CN104554255A - Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis - Google Patents

Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis Download PDF

Info

Publication number
CN104554255A
CN104554255A CN201310494776.9A CN201310494776A CN104554255A CN 104554255 A CN104554255 A CN 104554255A CN 201310494776 A CN201310494776 A CN 201310494776A CN 104554255 A CN104554255 A CN 104554255A
Authority
CN
China
Prior art keywords
control system
controller
wheel
attitude
decoupling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310494776.9A
Other languages
Chinese (zh)
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang University of Technology
Original Assignee
Shenyang University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang University of Technology filed Critical Shenyang University of Technology
Priority to CN201310494776.9A priority Critical patent/CN104554255A/en
Publication of CN104554255A publication Critical patent/CN104554255A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention provides a dynamic decoupling method for an active safety integrated control system of a four-wheel drive electric automobile chassis. The dynamic decoupling method is characterized in that the system comprises a driver operating platform, an attitude parameter target value generation unit, an automobile side slip angle observation unit, a yaw velocity sensor, an attitude controller, a decoupling compensating unit, an active front-wheel steering system, a torque distribution controller, a left front wheel, a right front wheel, a left rear-wheel hub motor and a control system thereof, and a right rear-wheel hub motor and a control system thereof. The control method includes that the attitude parameter target value generation unit receives a driver operating signal and calculates an attitude parameter target value; the attitude controller controls the automobile side slip angle and the yaw velocity to dynamically track the target value to form integration of active steering control and direct yawing moment control; the decoupling compensating unit calculates decoupling compensation quantity through inverse operation to reduce mutual interface in the integrated system. The dynamic decoupling method has the advantages that a method combining the integrated control with dynamic decoupling is utilized, and accordingly, control stability of an automobile is improved.

Description

Four-wheel full drive electric automobile chassis active safety integrated control system dynamic decoupling method
 
