The invention provides a torque feedback control method, a vehicle and a storage medium. The method comprises the steps that the yaw control quantity and PID control parameters of the vehicle are determined; inputting the yaw control quantity and the PID control parameters into a PID controller so as to carry out PID control on the actual yaw velocity of the vehicle, and outputting feedback yaw torque; and performing torque distribution on left and right wheels of the vehicle according to the feedback yaw torque. According to the invention, PID feedback control can be carried out on the actual yaw velocity of the vehicle according to the yaw control quantity of the vehicle, and correction of the actual yaw torque is realized, so that closed-loop correction can be carried out on the control result under the condition that the driving environment has relatively large disturbance or the calculation result has deviation, the control accuracy is improved, the control efficiency is improved, and the control cost is reduced. And therefore, the stability and safety of the vehicle driving state and the driver maneuverability are improved.
本发明提出一种扭矩的反馈控制方法、车辆和存储介质,方法包括:确定车辆的横摆控制量和PID控制参数;将横摆控制量和PID控制参数输入PID控制器中以对车辆的实际横摆角速度进行PID控制,输出反馈横摆转矩;根据反馈横摆转矩对车辆的左右轮进行扭矩分配。本发明能够根据车辆的横摆控制量对车辆的实际横摆角速度进行PID反馈控制,实现对实际横摆转矩的修正,从而可在行驶环境有较大扰动或计算结果有偏差的情况下,对控制结果进行闭环修正,提升了控制精确度,同时提高了控制效率,进而利于提高车辆行驶状态的稳定性、安全性和驾驶员操纵性。
Torque feedback control method, vehicle and storage medium
扭矩的反馈控制方法、车辆和存储介质
2024-12-31
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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