The invention discloses a distributed driving vehicle running stability control method, which comprises the following steps of: establishing a single-point preview deviation model, and calculating a front wheel turning angle of a vehicle; designing a rear wheel steering angle sliding mode controller, and eliminating the deviation between the actual vehicle side slip angle and the ideal side slip angle; an additional yaw moment sliding mode controller is designed, and the deviation between the actual yaw velocity and the ideal yaw velocity of the vehicle is eliminated; a longitudinal vehicle speed PID controller is designed according to the deviation between the actual vehicle speed and the ideal vehicle speed; an improved whale optimization algorithm is determined, and parameter self-tuning is carried out on the sliding mode controller; according to the Ackerman steering principle, the dynamic loads of the front axle and the rear axle of the vehicle redistribute the turning angle and the torque of the vehicle. Aiming at the problem of poor control caused by multi-parameter setting of the sliding mode controller, the improved whale optimization algorithm is introduced and is used for parameter setting of the sliding mode controller, and the stability performance of a common sliding mode control method and the adaptability of the common sliding mode control method to different driving working conditions can be improved.

    本发明公开了一种分布式驱动车辆行驶稳定性控制方法,包括:建立单点预瞄偏差模型,计算车辆前轮转角;设计后轮转角滑模控制器,消除实际车辆质心侧偏角与理想质心侧偏角的偏差;设计附加横摆力矩滑模控制器,消除实际车辆横摆角速度与理想横摆角速度的偏差;根据实际车辆速度与理想车辆速度的偏差设计纵向车速PID控制器;确定改进的鲸鱼优化算法,对滑模控制器进行参数自整定;根据阿克曼转向原理、车辆前后轴动态载荷分别对车辆转角、转矩进行再分配。本发明针对滑模控制器多参数整定带来的控制不佳的问题,通过引入改进的鲸鱼优化算法,用于滑模控制器参数整定,能够提高一般滑模控制方法的稳定性性能及其对不同行驶工况的适应性。


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    Title :

    Distributed driving vehicle driving stability control method


    Additional title:

    一种分布式驱动车辆行驶稳定性控制方法


    Contributors:
    ZHANG YONG (author) / ZHANG CHUANG (author) / CHO BONG-KYU (author) / WAN MAOSONG (author) / LYU LIYA (author) / LI BINGLIN (author) / JIANG TAO (author)

    Publication date :

    2025-03-28


    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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