The invention discloses a control method for operating stability of a distributed driving electric vehicle under an extreme working condition. The control method comprises the following steps: constructing a vehicle dynamics model; determining a road adhesion coefficient and a vehicle driving state according to the vehicle dynamics model; according to different road adhesion coefficients and the calculated vehicle driving force, dividing vehicle driving conditions into three road conditions; under different road surface conditions, a quadratic form control algorithm is used for calculating the control quantity needed in the driving process; respective torque distribution algorithms are designed according to different road surface driving working conditions, and the torque of each wheel is reasonably distributed through constraints applied to different road surfaces. According to the method, the automobile is divided into different driving working conditions, the required control quantity is planned through the quadratic form control algorithm, tracking of the reference track and the longitudinal speed is achieved, control over the operation stability of the distributed driving electric vehicle is achieved, and the safety of the automobile driving under the limiting condition is good.
本发明公开了一种在极限工况下分布式驱动电动车操纵稳定性的控制方法,包括构建车辆动力学模型;根据车辆动力学模型确定路面附着系数和车辆行驶状态;根据不同的路面附着系数和计算所得到的车辆驱动力大小,将车辆行驶工况分成三种路面情况;在不同的路面情况下,利用二次型控制算法计算行驶过程中所需要的控制量;根据不同的路面行驶工况设计各自的转矩分配算法,通过不同路面施加的约束对各轮扭矩进行合理分配。本发明将汽车划分为不同的行驶工况,通过二次型控制算法规划所需要的控制量,实现参考轨迹和纵向速度的跟踪,实现分布式驱动电动车的操纵稳定性控制,使车辆在极限条件下行驶的安全性较好。
Control method for control stability of distributed driving electric vehicle under extreme working condition
一种在极限工况下分布式驱动电动车操纵稳定性的控制方法
2023-08-11
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 |
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