The invention relates to a longitudinal and vertical synchronous cooperative escape control system and method for a full-active suspension electric vehicle. Comprising the steps that a suspension actuation module receives an out-of-trouble starting signal, obtains a suspension control target and calculates actuation force; the wheel dynamic load observation module observes and outputs the wheel dynamic load; the wheel dynamic load dynamic stability discrimination module introduces an ideal suspension model and a timing module, compares the wheel dynamic load output by the wheel dynamic load observation module with the ideal wheel dynamic load output by the ideal suspension model, and completes wheel dynamic load dynamic stability discrimination; the delay compensation module completes replacement of a dependent wheel dynamic load state in the driving torque synchronous control module through a characteristic value function; and the driving torque synchronous control module completes output control of the wheel torque based on a fusion controller of model prediction control and sliding mode control. The problem that driving control and the actual wheel state are not synchronous is solved, driving delay in escape control is reduced, and maximum wheel adhesive force utilization is achieved.

    本发明为一种面向全主动悬架电车的纵垂向同步协同脱困控制系统及方法。包括悬架作动模块接收脱困启动信号,得到悬架控制目标,计算作动力;车轮动载观测模块对车轮动载进行观测并输出;车轮动载动态稳定判别模块引入理想悬架模型和计时模块,对比车轮动载观测模块输出的车轮动载与理想悬架模型输出的理想车轮动载,完成车轮动载动态稳定性判别;延迟补偿模块通过特征值函数完成对驱动转矩同步控制模块中依赖的车轮动载状态的替换;驱动转矩同步控制模块基于模型预测控制与滑模控制的融合控制器完成对车轮转矩的输出控制。本发明克服驱动控制与实际车轮状态不同步问题,降低脱困控制中驱动的延迟,实现最大车轮的附着力利用。


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    Titel :

    Longitudinal and vertical synchronous cooperative escape control system and method for full-active suspension electric vehicle


    Weitere Titelangaben:

    面向全主动悬架电车的纵垂向同步协同脱困控制系统及方法


    Beteiligte:
    WANG HONGLIANG (Autor:in) / HU YIBO (Autor:in) / PI DAWEI (Autor:in) / WANG XIANHUI (Autor:in) / YAN YONGJUN (Autor:in) / WANG XIA (Autor:in) / WANG YIZHOU (Autor:in) / ZHANG TINGYU (Autor:in)

    Erscheinungsdatum :

    18.03.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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