The invention discloses a torque vector control method for an electric intelligent automobile, which comprises the following steps of: firstly, establishing a control-oriented uncertain system model by considering the time-varying characteristics of tire model parameters and longitudinal automobile speed; then, according to the uncertain system model, designing an upper-layer motion integrated control algorithm based on robust model predictive control, and converting a robust control problem which meets design constraint conditions and minimizes the upper bound of a target function into a finite-dimensional convex optimization problem in an LMI framework as shown in the specification; an off-line optimization and on-line synthesis method is designed to improve the calculation efficiency; and finally, considering the driving safety and economy of the electric intelligent vehicle, taking the weighted sum of the tire load rate and the motor energy loss as an optimization control target, dynamically adjusting the weights of different targets based on a self-defined correlation function, and designing a torque distribution control algorithm based on multi-target coordination optimization. The method can adapt to various complex working conditions, the driving safety of the vehicle is improved to the maximum extent, and meanwhile the driving economy of the vehicle is improved.
本发明公开了一种电动智能汽车扭矩矢量控制方法,包括如下:首先考虑轮胎模型参数与纵向车速的时变特性,建立面向控制的不确定系统模型;然后根据所述不确定系统模型,设计基于鲁棒模型预测控制的上层运动集成控制算法,将满足设计约束条件,且最小化目标函数上界的鲁棒控制问题转化为如下所示的LMI框架内的有限维凸优化问题,设计了离线优化加在线综合的方法提高计算效率;最后,考虑电动智能汽车行驶安全性与经济性,以轮胎负荷率和电机能量损耗的加权和为优化控制目标,基于自定义相关函数动态调节不同目标的权重,设计基于多目标协调优化的转矩分配控制算法。可适应多种复杂工况,最大程度地提高车辆行驶安全性,同时提高车辆的行驶经济性。
Torque vector control method for electric intelligent automobile
一种电动智能汽车扭矩矢量控制方法
2024-09-13
Patent
Electronic Resource
Chinese
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