The invention provides a transverse stability control method for an electric automobile independently driven by four hub motors after collision, which can effectively solve the problem of vehicle stability control failure caused by vehicle slipping and tire force saturation when a light vehicle is collided and impacted by combining active front wheel steering (AFS) and direct yaw moment control (DYC). In the control process, two potential control reference state sets including expected direct yaw moment control state quantity and drift balance are comprehensively considered, multiple factors in stability control are comprehensively considered, and an upper-layer controller and a lower-layer controller based on sliding mode control are designed. The scheme has the advantages of front wheel steering angle control, differential braking and drifting tracking, and the beneficial effect of avoiding secondary collision which is not achieved in the prior art can be achieved.
本发明提供了一种四轮毂电机独立驱动电动汽车碰撞后横向稳定性控制方法,通过结合主动前轮转向(AFS)和直接横摆力矩控制(DYC),能够有效解决轻型车受碰撞冲击时车辆打滑和轮胎力饱和导致的车辆稳定性控制失效问题。在控制过程中综合考虑两个潜在的控制参考状态集:期望直接横摆力矩控制状态量和漂移平衡,全面考虑稳定性控制中的多种因素并设计了基于滑模控制的上层控制器与下层控制器,使方案兼具了前轮转向角控制、差动制动以及漂移跟踪的诸多优点,并能够达到现有技术所不具备的避免二次碰撞的有益效果。
Method for controlling transverse stability after collision of electric automobile independently driven by four hub motors
四轮毂电机独立驱动电动汽车碰撞后横向稳定性控制方法
2022-04-29
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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