The invention discloses an electric four-wheel-drive steering stability control method and system and a vehicle. The control method comprises the following steps that the vehicle speed and the steering angle of a steering wheel are obtained, and whether the vehicle enters a preset steering stability control area or not is judged according to the vehicle speed and the steering angle of the steering wheel; if not, starting control or conventional control is carried out; if the vehicle enters the preset steering stability control area, the expected yaw velocity is calculated according to the actual yaw velocity of the vehicle; the deviation between the actual yaw velocity of the vehicle and the expected yaw velocity is calculated, and an additional yaw distribution torque is obtained according to the angular velocity deviation through a fuzzy PID algorithm; constructing a relational expression of the lateral force of the front axle, the lateral force of the rear axle and the yawing couple moment of the automobile around the Z axis; and according to the relation between the wheel driving force and the wheel lateral force, the torque of the front shaft and the rear shaft is adjusted through additional yaw distribution torque, and steering control is achieved. The electric four-wheel drive steering stability is improved.
本发明公开了一种电动四驱转向稳定性控制方法、系统及车辆,其中的控制方法包括以下步骤:获取整车车速和方向盘转向角,根据所述整车车速和方向盘转向角判断车辆是否进入预设的转向稳定性控制区,若未进入则进行起步控制或常规控制;若车辆进入预设的转向稳定性控制区,则根据车辆实际横摆角速度计算期望横摆角速度;计算所述车辆实际横摆角速度与所述期望横摆角速度偏差,将所述角速度偏差利用模糊PID算法得到附加横摆分配扭矩;构建前轴侧向力、后轴侧向力与汽车绕Z轴的横摆力偶矩的关系表达式;根据车轮驱动力与车轮侧向力的关系,利用附加横摆分配扭矩所述调整前后轴的扭矩,实现转向控制。本发明提高了电动四驱转向稳定性。
Electric four-wheel drive steering stability control method and system and vehicle
一种电动四驱转向稳定性控制方法、系统及车辆
2023-09-12
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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