The invention discloses a distributed driving electric vehicle stability control method and system. The method comprises the steps that S1, a road adhesion coefficient is estimated in real time; s2, according to the road adhesion coefficient, the front wheel turning angle and the actual vehicle speed, the ideal yaw velocity and the mass center side slip angle are obtained; s3, obtaining an additional yaw moment according to the ideal yaw velocity and the ideal side slip angle; s4, according to the difference between the actual vehicle speed and the expected vehicle speed, the driving torque needed for maintaining the longitudinal vehicle speed of the vehicle is calculated; and S5, distributing the required driving torque and the additional yawing torque to each hub motor and outputting the driving torque and the additional yawing torque. By the adoption of the technical scheme, on the premise that the driving torque needed by the longitudinal speed of the vehicle is guaranteed, the torque is reasonably distributed to the four wheels, and the additional yaw couple torque is generated to maintain the stability of the vehicle; while the stability of the vehicle is improved, the stability control cost is maintained within a reasonable range.
本发明公开一种分布式驱动电动汽车稳定性控制方法和系统,包括:步骤S1、实时估计路面附着系数;步骤S2、根据路面附着系数、前轮转角、实际车速,得到理想的横摆角速度与质心侧偏角;步骤S3、根据理想的横摆角速度与质心侧偏角,得到附加横摆力矩;步骤S4、根据实际车速和期望车速之差计算维持车辆纵向车速所需的驱动力矩;步骤S5、将所需驱动力矩和附加横摆力矩分配至各轮毂电机并输出。采用本发明的技术方案,在保证车辆纵向车速所需的驱动力矩前提下,通过将转矩合理分配到四个车轮,产生附加横摆力偶矩来维持车辆稳定;在提升车辆稳定性的同时,也将稳定性控制成本维持在合理范围内。
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和系统
2024-11-26
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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