The invention belongs to the technical field of vehicle torque control, and particularly relates to a distributed driving vehicle pivot steering driving torque control method which comprises the following steps: according to longitudinal and lateral speeds and accelerations at the center of mass of a vehicle, combining the influence of slip rate changes of four wheels on the longitudinal and lateral accelerations of the whole vehicle; a single wheel with the longitudinal force or the lateral force greatly changing along with the longitudinal slip rate is selected in one adjusting period to adjust the driving torque, and the original output torque of other wheels is kept unchanged. By the adoption of the torque distribution strategy, pivot steering can be achieved for a vehicle with the center of mass centered left and right and longitudinally back, and the center of mass can move within a small range. By adopting the control method, the working state of the system can be automatically and flexibly adjusted through the ways of positioning the wheel to be adjusted, calculating the change of the driving torque and the like according to the vehicle mass center and the four-wheel information which are accumulated in real time on line, the system adapts to continuously changing conditions and conditions, and the dynamic working state is kept to cope with different working conditions.

    本发明属于车辆力矩控制技术领域,具体涉及一种分布式驱动车辆原地转向驱动力矩控制方法,其根据车辆质心处的纵向、侧向速度和加速度,结合四个车轮的滑移率变化对整车纵向和侧向加速度的影响,在一次调整周期内选择纵向力或侧向力随纵向滑移率变化较大的单个车轮进行驱动力矩调整,其他车轮保持原输出转矩不变。采用这种转矩分配策略,对于质心左右居中纵向靠后的车辆,能够实现原地转向且满足质心在较小范围内移动。采用这种控制方法,能够根据在线即时积累的车辆质心及四轮信息,通过定位待调整轮、计算驱动力矩变化等途径,实现对系统工作状态的自动灵活调整,适应不断变化的条件与情况,保持动态工作状态以应对不同的工况。


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    Title :

    Pivot steering driving torque control method for distributed driving vehicle


    Additional title:

    一种分布式驱动车辆原地转向驱动力矩控制方法


    Contributors:
    WANG WENMO (author) / ZHANG HONGCHAO (author) / WU ZENGBIN (author) / ZHANG SHUANGLEI (author) / ZUO ZHENYU (author) / ZHAN ZHANYU (author) / SUN YUNLONG (author) / YAO LELE (author) / WANG CHANGCHENG (author) / MA YUPO (author)

    Publication date :

    2024-02-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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