The invention discloses a comprehensive control method for a four-hub motor-driven vehicle. A variable preview distance kinematics model is combined to obtain a course angle deviation and a lateral displacement deviation of a current state and an expected track, a model prediction controller state equation is established, a motion state of a controlled vehicle better conforms to actual driver manipulation characteristics, and track tracking robustness is improved. In a steering process, control over a yaw velocity and a side slip angle can be achieved, and comprehensive control over operationstability and track tracking can be achieved too. An expected longitudinal force and an expected additional yawing moment are acquired, and then a torque optimal control sequence of the four-wheel hubmotor is obtained through a torque distribution algorithm. Distributed driving vehicle track tracking and an operation-stability related actuator are controlled by considering a bottom-layer torque distribution algorithm so that the control accuracy and robustness are improved, and longitudinal and transverse coupling control is realized.
一种四轮毂电机驱动车辆的综合控制方法,其结合了变预瞄距离运动学模型获取当前状态与期望轨迹的航向角偏差与侧向位移偏差,建立模型预测控制器状态方程,使被控车辆的运动状态更符合实际驾驶员操纵特性,提高轨迹跟踪的鲁棒性。在转向过程中,能够实现对横摆角速度以及质心侧偏角的控制,以及操纵稳定性与轨迹跟踪的综合控制。得到期望纵向力与期望额外横摆力矩,进而通过转矩分配算法得到四轮毂电机转矩最优控制序列。考虑底层力矩分配算法,对分布式驱动车辆轨迹跟踪与操纵稳定性相关执行器进行控制,提高了控制的准确性与鲁棒性,并实现了纵横向耦合控制。
Comprehensive control method for four-hub motor-driven vehicle
一种四轮毂电机驱动车辆的综合控制方法
2020-10-23
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
MOTOR-DRIVEN VEHICLE AND CONTROL METHOD FOR MOTOR-DRIVEN VEHICLE
European Patent Office | 2023
|MOTOR-DRIVEN VEHICLE AND CONTROL METHOD FOR MOTOR-DRIVEN VEHICLE
European Patent Office | 2019
|European Patent Office | 2020
|Motor-driven vehicle and control method for motor-driven vehicle
European Patent Office | 2022
|European Patent Office | 2025
|