A hierarchical control system for torque distribution of hub motor-driven electric vehicles constructs a hierarchical controller with upper and lower layers. An upper layer torque distribution controller's drive torque distribution control strategy is determined through a fuzzy control module. A lower layer torque distribution controller receives the torque, yaw velocity, and side-slip angle from the upper layer torque distribution controller and performs drive torque distribution control based on the motor efficiency map or tire slip rate by using the torque, yaw velocity, side-slip angle and actual values of vehicle feedback to obtain a generalized torque output to a wheel hub motor model for calculating to obtain a target torque and inputting it into a 7-degree-of-freedom vehicle model. The 7-degree-of-freedom vehicle model feeds back vehicle states to the upper layer torque distribution controller to form a closed-loop control, achieving energy-saving control and improving handling stability and safety.
Hierarchical control method of torque distribution for wheel hub motor-driven electric vehicles
2025-01-21
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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