The invention discloses an electric vehicle control method, computer equipment and a computer readable storage medium, and relates to the technical field of vehicle control, and the method comprises the following steps: constructing a vehicle transverse dynamics model; constructing a unified yaw velocity control reference with a front wheel steering angle constraint variable, a weight coefficient and operation stability collaboration; constructing a Lyapunov function and an auxiliary control rate based on a unified yaw velocity control reference following error, and constructing a contraction constraint and a Lyapunov-based NMPC DYC model; the inequality constraint of the NMPC DYC model is converted into equivalent cost, a control sequence and a state trajectory are calculated, and an unconstrained NMPC DYC model is optimized through a double-loop iteration LQR method; constructing a longitudinal vehicle speed proportional-integral control model based on the deviation between the expected vehicle speed and the actual vehicle speed to calculate an expected total driving torque demand; and constructing a torque distribution model, and calculating a torque command of each wheel so as to carry out closed-loop control on the vehicle. According to the invention, the cooperative performance of vehicle maneuverability and stability can be effectively improved.
本发明公开了一种电动汽车控制方法、计算机设备及计算机可读存储介质,涉及车辆控制技术领域,所述方法包括:构建车辆横向动力学模型;构建前轮转角约束变量、权重系数及操稳性协同的统一横摆角速度控制参考;构建基于统一横摆角速度控制参考跟随误差的李雅普诺夫函数及辅助控制率,构建收缩约束及基于李雅普诺夫的NMPC DYC模型;将NMPC DYC模型的不等式约束转化为等效代价,计算控制序列及状态轨迹,并通过双环迭代LQR方法优化无约束NMPC DYC模型;构建基于预期车速与实际车速偏差的纵向车速比例‑积分控制模型,以计算预期总驱动力矩需求;构建力矩分配模型,并计算各轮力矩命令以对车辆进行闭环控制。采用本发明可有效提升车辆操纵性与稳定性协同性能。
Electric vehicle control method, computer equipment and computer readable storage medium
电动汽车控制方法、计算机设备及计算机可读存储介质
2024-07-19
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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