The invention discloses a torque coordination control distribution method for a distributed driving electric vehicle, which comprises the following steps of: 1, establishing a differential equation of a vehicle dynamic model: firstly, establishing a two-degree-of-freedom monorail model comprising a vehicle sideslip angle and a yaw velocity to simulate and predict behaviors of the vehicle under different driving conditions, meanwhile, in consideration of the characteristic of independent control of four-wheel torque of a distributed driving electric vehicle, a hub motor model is integrated into a vehicle model, and a differential equation of a reference model for controller design is constructed. According to the invention, the two-degree-of-freedom monorail model containing the plane motion state of the vehicle is constructed, so that vehicle behaviors under various driving conditions are accurately simulated; by designing a torque coordination control strategy of dynamic regulation and control and combining a predictive control algorithm, optimal distribution of the torque of each hub motor is realized, so that the stability and the operation response of a vehicle in a complex environment are improved.
本发明公开了一种分布式驱动电动汽车转矩协调控制分配方法,包括以下步骤:步骤一:车辆动态模型的微分方程建立首先建立包括车辆侧滑角和横摆角速度的二自由度单轨模型,用以模拟和预测车辆在不同驾驶条件下的行为,同时考虑到分布式驱动电动汽车四轮扭矩独立控制的特点,将轮毂电机模型融入车辆模型中,构建了用于控制器设计的参考模型的微分方程。本发明通过构建包含车辆平面运动状态的二自由度单轨模型,精确模拟各种驾驶条件下的车辆行为;通过设计动态调控的转矩协调控制策略,并结合预测控制算法,实现对各轮毂电机扭矩的最优分配,以提高车辆在复杂环境中的稳定性和操作响应。
Distributed driving electric vehicle torque coordination control distribution method
一种分布式驱动电动汽车转矩协调控制分配方法
2024-08-16
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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