The invention discloses a dual-mode torque distribution control method for a distributed rear-drive electric vehicle, the distributed rear-drive electric vehicle is controlled by a double-layer control structure, and the double-layer control structure comprises an upper-layer control strategy and a lower-layer control strategy; the control method is characterized in that the upper-layer control strategy is a dual-mode control module of a direct yawing additional torque control module and a driving antiskid additional torque control module; the direct yawing additional torque control module takes actual and expected difference values of two parameters of yawing angular velocity and a side slip angle as input variables, and solves a direct yawing additional torque by combining a fuzzy PID controller; the driving anti-skid additional torque control module takes the difference value between the actual wheel slip rate and the expected wheel slip rate as an input variable, and solves the driving anti-skid additional torque required by vehicle driving skid by combining an optimal slip rate algorithm and a PID controller; the control stability of the vehicle can be effectively improved, and a good control effect is achieved.
本发明公开了一种用于分布式后驱电动汽车的双模式转矩分配控制方法,该分布式后驱电动汽车由双层控制结构进行控制,所述双层控制结构包括上层控制策略和下层控制策略;其特征在于:所述上层控制策略为直接橫摆附加转矩控制模块和驱动防滑附加转矩控制模块的双模式控制模块;所述直接橫摆附加转矩控制模块将横摆角速度和质心侧偏角两个参数的实际和期望的差值作为输入变量,结合模糊PID控制器求解直接橫摆附加转矩;所述驱动防滑附加转矩控制模块将实际和期望的车轮滑转率差值作为输入变量,结合最优滑转率算法和PID控制器求解车辆驱动打滑时所需驱动防滑附加转矩;本发明可以有效改善车辆的操纵稳定性,具有良好的控制效果。
Dual-mode torque distribution control method for distributed rear-drive electric vehicle
一种用于分布式后驱电动汽车的双模式转矩分配控制方法
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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