The invention discloses an intelligent control method for an electric vehicle. The method comprises the steps that a second-order state equation is built according to an electric vehicle dynamics model; in order to solve the problem that the transverse speed and the yaw velocity of the electric vehicle cannot be measured and consider the influence of the front wheel steering angle on the control torque, a fuzzy state estimator is constructed to estimate the unknown parameters; in order to improve the safety of automatic driving of the electric automobile, a novel time-varying constraint method is adopted to limit changes of the transverse speed and the yaw velocity of the automobile within a certain range; the transverse control direction is difficult to determine due to the longitudinal speed change, and the unknown control direction design is introduced into the design of the controller to avoid the influence of the control direction on the stability of the automobile; finally, through strict theoretical analysis, it is proved that the control method enables the electric vehicle system to be stable within limited time, and the control target is met. Intelligent control over the automobile is achieved, and the safety and stability of the automobile are improved.
本发明公开了一种电动汽车智能控制方法,包括:根据电动汽车动力学模型构建二阶状态方程;针对电动汽车横向速度和横摆角速度不可测量的问题,并考虑前轮转向角对控制力矩影响,本发明构建了一个模糊状态估计器来估计上述未知参数;为提升电动汽车自动驾驶的安全性,本发明采用一种新型时变约束的方法将汽车横向速度和横摆角速度变化限制在一定范围内;纵向速度变化使得横向控制方向难以确定,本发明在控制器的设计中引入了未知控制方向设计避免控制方向对汽车稳定性的影响;最后,通过严格的理论分析,证明了本发明提出的控制方法在有限时间内使得电动汽车系统稳定,满足控制目标。本发明实现了汽车的智能控制,提高了车辆的安全性与稳定性。
Intelligent control method for electric vehicle
一种电动汽车智能控制方法
2024-12-06
Patent
Electronic Resource
Chinese
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