The invention discloses a distributed driving electric vehicle stability control method and system, and the method comprises the steps: calculating an expected side slip angle and a yaw velocity as control targets according to a vehicle dynamics model, and carrying out the real-time estimation of the actual side slip angle and the yaw velocity through Kalman filtering; and further identifying the state of the vehicle by using a # imgabs0 # phase plane method through a stability judgment rule. The vehicle state is divided into a stability domain, a coordination domain and a non-stability domain. Furthermore, the control target value and the actual value are input into a model reference adaptive controller, and the additional yawing moment and the front wheel steering angle are obtained respectively. And calculating the weight of the two according to a vehicle stability region determined in a stability rule. The additional front wheel turning angle can be directly input into a vehicle executing mechanism, if direct torque control needs to be carried out, the additional yawing torque needs to be input into the torque distribution module to be solved in real time, and finally the torque value of the front axle left wheel and the front axle right wheel is output into the vehicle executing mechanism.
本发明公开了一种分布式驱动电动汽车稳定性控制方法及系统,根据车辆动力学模型计算出期望质心侧偏角及横摆角速度作为控制目标,通过卡尔曼滤波对实际质心侧偏角及横摆角速度进行实时估计。进一步通过稳定性判断法则,利用#imgabs0#相平面法对车辆状态进行识别。根据车辆状态分为:稳定域、协调域以及非稳定域。进一步将控制目标值以及实际值输入到模型参考自适应控制器当中,分别求出附加横摆力矩以及前轮转角的大小。通过稳定性法则中确定的车辆稳定性区域计算二者权重大小。附加前轮转角可直接输入车辆执行机构中,如果需要进行直接转矩控制,则需要将附加横摆力矩大小输入到力矩分配模块中进行实时求解,最后输出前轴左右轮转矩值到车辆执行机构中。
Distributed driving electric vehicle stability control method and system
一种分布式驱动电动汽车稳定性控制方法及系统
2024-10-25
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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