Yawing motion control method of four-wheel distribution type drive coach

Abstract

The invention discloses a yawing motion control method of a four-wheel distribution type drive coach, and relates to the technical field of vehicle control. A layered control method is adopted, the upper layer is a motion tracking layer, steering response of a steady state of the vehicle is calculated by adopting a non-linear vehicle model and the reference understeer degree, meanwhile, a road attachment condition limiting value is adopted for constraint, and steady-state lateral force response and tire self-aligning torque response are calculated with a magic tire formula according to slip angle response at the steady state and vertical load change; needed additional yawing moment is calculated with a yawing motion balance equation; a lower layer is an actuator control layer, and generalized control force is reasonably distributed to four drive motors with an optimization algorithm through combination with the current driving condition; finally, offline distribution calculation results of different vehicle parameters needed on different upper layers are stored and looked up offline, four driving wheels are subjected to torque distribution according to road attachment conditions, yawing motion of the vehicle is controlled, and driving stability is guaranteed.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a yaw motion control method of a four-wheel distributed drive passenger car. Background technique [0002] During the normal driving process of a traditional center-driven pure electric vehicle, the left and right drive wheels maintain a state of differential speed and equal moment through the differential at all times. The working state is controlled according to the road conditions, and the VCU of the whole vehicle cannot be forcibly changed. Therefore, there will be insufficient control of the vehicle's motion state. Distributed drive vehicles, especially four-wheel drive systems, since each drive wheel can be independently controlled, this greatly enhances the driver's control over the vehicle, and also increases the controllability of the vehicle's stability. How to coordinate the four driving motors according to the driving conditions to maintain the yaw stability ...

AI Technical Summary

Problems solved by technology

The working state is controlled according to the road conditions, and the VCU of the whole vehicle cannot be forcibly changed. Therefore, there will be insufficient control of the vehicle's motion state.

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