Distributed driving electronic differential self-adaptive control system

Abstract

The invention discloses a distributed driving electronic differential self-adaptive control system. The system comprises a power supply device, an accelerator pedal, a steering wheel and corner sensor, a vehicle speed estimator, a signal preprocessor, an electronic differential controller, a motor controller, a wheel speed sensor, an accelerator pedal sensor, a brake pedal sensor, a driving motor,an input signal processing module, a whole vehicle driving control module and a driving torque output module; wherein the input signal processing module is connected with the whole vehicle driving control module, and the whole vehicle driving control module is connected with the driving torque output module. The whole vehicle coordination control model and strategy of a double-layer structure with the upper layer as the driving force distribution layer and the lower layer as the slip rate control layer are adopted. According to different driving conditions of an automobile, wheel equal powerdistribution control, a yaw moment control strategy based on fuzzy control and a self-adaptive electronic differential control strategy based on similar wheel slip rates are used for achieving multi-mode coordination control.

Description

technical field [0001] The present invention relates to a control system, more specifically, to a distributed drive electronic differential adaptive control system. Background technique [0002] The driving, braking and steering of an electric vehicle with distributed drive is a coupled nonlinear overdrive system. Compared with the direct yaw moment control of the centralized drive, the yaw moment control of the distributed drive requires the coordinated control of the driving force / braking force of each wheel. How to improve the safety and stability of the vehicle through the torque coordination and distribution control between the wheels is the key technology for the stability control of distributed drive electric vehicles. [0003] Electronic differential control is to control the speed of the inner and outer wheels to avoid the wear of the inner wheels due to dragging. The electronic differential speed control method based on the Ackerman steering model needs to calcul...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the complex coupled nonlinear dynamic system of the distributed drive electric vehicle in the prior art, and redundant control degrees of freedom; the traditional direct yaw moment control cannot realize the coordinated distribution control of the torque between the wheels, The problem of driving slip instability is easy to occur during the driving process of the vehicle. A distributed drive electronic differential adaptive control system is provided to effectively solve the coordinated control of wheel torque and improve the safety and stability of the vehicle.

Images