The invention discloses a multi-target dynamics control method for a multi-wheel/multi-axle independently-driven electric vehicle, which comprises the following steps: constructing a three-layer hierarchical control framework, calculating an optimal additional yaw moment of the whole vehicle by an upper yaw stability controller by adopting a direct yaw control method, and ensuring the active safety of the vehicle; a middle layer energy consumption optimization torque distribution controller is used for reducing the energy consumption of the driving system through wheel longitudinal force distribution as much as possible on the basis of a driving system efficiency MAP while ensuring the optimal yaw moment tracking effect of the upper layer; the lower layer optimal wheel longitudinal force tracker calculates and keeps the real-time optimal target sliding rate of each wheel according to the longitudinal force distribution result obtained by the middle layer; meanwhile, in the lower-layer optimal wheel longitudinal force tracker, the influence of sliding rate increase on upper-layer controller modeling and middle-layer efficiency calculation is reduced by setting linear sliding rate constraint, and the overall effectiveness of the method under the low-adhesion working condition is guaranteed.
本发明公开了一种多轮/多轴独立驱动电动汽车多目标动力学控制方法,构建三层分层控制架构,上层横摆稳定性控制器采用直接横摆控制方法计算最优整车附加横摆力矩,保证车辆主动安全性;中间层能耗优化转矩分配控制器,在保证上层最优横摆力矩跟踪效果的同时,基于驱动系统效率MAP图,尽可能地通过车轮纵向力分配降低驱动系统能耗;下层最优车轮纵向力跟踪器,根据中间层得出的纵向力分配结果,计算并保持各车轮的实时最优目标滑动率;同时,在下层最优车轮纵向力跟踪器中,通过设置线性滑移率约束,减小滑动率增大对上层控制器建模、中间层效率计算的影响,保证了本方法在低附着工况下的整体有效性。
Multi-target dynamics control method for multi-wheel/multi-shaft independent drive electric vehicle
一种多轮/多轴独立驱动电动汽车多目标动力学控制方法
2021-08-13
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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