The invention provides a four-wheel steering electric vehicle motion control method considering stability, and belongs to the field of vehicle motion control. The control method specifically comprises the following steps that a four-wheel steering vehicle two-degree-of-freedom model is established, and a stability controller is arranged through a model prediction control theory; the stability of vehicle motion control is improved by taking the rear wheel turning angle and the additional yawing moment as control variables and the front wheel turning angle as additional input. Compared with the prior art, the four-wheel steering electric automobile is used as a research object, the influence of front wheel and rear wheel steering and additional yawing moment on the stability of the automobile is considered at the same time, and the operation stability is further improved; a stability controller is established by using a model predictive control theory, and the safety and robustness of the control method are improved by setting multiple constraint conditions and a continuously preferred control strategy.

    本发明提供一种考虑稳定性的四轮转向电动汽车运动控制方法,属于车辆运动控制领域。该控制方法执行具体包括以下步骤:建立四轮转向车辆二自由度模型,并通过模型预测控制理论来设置稳定性控制器;以后轮转角和附加横摆力矩作为控制量,前轮转角作为附加输入来提高车辆运动控制的稳定性。与现有技术相比,本发明以四轮转向电动汽车为研究对象,同时考虑前轮、后轮转向及附加横摆力矩对车辆稳定性的影响,进一步提高了操作稳定性;利用模型预测控制理论建立稳定性控制器,设置的多项约束条件,以及不断择优的控制策略提高了控制方法的安全性和鲁棒性。


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    Title :

    Four-wheel steering electric vehicle motion control method considering stability


    Additional title:

    一种考虑稳定性的四轮转向电动汽车运动控制方法


    Contributors:
    KONG HUIFANG (author) / ZHOU WENJIAN (author) / ZHANG QIAN (author)

    Publication date :

    2024-01-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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