The invention discloses a stability driving control method for a four-wheel independent distributed driving vehicle, and belongs to the technical field of distributed driving electric vehicle control. According to the method, the overall stability margin of the four-wheel tires during running of the vehicle is used as a control target, and the driving torques of the four tires are reasonably distributed. The control method is divided into two layers, in the first layer, the total driving torque and the expected yaw moment needed by the vehicle are formulated and obtained according to a driver instruction, in the second layer, the total driving torque is distributed to obtain the output torque of a left front wheel driving motor, a right front wheel driving motor, a left rear wheel driving motor and a right rear wheel driving motor, and the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are controlled according to the output torque. According to the invention, the driving torque distributed to each wheel can be adjusted in real time according to the real-time yaw velocity monitoring value when the vehicle runs, the running stability of the vehicle is ensured under various extreme running conditions, and the steering portability is improved.
本发明公开了一种用于四轮独立分布式驱动车辆的稳定性驱动控制方法,属于分布式驱动电动汽车控制技术领域。本发明以车辆行驶时四轮轮胎整体的稳定裕度为控制目标,合理分配四个轮胎的驱动力矩。该控制方法分为两层,第一层根据驾驶员指令制定获得车辆所需总驱动力矩与期望横摆力矩,第二层对总驱动力矩分配获得左前轮、右前轮、左后轮、右后轮驱动电机的输出转矩,按照所述输出转矩控制左前轮、右前轮、左后轮、右后轮。本发明能够在车辆行驶时根据实时横摆角速度监测值对各轮分配的驱动力矩进行实时调整,在各种极端的运行条件下确保车辆的行驶稳定性,并提高转向轻便性。
Stability driving control method for four-wheel independent distributed driving vehicle
一种用于四轮独立分布式驱动车辆的稳定性驱动控制方法
2023-08-22
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
Distributed driving electric vehicle four-wheel steering control method
European Patent Office | 2023
|Four-wheel independent driving system and wheeled vehicle
European Patent Office | 2023
|FOUR-WHEEL INDEPENDENT DRIVING SYSTEM AND WHEELED VEHICLE
European Patent Office | 2025
|