The invention discloses a method for stably controlling the straight driving direction of a distributed driving electric vehicle, the method comprises the following steps: determining an abnormal yawing moment generated during straight driving of the vehicle according to a ratio of wheel speed change rates of wheels on two sides of a reference axle, and utilizing a sliding mode variable structure controller to control wheels of the reference axle to deflect by a steering angle to form compensation torque for compensating the abnormal yawing torque, wherein the reference axle comprises a front axle and/or a rear axle. The sliding mode variable structure controller is adopted to control the wheel steering of the axle causing the abnormal yawing moment for deflection compensation, it is guaranteed that friction driving force generated by all the wheels is the same, and the vehicle can stably run in a straight line.
本发明公开了一种分布式驱动电动汽车直驶方向稳定控制方法,包括:根据基准车轴的两侧车轮的轮速变化率比值,确定车辆直驶时产生的异常横摆力矩,采用滑模变结构控制器控制所述基准车轴的车轮偏转一转向角对所述异常横摆力矩形成补偿力矩进行补偿,所述基准车轴包括前轴和/或后轴。本发明采用滑模变结构控制器控制引起异常横摆力矩的车轴的车轮转向进行偏转补偿,保证各轮产生摩擦驱动力相同,使车辆直线行驶稳定。
Method for stably controlling straight driving direction of distributed driving electric vehicle
分布式驱动电动汽车直驶方向稳定控制方法
2021-08-31
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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