Differential power-assisted steering control system and method of distributed driving electric vehicle

Abstract

The invention relates to a differential power-assisted steering control system and method of a distributed driving electric vehicle. The system comprises a left-right front wheel differential power-assisted steering control module, an additional yaw moment force calculation module, a torque vector control additional yaw moment force calculation module, a left-right rear wheel torque distribution module and a motor control module; the left-right front wheel differential assisted steering control module conducts closed-loop control to obtain the torque of a left front wheel and the torque of a right front wheel according to the reference steering wheel moment force and the practical steering wheel moment force; the additional yaw moment force calculation module calculates additional yaw moment force generated by the left front wheel and the right front wheel according to the torque of the left front wheel and the torque of the right front wheel; the torque vector control additional yaw moment force calculation module calculates the generalized yaw moment force needed by the vehicle according to the vehicle state; the left-right rear wheel torque distribution module conducts distribution to obtain the torque of a left rear wheel and the torque of a right rear wheel according to the additional yaw moment force and the generalized yaw moment force needed by the vehicle; and the motor control module controls corresponding driving motors according to the torque of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel. Compared with the prior art, according to the differential power-assisted steering control system and method of the distributed driving electric vehicle, the power-assisted steering function is conveniently achieved, improvement of low-middle-vehicle-speed steering handiness and middle-high-vehicle-speed driver road feel is achieved while the manipulating burden of a driver is reduced, and vehicle manipulating performance is improved.

Description

technical field [0001] The invention relates to a differential power steering control system and method for an electric vehicle, in particular to a differential power steering control system and method for a distributed drive electric vehicle. Background technique [0002] The steering performance of a car is one of the most important performances in the driving process of a car. It has been valued by people for a long time. With the development of car technology, improving the driver's handling experience has attracted more and more attention. The discovery of automobile steering system has gone through stages such as mechanical steering type, hydraulic power assist type, electronic hydraulic power assist type and electric power assist type. However, both the electric power steering technology and the steering-by-wire technology need to install an additional power-assisted motor to complete the steering process of the vehicle. This is very suitable for vehicles powered by ...

AI Technical Summary

Problems solved by technology

However, previous studies often ignored the interference of the yaw moment generated by the left and right motors of the front axle while meeting the demand for differential power assistance on the yaw motion of the vehicle, and the advantages of the four-wheel distributed drive have not been fully utilized.

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