The invention relates to a driving wheel anti-skid and torque optimization fused electric vehicle stability control method, which is characterized in that the method comprises a reference model module, a fuzzy controller, a driving anti-slip controller, a torque optimization controller and a CarSim vehicle model, wherein the reference model module calculates a reference yaw velocity and a side slip angle according to driver input and a vehicle longitudinal speed; the CarSim vehicle model outputs the actual state quantity of the vehicle; the fuzzy controller calculates the additional yaw moment of the vehicle according to the reference yaw velocity, the reference side slip angle and the actual state quantity of the vehicle; and the torque optimization controller outputs the required torque of two rear wheel hub motors according to the required torque of the whole vehicle, the additional yawing torque, the tire lateral force, the vertical force and the rotating speed of the two rear wheels, the anti-slip controller is driven to control the slip rate of the left driving wheel and the right driving wheel so as to enable the slip rate to be kept near the optimal slip rate, and the two controllers complement each other, so that the stability control of the vehicle under the extreme road condition is realized.
一种驱动轮防滑与转矩优化融合的电动汽车稳定性控制方法,其特征在于,该方法包括参考模型模块、模糊控制器、驱动防滑控制器、转矩优化控制器、CarSim车辆模型;参考模型模块根据驾驶员输入和车辆纵向车速计算出参考横摆角速度和质心侧偏角;CarSim车辆模型输出汽车的实际状态量;模糊控制器根据参考横摆角速度、参考质心侧偏角和汽车的实际状态量,计算出车辆附加横摆力矩;转矩优化控制器根据整车需求力矩、附加横摆力矩以及轮胎侧向力、垂向力、两后轮转速输出两个后轮轮毂电机的需求力矩,驱动防滑控制器对左右两个驱动轮滑转率进行控制,使其保持在最优滑转率附近,两个控制器互为补充,从而实现车辆在极端路况下的稳定性控制。
Driving wheel anti-skid and torque optimization fused electric vehicle stability control method
一种驱动轮防滑与转矩优化融合的电动汽车稳定性控制方法
2022-01-28
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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