The invention discloses an additional yawing moment control method and device and a server, and the method comprises the steps: distributing a driving additional yawing moment and a braking additional yawing moment according to the size relation between the extreme value of the driving additional yawing moment which is allowed to be applied to a plurality of wheels by a driving mechanism and the optimal additional yawing moment. In the first target optimization function, the distribution quantity of the driving additional yawing moment, the distribution quantity of the braking additional yawing moment and the expected wheel speed are used as tracking targets, the actuation energy for generating the driving additional yawing moment and the actuation energy for generating the braking additional yawing moment are used as suppression targets, and the braking additional yawing moment is obtained through optimization calculation. The distribution quantity of the additional yawing moment of each wheel is obtained, and the controllability and the driving stability of the vehicle are guaranteed.
本申请公开了一种附加横摆力矩的控制方法、装置及服务器,根据驱动机构允许对多个车轮施加的驱动附加横摆力矩的极值与最优附加横摆力矩之间的大小关系,对驱动附加横摆力矩的和制动附加横摆力矩进行分配。在第一目标优化函数中,以驱动附加横摆力矩的分配量、制动附加横摆力矩的分配量、期望轮速作为跟踪目标,以产生驱动附加横摆力矩的作动能量和产生制动附加横摆力矩的作动能量作为抑制目标,通过优化计算,得到每个车轮的附加横摆力矩的分配量,保证车辆的操控性和行驶稳定性。
Control method and device for additional yawing moment and server
附加横摆力矩的控制方法、装置及服务器
2024-10-08
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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