本发明提供了一种分布式驱动电动客车转矩控制方法,包括如下步骤:1)数据收集:整车控制器接收车速传感器、方向盘转角传感器的信号,并进行车辆状态参数的收集;2)根据得到的车辆状态参数,设计非线性滑模观测器对质心侧偏角进行状态估计;3)根据估计到的质心侧偏角与理想的质心侧偏角进行比较,对汽车转向状态进行判断,最后进行转矩控制。上述的分布式驱动电动客车转矩控制方法,针对车辆运动控制中,大多通过驱动电机的定向控制分配,因而未考虑车辆转向行驶中的阻力与稳定的问题。
The invention provides a torque control method for a distributed driving electric motor coach, which comprises the following steps: 1) data collection: a vehicle controller receives signals of a vehicle speed sensor and a steering wheel angle sensor, and collects vehicle state parameters; 2) according to the obtained vehicle state parameters, designing a nonlinear sliding-mode observer to carry out state estimation on a side slip angle; and (3) the estimated side slip angle is compared with an ideal side slip angle, the steering state of the automobile is judged, and finally torque control is conducted. According to the torque control method for the distributed driving electric motor coach, the problem that resistance and stability in the steering running process of the coach are not considered due to the fact that directional control distribution of a driving motor is mostly adopted in coach motion control is solved.
一种分布式驱动电动客车转矩控制方法
2024-07-26
Patent
Electronic Resource
Chinese