The invention belongs to the field of vehicle control, and particularly relates to an additional yawing moment distribution control strategy for a hybrid commercial vehicle in a combined driving mode, which comprises the following steps of: judging the steering state of the vehicle in the combined driving mode; for insufficient and excessive steering states, determining an optimal distribution target of the additional yaw moment, namely target braking wheels; the method comprises the following steps: selecting a control quantity, establishing an optimization objective function according to a friction ellipse theory and a ratio of a wheel longitudinal force to an adhesion force, determining constraint conditions according to a lateral stability control demand, a road adhesion condition and a driving system limitation, and solving an optimal control problem under multiple constraint conditions by adopting a quadratic programming algorithm. According to the method, the additional yawing moment value serves as a control target, torque optimization distribution among the wheels is carried out in the engine and motor dual-drive mode, the target wheels are braked, the motor output torque is adjusted, the longitudinal force of the wheels is changed, the additional yawing moment is applied, and the maneuverability and lateral stability of the vehicle under the complex working condition are improved.

    本发明属于车辆控制领域,具体为一种混动商用车联合驱动模式下的附加横摆力矩分配控制策略,包括步骤:判断联合驱动模式下车辆的转向状态;针对不足与过多转向状态,确定附加横摆力矩的优化分配目标,即目标制动车轮;选择控制量,根据摩擦椭圆理论,以车轮纵向力与附着力的比值建立优化目标函数,根据侧向稳定性的控制需求、路面附着条件和驱动系统的限制确立约束条件,采用二次规划算法解决多约束条件下的最优控制问题。本发明以附加横摆力矩值为控制目标,在发动机和电机双驱动模式下进行各车轮间的转矩优化分配,通过对目标车轮制动并调整电机输出转矩,实现车轮纵向力的改变和附加横摆力矩的施加,提高车辆复杂工况下的操纵性和侧向稳定性。


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    Title :

    Additional yawing moment distribution control strategy for hybrid commercial vehicle in combined drive mode


    Additional title:

    混动商用车联合驱动模式下的附加横摆力矩分配控制策略


    Contributors:
    SONG DAFENG (author) / TIAN MAN (author) / DUAN CHAOSHENG (author) / ZENG XIAOHUA (author) / NI LIXIN (author) / CHEN LEXIN (author) / LI CAIMING (author) / WANG BING (author)

    Publication date :

    2024-12-13


    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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