The invention discloses a distributed three-motor driving force distribution strategy for improving vehicle control stability. The strategy comprises the steps that a total target torque expected by adriver is acquired according to accelerator pedal input of the driver; front and rear axle driving torque distribution is carried out on the total target torque by adopting a distribution mode in direct proportion to axle load; the steering wheel rotating angle and the rear axle driving total torque serve as input, the difference between the ideal yaw velocity and the actual automobile yaw velocity serves as a controlled variable, and the actual controlled variable deviation is obtained through a controller; the controller decides and controls yawing moment, and the yawing moment is controlled to realize driving force distribution of hub motors on the left and right sides of a rear axle through a differential torque distribution module; and the torque is finally distributed to two hub motors of the rear axle after passing through a torque limiting module. According to the invention, the turning radius is slightly influenced by longitudinal acceleration, and the maneuverability is better; even under the limit working condition, certain lateral stability can be considered, and the steady-state steering characteristic of the automobile is guaranteed.
本发明公开了一种所述的用于提高车辆操纵稳定性的分布式三电机驱动力分配策略,包括以下步骤:根据驾驶员油门踏板输入,得出驾驶员期望的总目标转矩;采用正比于轴荷的分配方式对总目标转矩进行前后轴驱动力矩分配;以方向盘转角和后轴驱动总力矩为输入,将理想横摆角速度与实际汽车横摆角速度差的作为控制量,通过控制器得到实际控制量偏差;通过控制器决策控制横摆力矩,控制横摆力矩通过差扭力矩分配模块实现后轴左右侧轮毂电机驱动力分配;通过力矩限制模块后,最终分配给后轴两个轮毂电机。本发明使转弯半径受纵向加速的影响很小,操纵性较好;即使在极限工况下也能兼顾一定的侧向稳定性,保证汽车的稳态转向特性。
Distributed three-motor driving force distribution strategy for improving vehicle control stability
用于提高车辆操纵稳定性的分布式三电机驱动力分配策略
2021-01-05
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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