The invention provides a torque control method, device and equipment and a computer readable storage medium. The method comprises the steps that the current slip angle and the current yaw velocity of a target vehicle are obtained; according to the current slip angle, a preset expected slip angle, the current yaw velocity and a preset expected yaw velocity, a target sliding mode control function is solved, a target control quantity is obtained, and the target control quantity comprises a torque difference value of the left side and the right side of the target vehicle; the target sliding mode control function is obtained according to a target sliding mode surface function and a target reaching law function; and controlling the target vehicle according to the torque difference value. Compared with traditional PID control, the physical state and the physical characteristics of the vehicle meet the sliding mode control function, and the stability and the accuracy of torque control can be improved in the face of external interference or parameter change.
本发明申请提供了一种扭矩控制方法、装置、设备及计算机可读存储介质,所述方法包括:获取目标车辆的当前侧偏角和当前横摆角速度;根据所述当前侧偏角、预设的期望侧偏角、所述当前横摆角速度和预设的期望横摆角速度,对目标滑模控制函数进行求解,得到目标控制量,所述目标控制量包括所述目标车辆左右两侧的扭矩差值,所述目标滑模控制函数根据目标滑模面函数和目标趋近律函数得到;根据所述扭矩差值对目标车辆进行控制。本发明申请相比于传统的PID控制,车辆的物理状态和物理特性满足滑模控制函数,在面对外部干扰或者参数变化时,可以提高扭矩控制的稳定性和精确性。
Torque control method, device and equipment and computer readable storage medium
扭矩控制方法、装置、设备及计算机可读存储介质
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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