Method for Determining Driving Moment of Multi-axis Distributed Drive Articulated Bus

Abstract

The invention discloses a determination method for a driving torque of a multi-axial distributed driven articulated bus. In the determination method, influences of a trunk and an articulated angle arefully considered, a reference model is designed as a linear three-degree-of-freedom model, the combined control of a yaw velocity and the articulated angle is designed for the trunk, an ideal value obtained by calculation is more reasonable, yawing torques applied to a front compartment and the trunk are calculated, and finally a longitudinal force constraint of a vehicle, an additional yawing torque constraint of the front compartment, the additional yawing torque constraint of the trunk, a peak torque constraint of a wheel rim driven motor and a road adhesion constraint are performed by using a tire utilization rate as an optimization objective to solve the driving torque corresponding to each driving wheel when the tire utilization rate is minimum. With the determination method for thedriving torque of the multi-axial distributed driven articulated bus, the yawing stability of the articulated bus is improved, and the problem of folding drift occurring in the articulated bus in anextreme working condition, especially a high-speed low-adhesion working condition is solved.

Description

technical field [0001] The invention relates to the field of dynamic control of new energy vehicles, in particular to a method for determining the driving torque of a multi-axis distributed drive articulated bus. Background technique [0002] Multi-axis distributed pure electric articulated bus has the advantages of both pure electric bus and articulated bus, with large body capacity, strong road adaptability, better steering performance, and zero emissions. It is an ideal solution to future urban traffic problems, but due to articulated There is force coupling at the point, and the dynamic system of this type of vehicle is more complex than that of ordinary vehicles. It not only has many dynamic characteristics superior to traditional centralized drive vehicles, but also differs from general four-wheel wheel drive electric vehicles. Compared with ordinary single-carriage vehicles, there are obvious differences in handling stability, and there are problems such as folding, t...

AI Technical Summary

Problems solved by technology

Numerous studies have shown that when an articulated vehicle loses stability, the front and rear compartments will lose stability in a certain order. If folding occurs, the rear compartment will generally swing at a relatively large angle first, and then the front compartment will become unstable. At present, most studies on yaw stability control of articulated vehicles take the front compartment as the reference object, and do not consider the influence of articulation angle and rear compartment motion on vehicle stability.

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