The invention discloses a trajectory tracking and stability integrated control method for an independently-driven electric vehicle, and the method comprises the steps: giving a state equation, a state quantity and a control quantity of a trajectory tracking, roll and transverse stability controller based on an established vehicle dynamics model, and carrying out the estimation of vehicle state parameters. A trajectory tracking controller is designed, and in order to improve the control effect of the control system under different working conditions, a stable integrated controller is designed based on a layered integrated control structure. The selection of the judgment conditions of the roll and transverse stability state of the vehicle and the formulation of the coordination strategy are discussed, and the control strategy of the stability integrated controller based on the layered integrated control system is designed. A roll stability controller and a transverse stability controller based on the MPC algorithm are designed, so that the stability and accuracy of high-speed trajectory tracking of the vehicle are improved, the instability risk of the four-wheel independent drive vehicle under some working conditions is reduced, and the driving safety of the vehicle is improved.
本发明公开了一种独立驱动电动汽车轨迹跟踪及稳定性集成控制方法,基于建立的整车动力学模型给出了轨迹跟踪、侧倾和横向稳定性控制器的状态方程,状态量和控制量,并进行了车辆状态参数估计。设计了轨迹跟踪控制器,并且为提高控制系统在不同工况的控制效果,基于分层式集成控制结构设计了稳定性集成控制器。对车辆的侧倾、横向稳定性状态判定条件的选取和协调策略的制定进行了讨论,设计了基于分层式集成控制系统的稳定性集成控制器的控制策略。设计了基于MPC算法的侧倾稳定性控制器和横向稳定性控制器,以提升车辆高速轨迹跟踪的稳定性和精确度,降低四轮独立驱动车辆在某些工况下的失稳风险,提高车辆的驾驶安全性。
Trajectory tracking and stability integrated control method for independently-driven electric vehicle
一种独立驱动电动汽车轨迹跟踪及稳定性集成控制方法
2022-06-03
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 |
Four-Wheel Independently Driven In-Wheel Motors Electric Vehicle AFS and DYC Integrated Control
SAE Technical Papers | 2012
|Integrated Coordination Control for Distributed Drive Electric Vehicle Trajectory Tracking
Springer Verlag | 2020
|Four-Wheel Independently Driven In-Wheel Motors Electric Vehicle AFS and DYC Integrated Control
British Library Conference Proceedings | 2012
|SLIP CONTROL SYSTEM OF INDEPENDENTLY DRIVEN ELECTRIC PLATFORM
European Patent Office | 2023
|