The invention discloses a phase plane-based distributed driving electric vehicle multi-actuator coordination control method, which belongs to the technical field of electric vehicle control, and comprises the following steps of: establishing a vehicle model and a trajectory tracking model; a phase plane stability domain boundary of vehicle driving is dynamically divided by adopting a double-line method and a vehicle speed and road adhesion coefficient, a vehicle instability factor is calculated, a transition area proportion is adjusted by utilizing fuzzy logic, and trajectory tracking and stability target judgment are carried out; dividing a linear region, a transition region and a saturation region according to the tire lateral deviation characteristics, and distributing AFS and DYC weights by adopting a Sigmoid function; and coordination of a control target and control of multiple actuators are carried out based on the weight parameters in the step S2 and the step S3. By the adoption of the method, smooth switching and weight optimization of the AFS and the DYC are achieved through dynamic stability domain division, fuzzy logic boundary adjustment and tire side deviation characteristic analysis, and finally coordinated control over the multiple controllers is achieved.

    本发明公开了基于相平面的分布式驱动电动汽车多执行器协调控制方法,属于电动汽车控制技术领域,包括:建立车辆模型和轨迹跟踪模型;采用双线法和车速与路面附着系数动态对车辆行驶的相平面稳定域边界进行划分,计算车辆失稳因子,并利用模糊逻辑调整过渡区域占比,进行轨迹跟踪与稳定性目标判断;根据轮胎侧偏特性划分线性区、过渡区与饱和区,采用Sigmoid函数分配AFS与DYC权重;基于步骤S2和步骤S3权重参数进行控制目标的协调与多执行器的控制。本发明采用上述方法,通过动态稳定域划分、模糊逻辑边界调整及轮胎侧偏特性分析,实现AFS与DYC的平滑切换与权重优化,最终实现多控制器的协调控制。


    Access

    Download


    Export, share and cite



    Title :

    Distributed driving electric vehicle multi-actuator coordination control method based on phase plane


    Additional title:

    基于相平面的分布式驱动电动汽车多执行器协调控制方法


    Contributors:
    WU JINGLAI (author) / DOU JINGYANG (author) / ZHANG YUNQING (author) / GUO SHAOZHONG (author)

    Publication date :

    2025-05-30


    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



    Distributed driving electric vehicle stability control system and method based on phase plane

    BECHOYI / TANG HAORAN / LI BO et al. | European Patent Office | 2022

    Free access

    Distributed driving electric vehicle torque coordination control distribution method

    LI BINGBING / YIN GUODONG / ZHUANG WEICHAO et al. | European Patent Office | 2024

    Free access


    Multi-motor coordination controller for distributed driving electric automobile

    ZHANG ZHENG / CHU GUOLIN / XU SONG et al. | European Patent Office | 2015

    Free access