Intelligent steering control method for electric vehicles with dual hub motors

Abstract

The invention discloses an intelligent steering control method for an electric vehicle with two hub motors and relates to the control of driving stability of the vehicle with improved steering performance. The intelligent steering control method utilizes a staged strategy to divide the speed of the vehicle into three stages to cope with steering situations at different speeds, wherein the speed isless than 20km / h in a low-speed stage; the speed is greater than or equal to 20km / h and less than or equal to 40km / h in a medium-speed stage; and the speed is greater than 40km / h in a high-speed stage. Through the correspondence to different sliding-mode controllers which comprise a centroid deflection angle sliding-mode controller, a combined sliding-mode controller and a yaw rate sliding-mode controller and through the torque distribution, the intelligent steering control is achieved so as to overcome the defects in the prior art that the stability of the whole vehicle, the real-time performance of steering and safe steering requirements in different speed stages can not be ensured at the same time in the steering process of the vehicle, and that the robustness of open-loop control is poor.

Description

technical field [0001] The technical solution of the invention relates to the control of vehicle driving stability for improving steering performance, in particular to an intelligent steering control method for electric vehicles with dual hub motors. Background technique [0002] Nowadays, cars have become an indispensable means of transportation in people's lives, and the ensuing environmental pollution problems have become increasingly serious. The exhaust emission of traditional vehicles has become one of the important factors of environmental pollution. At the same time, due to the depletion of petroleum energy, the advantages of electric vehicles are gradually emerging. At the same time, people's requirements for cars are also becoming more humanized, hoping that cars will become safer, more comfortable and more intelligent. Due to its distributed drive mode, in-wheel motor electric vehicles can completely replace the complicated steering control methods of traditional...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide an intelligent steering control method for electric vehicles with dual hub motors, which adopts a gradient strategy to deal with steering situations at different vehicle speeds, and achieves intelligent steering by corresponding to different sliding mode controllers and torque distribution. Steering control overcomes the requirements of the existing technology that the stability of the whole vehicle, the real-time steering and safe steering at different speed stages cannot be guaranteed at the same time during the steering process of the car in the prior art, and it is the open-loop control. Poor Rod Defect

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