The invention discloses a direct yaw moment control method for a four-wheel independent drive electric vehicle, which comprises the following steps of: installing a vehicle speed sensor, a steering wheel angle sensor, a wheel speed sensor and an inertial measurement unit to monitor the running state of the vehicle in real time, and acquiring the data of the vehicle speed v, the steering wheel angle delta, the yaw velocity # imgabs0 # and the slip angle beta; through variable structure control and a sliding mode controller, in combination with vehicle state and environment data collected in real time, an accurate vehicle dynamical model is established, dynamic adjustment of driving force of each wheel is achieved, and therefore the optimal yaw moment control effect can be provided under various driving working conditions, and compared with a traditional control method of a fixed structure, the control method has the advantages of being simple in structure and convenient to operate. The method has the advantages of being high in response speed and adaptability, the control performance and driving stability of the vehicle are remarkably improved, the vehicle is effectively prevented from being out of control under complex and changeable road conditions and emergencies, and the driving safety and driving comfort are greatly improved.

    本发明公开一种四轮独立驱动电动汽车直接横摆力矩控制方法,包括以下步骤:安装车速传感器、方向盘角度传感器、轮速传感器和惯性测量单元以实时监测车辆的行驶状态,获取车速v、方向盘转角δ、横摆角速度#imgabs0#及侧偏角β数据。通过可变结构控制和滑模控制器,结合实时采集的车辆状态和环境数据,建立精确的车辆动力学模型,实现对各车轮驱动力的动态调节,从而在各种行驶工况下均能提供最佳的横摆力矩控制效果,与传统固定结构的控制方法相比,本申请的方法具有响应速度快和适应性强的优势,显著提升了车辆的操控性能和行驶稳定性,有效防止车辆在复杂多变的路况和突发情况下失控,极大地提高了行车安全性和驾驶舒适性。


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    Title :

    Direct yawing moment control method for four-wheel independent drive electric automobile


    Additional title:

    一种四轮独立驱动电动汽车直接横摆力矩控制方法


    Contributors:
    ZHOU RANYANG (author) / CHEN HUIPENG (author)

    Publication date :

    2024-12-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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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