The invention discloses a distributed electric drive vehicle stability control method applied to an extreme road surface. The method is characterized by comprising the following steps: S1, measuring a road surface adhesion coefficient; s2, establishing a vehicle two-degree-of-freedom model; s3, the state of the two-degree-of-freedom vehicle is converted, and a state-space equation is established; s4, establishing a mathematical model between the yaw velocity and the slip angle and the direct yaw moment; s5, designing sliding mode surface parameters according to a terminal complementary sliding mode control theory; s6, the difference value between the expected slip angle and the actual slip angle and the difference value between the expected yaw velocity and the actual yaw velocity serve as input, an LSTM is used for estimating and predicting a nonlinear function in the mathematical model, and # imgabs0 # S7, needed total torque is kept according to the longitudinal velocity, and optimal distribution is adopted for four-wheel torque distribution. According to the method, the standard deviation of the yaw velocity of the vehicle can be obviously reduced, the lateral offset is reduced, the steering response time is shortened, and the driving experience and safety are improved.

    一种应用于极端路面的分布式电驱动车辆稳定性控制方法,其特征是:包括如下步骤:S1:测量路面附着系数;S2:建立车辆二自由度模型;S3:对二自由度车辆状态进行变换,建立状态空间方程;S4:建立横摆角速度和侧偏角与直接横摆力矩之间的数学模型;S5:根据终端互补滑模控制理论,设计滑模面参;S6:以期望侧偏角与实际侧偏角差值,期望横摆角速度与实际横摆角速度差值作为输入,使用LSTM对数学模型中的非线性函数进行估计预测,输出#imgabs0#S7:根据纵向速度保持需要的总力矩,采用最优分配进行四轮力矩分配。本发明本能够显著降低车辆的横摆角速度标准差,减少侧向偏移量,缩短转向响应时间,提高了驾驶体验和安全性。


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    Title :

    Distributed electric drive vehicle stability control method applied to extreme road surface


    Additional title:

    一种应用于极端路面的分布式电驱动车辆稳定性控制方法


    Contributors:
    WANG HAI (author) / ZHANG QIANQIAN (author) / CAI YINGFENG (author) / SUN XIAOQIANG (author) / CHEN LONG (author)

    Publication date :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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