The invention discloses a distributed driving electric vehicle torque control method based on model predictive control, relates to the technical field of automatic driving steering control, and solves the technical problem that vehicle control is insufficient in stability and energy conservation. According to the technical scheme, the method is characterized in that in order to achieve energy conservation of the distributed electric vehicle while improving the vehicle handling stability, a torque vector distribution frame is designed, the total torque is generated according to the speed control requirement of an upper-layer driver, a proportional-integral control algorithm is adopted for design, and steering behaviors are obtained through a driving simulator. The optimized torque vector is then distributed to the front/rear axle. The lower layer generates direct yaw moment control input through the longitudinal differential force of the left and right wheels so as to ensure the handling stability of the vehicle.
本发明公开了一种基于模型预测控制的分布式驱动电动汽车转矩控制方法,涉及自动驾驶转向控制技术领域,解决了车辆操纵在稳定性和节能性方面存在不足的技术问题,其技术方案要点是为了在提高车辆操纵稳定性的同时实现分布式电动汽车的节能,设计了力矩矢量分配框架,上层驾驶员速度控制需求产生总转矩,采用比例积分控制算法设计,通过驾驶模拟器获得转向行为。然后,将优化后的转矩矢量分配到前/后轴。下层通过左右车轮的纵向差力产生直接偏航力矩控制输入,以确保车辆的操纵稳定性。
Distributed driving electric vehicle torque control method based on model predictive control
基于模型预测控制的分布式驱动电动汽车转矩控制方法
2023-09-29
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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