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Control method for steering of a vehicle driven by a four-wheel hub motor

A hub motor and control method technology, applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., can solve problems such as not being considered

Active Publication Date: 2019-01-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the control methods currently proposed, the energy consumption problem in the process of controlling the stable steering of the vehicle is usually not considered, and the energy consumption problem is one of the important issues that new energy vehicles must consider

Method used

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  • Control method for steering of a vehicle driven by a four-wheel hub motor
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  • Control method for steering of a vehicle driven by a four-wheel hub motor

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Experimental program
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Effect test

Embodiment 1

[0056] figure 1 It is a flowchart of a control method for steering a vehicle driven by four-wheel hub motors in the present invention.

[0057] see figure 1 , the method for controlling the steering of a vehicle driven by four-wheel hub motors in this embodiment includes:

[0058] Step S1: Obtain the driver input signal and the actual power information of the vehicle.

[0059] The driver input signal includes an accelerator pedal signal, a brake pedal signal and a steering wheel angle signal; the vehicle actual power information includes a vehicle actual center-of-mass side slip angle, a vehicle actual yaw rate and an actual vehicle speed.

[0060] Step S2: According to the driver input signal and the actual power information of the vehicle, an expected vehicle center-of-mass sideslip angle, an expected vehicle yaw rate, and an expected vehicle speed are obtained.

[0061] Described step S2 specifically comprises:

[0062] Establish a two-degree-of-freedom vehicle dynamics...

Embodiment 2

[0122] The steering control method of the vehicle driven by the four-wheel hub motors in this embodiment is realized by designing a multi-level control structure. figure 2 It is a schematic diagram of the multi-level control structure of the present invention, see figure 2 , the structure includes: reference output layer, instruction generation layer and torque distribution layer. image 3 It is a schematic diagram of a steering control method for a vehicle driven by four-wheel hub motors in the present invention.

[0123] Reference output layer:

[0124] This layer establishes a two-degree-of-freedom vehicle dynamics reference model, and obtains the expected vehicle mass center side according to the driver input signal (acceleration pedal signal, brake pedal signal, and steering wheel angle signal), the vehicle's actual mass center side slip angle, and the vehicle's actual yaw rate. Declination angle and expected vehicle yaw rate; according to the vehicle actual center of...

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Abstract

The invention discloses a control method for steering of a vehicle driven by a four-wheel hub motor, which comprises the following steps: obtaining driver input signal and actual vehicle power information; calculating a desired vehicle center of mass lateral deflection angle, a desired vehicle yaw angular speed and a desired vehicle speed; the lateral deviation of mass center, yaw angular velocitydeviation and vehicle speed deviation are calculated. PID control algorithm and fuzzy PID control algorithm are used to generate virtual control commands according to the deviation of side deflectionangle of mass center, deviation of yaw angular velocity and deviation of vehicle speed. The objective functions of vehicle tire adhesion utilization ratio and vehicle energy consumption are established. The first layer torque distribution optimization function and the second layer torque distribution optimization function are established according to the virtual control command and the objectivefunction. The two-layer torque distribution optimization function is used to distribute the torque among the four hub motors to control the vehicle steering. The invention can ensure stable steering of a vehicle driven by a four-wheel hub motor and minimize energy consumption in the steering process.

Description

technical field [0001] The invention relates to the field of new energy technologies, in particular to a control method for steering a vehicle driven by four-wheel hub motors. Background technique [0002] With the increasingly serious problems of environmental pollution and energy shortage, more and more attention has been paid to efficient and environmentally friendly electric vehicles. Among them, the four-wheel hub motor-driven electric vehicle is a new type of electric vehicle, which is independently driven by four hub motors installed on the wheels. It has stable power output, many controllable degrees of freedom, high energy utilization efficiency, and short power transmission chain. With the advantages of compact structure, its distributed drive form provides a wider range of possibilities for the safety and energy-saving control of the vehicle, and can achieve vehicle power and handling performance that cannot be achieved under the independent drive form of traditio...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D101/00B62D137/00
CPCB62D6/00
Inventor 翟丽侯如非
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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