The invention discloses a double-motor electronic differential control system for a rear axle of an electric vehicle. The double-motor electronic differential control system comprises a rear axle double-motor assembly mechanism, an Ackerman steering analytical model, a yaw motion control module, a fuzzy control module and a coordination control module. The rear axle dual-motor assembly mechanism is used for meeting the upgrading and optimization of the structure of the rear axle dual-motor assembly mechanism; the Ackerman steering analysis model is used for obtaining the turning radius and the rotating speed of a left rear wheel or a right rear wheel of the electric vehicle; the yawing motion control module is used for acquiring a yawing angular velocity wr during steering, setting a triggering condition and outputting an additional yawing moment delta M under yawing motion; the fuzzy control module is used for improving the deviation between the yaw velocity and an expected value state and the change rate of the deviation, and outputting driving torques Tsrr and Tsrl and an additional yaw moment delta M1 under fuzzy control; and the coordination control module is used for coordinating the output of the yaw motion control module and the fuzzy control module, outputting actual driving torques Trr and Trl and adjusting the motor.
本发明公开了一种电动车后桥双电机电子差速控制系统,包括后桥双电机总成机构、Ackerman转向解析模型、横摆运动控制模块、模糊控制模块、协调控制模块。后桥双电机总成机构,用以满足自身结构的升级与优化;Ackerman转向解析模型,用以获取电动车左后轮或者右后轮转弯半径和转速;横摆运动控制模块,用以获取转向时的横摆角速度wr,并设定触发条件,以及输出横摆运动下的附加横摆力矩ΔM;模糊控制模块,用以改善横摆角速度与期望值状态下的偏差以及偏差的变化率,输出驱动力矩Tsrr和Tsrl和模糊控制下的附加横摆力矩ΔM1;协调控制模块,用以协调横摆运动控制模块和模糊控制模块的输出,输出实际驱动力矩Trr、Trl,并对电机进行调节。
Electric vehicle rear axle dual-motor electronic differential control system
一种电动车后桥双电机电子差速控制系统
2022-07-12
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Power-adjustable dual-motor driven electric vehicle rear axle
European Patent Office | 2015
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