Electric vehicle electronic differential control method based on Ackerman steering correction

A technology of electronic differential speed control and electric vehicles, which is applied in the direction of steering mechanism, electric steering mechanism, power steering mechanism, etc., and can solve problems such as failure of electronic differential speed system, large steering error of vehicle, vehicle instability, etc.

Active Publication Date: 2020-05-15
DALIAN UNIV OF TECH
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  • Abstract
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Problems solved by technology

However, the Ackerman steering of traditional vehicles is based on the assumption of tire rigidity, ignoring the influence of tire elastic side deflection on vehicle steering, which will lead to a large steering error of the vehicle, which will lead to the electronic differential system based on the traditional Ackerman steering model. The corresponding large wheel speed error, and the existence of the slip rate will also cause a large error in the wheel speed (translational velocity of the wheel center), which will cause the electronic differential system of the distributed drive electric vehicle to fail, resulting in the vehicle in the Unsteady when turning

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  • Electric vehicle electronic differential control method based on Ackerman steering correction
  • Electric vehicle electronic differential control method based on Ackerman steering correction
  • Electric vehicle electronic differential control method based on Ackerman steering correction

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Embodiment Construction

[0084] The present invention will be further described below in conjunction with the accompanying drawings.

[0085] The present invention mainly corrects the traditional Ackermann steering principle to obtain the Ackermann steering principle considering tire cornering characteristics, and then obtains the corrected expected steering angle of the inner and outer steering wheels of the front axle of the vehicle, thereby improving the steering of the vehicle. Control accuracy, and design the PSO-BPNN-PID control algorithm to design the wheel speed controller to improve the robustness of the wheel speed control. The combination of the two improves the stability and adaptability of the electronic differential system of distributed drive electric vehicles. Main steps of the present invention are as follows:

[0086] first step, such as figure 1 As shown, the traditional Ackermann steering principle is analyzed, and the relationship between the steering angle of the inner and oute...

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Abstract

The invention discloses an electric vehicle electronic differential control method based on Ackerman steering correction. The electric vehicle electronic differential control method comprises the following steps: correcting the Ackerman steering principle; establishing an electronic differential steering model; designing a wheel speed controller; and designing a tire slip rate controller. According to the invention, the traditional Ackerman steering principle is corrected to obtain the corrected Ackerman steering principle under the lateral deviation of a tire and corrected steering angles ofan inner side wheel and an outer side wheel of the front axle of a vehicle, so that the steering control accuracy of the vehicle is improved. The expected four-wheel rotating speed under the conditionof correcting the steering angles of the inner side wheel and the outer side wheel of the front axle of the vehicle is obtained under the condition of correcting the Ackerman steering principle, andthe rotating speed control accuracy and effectiveness of a hub motor are improved. According to the invention, under the consideration of the influence of the tire slip rate, the accuracy of electronic differential control under the influence of the slip rate is improved through conversion control of the wheel speed to the wheel rotating speed. According to the invention, the PID control has self-adaptability, and the robustness and stability of the electronic differential system are improved.

Description

technical field [0001] The invention relates to the field of automatic driving differential control, in particular to an electric vehicle electronic differential control method based on Ackermann steering correction. Background technique [0002] In view of the current problems of road congestion and frequent traffic accidents, the research on intelligent driving control provides a possible solution. At the same time, as a new energy vehicle, distributed drive electric vehicles can effectively reduce energy crisis and environmental pollution, and its unique structural advantages provide broad prospects for improving vehicle power, stability and safety. Among them, the application of electronic differential technology provides a solution to reduce the weight of the vehicle, improve the energy recovery rate, increase the cruising range of the vehicle, and improve the stability of the vehicle under the extreme conditions of high speed and large turning. [0003] Ackerman steer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B62D11/04
CPCB62D5/0418B62D5/0463B62D11/003B62D11/04
Inventor 郭烈陈俊杰赵一兵岳明冯金盾
Owner DALIAN UNIV OF TECH
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