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Time-sharing four-wheel steering system of electric vehicle driven by hub motor and control method of time-sharing four-wheel steering system

A technology of four-wheel steering and electric vehicles, which is applied to automatic steering control components, electric vehicles, non-deflectable wheel steering, etc., and can solve the problem of different driver feeling

Active Publication Date: 2019-11-19
NANJING FORESTRY UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the rear wheels participate in the steering, and the commonly used control idea is to make the vehicle's center of mass slip angle zero, it will inevitably make the driver feel different from driving a traditional front-wheel steering vehicle.

Method used

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  • Time-sharing four-wheel steering system of electric vehicle driven by hub motor and control method of time-sharing four-wheel steering system
  • Time-sharing four-wheel steering system of electric vehicle driven by hub motor and control method of time-sharing four-wheel steering system
  • Time-sharing four-wheel steering system of electric vehicle driven by hub motor and control method of time-sharing four-wheel steering system

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Embodiment Construction

[0101] Below in conjunction with accompanying drawing of description, the present invention will be further described.

[0102] The invention provides a time-sharing four-wheel steering system for an electric vehicle driven by a hub motor, such as figure 1 shown, including:

[0103] The detection module is used to detect the driving parameters of the electric vehicle, and input the driving parameters to the vehicle controller 13; wherein, the driving parameters include the steering wheel angle signal, the pedal position signal of the accelerator pedal, the driving speed signal, the front wheel angle signal and the rear wheel angle signal. wheel angle signal;

[0104] The steering mode selection switch is used for the driver to artificially select the steering mode, the steering mode includes front-wheel steering and four-wheel steering, and the selected steering mode is input to the vehicle controller 13;

[0105] The vehicle speed tracking module is used to calculate the dr...

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Abstract

The invention discloses a control method of differential drive steering and stability of an electric vehicle driven by a hub motor. By judging whether a phase track of a running vehicle exceeds the stability region or not, the vehicle in the stability region is regarded as a linear model, and the differential drive steering control of the linear model is conducted on the vehicle; the vehicle steering is actively intervened by using the generated direct yawing moment, and the vehicle outside the stable region returns to the stable state from the unstable state. According to the control method,combined control is adopted, thus a non-linear vehicle relying on the differential drive steering can well track the side slip angle and yaw rate of a reference model on the road surface with different adhesion coefficients within the allowable turning angle range of a steering wheel, the vehicle stability is effectively improved, and the traffic safety is ensured.

Description

technical field [0001] The invention relates to a steering control system and method, in particular to a time-sharing four-wheel steering system and a control method for an electric vehicle driven by a hub motor, and belongs to the technical field of electric vehicles. Background technique [0002] Wheel independent drive steering is often realized by distributed drive, which can be divided into wheel motor drive and hub motor drive according to the motor drive form. The wheel motor drive is to install the motor system near the wheel and drive the wheel through the wheel reducer; the hub motor drive is to install the hub motor in the wheel hub to directly drive the wheel. The hub motor drive vehicle integrates the drive and transmission in the hub, which not only omits the mechanical components such as clutches, transmissions, drive shafts, and differentials required by traditional vehicles, greatly simplifies the mechanical structure of the vehicle, but also improves the pe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D6/00B60L15/20B62D11/02G06F17/50B62D113/00B62D137/00
CPCB62D6/00B60L15/20B62D11/02Y02T10/72
Inventor 田杰杨标丁洁王群姚嘉凌
Owner NANJING FORESTRY UNIV
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