The invention discloses an electric vehicle yaw stability coordination control method and system, and relates to the field of vehicles. The method comprises the steps of acquiring reference track information and real-time motion state information of an electric vehicle; inputting the reference trajectory information and the real-time motion state information into a model prediction controller to obtain an additional yawing moment of the electric vehicle; obtaining the longitudinal demand force of the electric vehicle; and according to the additional yawing moment and the longitudinal requiredforce, determining the driving moment of each wheel in the electric automobile through a direct yawing moment control method, for yawing stability coordination control over the electric vehicle. The advantages of the distributed driving electric vehicle are utilized, an upper controller adopts a model prediction control algorithm,a lower controller adopts a direct yawing moment control method, driving moments of four wheels are optimally distributed, and coordination control over yawing stability under the limit working condition is achieved.
本发明公开一种电动汽车横摆稳定性协调控制方法及系统,涉及汽车领域。该方法包括:获取电动汽车的参考轨迹信息和实时运动状态信息;将参考轨迹信息和实时运动状态信息输入模型预测控制器,得到电动汽车的附加横摆力矩;获取电动汽车的纵向需求力;依据附加横摆力矩和纵向需求力,利用直接横摆力矩控制方法确定电动汽车中每个车轮的驱动力矩,实现电动汽车横摆稳定性协调控制。本发明利用分布式驱动电动汽车的优势,上层控制器采用模型预测控制算法,下层控制器采用直接横摆力矩控制方法,对四个车轮驱动力矩进行优化分配,实现极限工况下横摆稳定性的协调控制。
Electric vehicle yaw stability coordination control method and system
一种电动汽车横摆稳定性协调控制方法及系统
2020-08-07
Patent
Electronic Resource
Chinese
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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