通过分析二自由度车辆模型,得到参考状态轨迹、参考期望控制变量的离线优化系统。本发明将主动前轮转向和直接横摆力矩控制两种控制方法结合起来,通过优化车辆底盘控制结构、合理设计集成底盘控制算法和优化调度电机的力矩分配提高车辆的操纵稳定性。
Integrated chassis control method of four-wheel drive electric automobile
一种四轮驱动电动汽车的集成底盘控制方法
2020-11-03
Patent
Electronic Resource
Chinese
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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