The invention discloses a tire force vector control method for a four-wheel distributed driving electric vehicle, which comprises the following steps of: calculating an ideal yaw velocity and a side slip angle by utilizing a linear two-degree-of-freedom automobile model according to an actual vehicle speed and a wheel turning angle; the required additional yaw moment is calculated by using an optimal control method according to the actual yaw velocity and the actual side slip angle error measured by the sensor, the required longitudinal force of the automobile is solved by using a PID control algorithm according to the motor torque and the wheel rotating speed, and the required additional yaw moment is calculated according to the longitudinal force, the lateral acceleration, the longitudinal acceleration, the front wheel rotating angle and the yaw velocity of the automobile. According to the method, the expected yawing moment and the side slip angle of the automobile are tracked in a mode of adding the yawing moment, the load of a steering motor is reduced, and the stability and the economical efficiency of the whole automobile during movement are improved.
本发明公开一种四轮分布式驱动电动车辆轮胎力矢量控制方法,包括根据实际车速和车轮转角利用线性二自由度汽车模型计算出理想横摆角速度和质心侧偏角,通过与传感器测量的实际横摆角速度和实际质心侧偏角误差用最优控制法计算出所需要的附加横摆力矩、根据电机转矩和车轮转速利用PID控制算法,求出汽车的需求纵向力,根据汽车纵向力、侧向加速度、纵向加速度、前轮转角和横摆角速度,利用扩展卡尔曼滤波算法,求出汽车需求轮胎侧向力等,本发明通过附加横摆力矩的方式实现跟踪汽车期望横摆力矩和质心侧偏角,减小转向电机的负载,提升整车运动时的稳定性和经济性。
Four-wheel distributed driving electric vehicle tire force vector control method
一种四轮分布式驱动电动车辆轮胎力矢量控制方法
2024-02-02
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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