The invention discloses a distributed driving vehicle stability control method based on an extended state observer, and the method comprises the steps: building a two-degree-of-freedom vehicle model with two non-linear interference terms and additional yawing moment, constructing the extended state observer again on this basis, and controlling the additional yawing moment through an integral terminal sliding mode method. Finally, weighted coordination control over the additional yaw moment is achieved, and therefore driving stability control over the distributed driving vehicle is achieved.

    本发明公开了一种基于扩张状态观测器的分布式驱动车辆稳定性控制方法,建立存在两个非线性干扰项及附加横摆力矩的二自由度车辆模型,在此基础上再次构造扩张状态观测器,并通过积分终端滑模方法控制附加横摆力矩,最终实现附加横摆力矩的加权协调控制,从而实现对分布式驱动车辆的行驶稳定性控制。


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    Title :

    Distributed driving vehicle stability control method based on extended state observer


    Additional title:

    一种基于扩张状态观测器的分布式驱动车辆稳定性控制方法


    Contributors:
    LIN TAO (author) / ZHAO YOUQUN (author) / SHEN YAWEI (author) / LIN FEN (author) / LI DANYANG (author)

    Publication date :

    2022-06-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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