Technical field
The invention discloses a kind of chassis active safety integrated control system dynamic decoupling method being applied to the full drive electric automobile of four-wheel.
Background technology
Four-wheel drives entirely (four wheel drive, 4WD) four wheels of electric automobile individual drive characteristic makes traditional chassis control technology be difficult to adapt to, four drive wheels and steering swivel system combined action, can independently regulate separately simultaneously, also for the raising of automobile controller performance provides larger space;
On conventional fuel oil automobile, active front wheel steering controls existing comparatively ripe application, and system turns to as automobile provides a side direction balancing force by adjustment vehicle, corrects the side slip angle of automobile, the handling of lifting vehicle; But for four-wheel whole district electronlmobil, because two front-wheel moments independently control, cause wheel steering system more direct with associating of four-wheel traction system, only control steering swivel system be difficult to obtain with orthodox car compare favourably handling;
Direct yaw moment control then regulates vehicular four wheels tractive force, forms variable yaw moment, the weaving of dynamic adjustments vehicle, improves vehicle stability, prevents whipping;
Two kinds of control system all can the road-holding property of lifting vehicle, active front wheel steering controls the raising biasing toward vehicle performance performance, and direct yaw moment control is more effective for improving vehicle stability, both are used alone on four motorized wheels electronlmobil, effect is still unsatisfactory, both is integrated, and forms chassis integra-ted control system, both are complementary, and vehicle can be made to obtain higher performance;
Because Vehicular turn motion can not independently regulate with vehicle yaw motion, therefore there is comparatively serious coupling phenomenon in chassis integra-ted control system, two control system interfere with each other, for addressing this problem, the present invention has connected a decoupling device after integrated manipulator, adopts neural network algorithm to reduce intercoupling of two systems.
Can coupling be produced when multiple control system acts on car chassis simultaneously, therefore need to adopt a kind of dynamic decoupling method to solve coupled problem between multiple control loop.
Summary of the invention
The invention provides a kind of chassis active safety integrated control system dynamic decoupling method being applied to the full drive electric automobile of four-wheel, its object one builds a kind of chassis integra-ted control system for the full drive electric automobile of four-wheel, improves the road-holding property of vehicle; Two is the dynamic decouplings realizing each control loop in the integrated system of chassis, reduces the mutual interference between each control loop.
The present invention is achieved through the following technical solutions:
A dynamic decoupling method for four-wheel full drive electric automobile chassis active safety integrated control system, is characterized in that: this system comprises pilot control platform, attitude parameter expected value generation unit, vehicle centroid sideslip angle observing unit, yaw-rate sensor, attitude controller, decoupling compensation unit, active front steering system, torque distribution controller, the near front wheel wheel hub motor and control system, off front wheel wheel hub motor and control system thereof, left rear wheel wheel hub motor and control system, off hind wheel wheel hub motor and control system thereof.
Described pilot control platform is connected to attitude parameter expected value generation unit, and attitude parameter expected value generation unit calculates the vehicle centroid sideslip angle and yaw velocity that ensure that vehicle safety is stable according to vehicular drive instruction and preset vehicle parameter.
Described vehicle centroid sideslip angle observing unit, the attitude of yaw-rate sensor Real-time Obtaining vehicle.
Described attitude parameter expected value generation unit and vehicle centroid sideslip angle observing unit, yaw-rate sensor are connected to attitude controller jointly, attitude controller generates the expected value of front-wheel steering compensation rate and yaw moment compensation rate, dynamic adjustments vehicle attitude.
Described torque distribution controller calculates four-wheel traction electric machine torque target value separately according to the yaw compensated torque gauge that attitude controller exports.
Described torque distribution controller connects the near front wheel wheel hub motor and control system thereof, off front wheel wheel hub motor and control system thereof, left rear wheel wheel hub motor and control system thereof, off hind wheel wheel hub motor and control system thereof, the motor target torque value that torque distribution controller exports dynamically is followed the tracks of in the torque that four turbin generator pull-in control systems control four traction electric machines.
As a kind of preferred version, the dynamic decoupling method of described four-wheel full drive electric automobile chassis active safety integrated control system, is characterized in that: decoupling compensation unit comprises forward decoupling controller and weight generator.
As a kind of preferred version, the dynamic decoupling method of described four-wheel full drive electric automobile chassis active safety integrated control system, it is characterized in that: the structure of decoupling controller adopts 4 input nodes and two output node composition dynamic neural networks, wherein comprise two integrators in input node, forward decoupling controller is the forward process of neural network, and weight generator is the reverse weighed value adjusting process of neural network.
With the control method that above-mentioned four-wheel full drive electric automobile chassis active safety integrating control decoupling device is supporting, can perform successively as follows:
(1) driver control instruction transformation becomes two signals to export by pilot control platform, i.e. the target velocity V of vehicle and target rotation angle ;
(2) attitude parameter expected value generation unit is according to the target velocity V of vehicle and target rotation angle and built-in vehicle parameter calculates the expected value of attitude parameter side slip angle β and yaw velocity γ, as Setting signal β * and the γ * of attitude controller;
(3) current of electric that records according to four-wheel traction motor current sensor of vehicle centroid sideslip angle observing unit and vehicle front wheel steering angle, real-time monitored side slip angle;
(4) the yaw velocity γ observed reading that records of the observed value of side slip angle β and yaw-rate sensor is as the live signal of two attitude parameters, become the feedback quantity of attitude controller, attitude controller calculates according to the deviometer of Setting signal and feedback quantity and controls to export---the object variations amount of side slip angle and yaw velocity and;
(5) weight generator obtains the weights of forward decoupling controller according to the live signal of side slip angle β and yaw velocity and expected value; Output two control signals are calculated by attitude controller with , and with with integration form four inpuies of forward decoupling controller, in forward decoupling controller, be weighted summation, obtain controlling output corner and compensate and yaw moment compensation;
(6) corner compensatory control is through active front steering system dynamic adjustments front wheel steering angle;
(7) torque distribution controller is by optimizing, and is calculated the expected value of four wheel hub motor torques by yaw compensated torque gauge;
(8) four turbin generator traction systems control the expected value that motor dynamics follows the tracks of torque.
Active front wheel steering controls and direct yaw moment control is integrated in the road-holding property that car chassis effectively can improve vehicle simultaneously, series connection dynamic Decoupling Control of Load Torque device thereafter then reduces the interference that intercouples of active front wheel steering control and direct yaw moment control two system, improves the road-holding property of vehicle better.
accompanying drawing illustrates:
Fig. 1 is the independent full drive electric automobile chassis integra-ted control system architecture schematic diagram of four-wheel of the present invention;
Fig. 2 is decoupling controller structural representation;
Description of reference numerals:
1. pilot control platform 2. vehicle centroid sideslip angle observing unit 3. yaw-rate sensor 4. attitude parameter expected value generation unit 5. attitude controller 6. decoupling compensation unit 7 active front steering system 8. torque distribution controller 9. the near front wheel wheel hub motor and control system 10. off front wheel wheel hub motor thereof and control system 11. left rear wheel wheel hub motor thereof and control system 12. off hind wheel wheel hub motor thereof and control system 13. integrator 14. integrator 16. forward decoupling controller 15. weight generator thereof.
detailed description of the invention:
Pilot control platform (1) exports driver control instruction: vehicle target speed V and target rotation angle attitude parameter expected value generation unit (4) is utilized to generate the expected value of attitude parameter side slip angle β and yaw velocity γ, as Setting signal β * and the γ * of attitude controller, feedback quantity is observed value and yaw-rate sensor (3) the output yaw velocity γ actual measured amount of vehicle centroid sideslip angle observing unit (2) Real-time Obtaining side slip angle β, obtains controlling to export by attitude controller (5)---the object variations amount of side slip angle and yaw velocity.
Weight generator (15) obtains the weights of forward decoupling controller (16) according to car load attitude parameter and expected value;
By two four inpuies exporting and form forward decoupling controller (16) respectively through two integrators of attitude controller (5), in forward decoupling controller (16), be weighted summation, calculate Vehicular turn angle compensation amount and yaw moment compensation rate;
Active front steering system (7) carries out dynamic adjustments according to corner compensation rate;
Yaw moment compensates then by torque distribution controller (8), generates the torque target value Tq1 of four wheel hub motors, Tq2, Tq3, Tq4 respectively;
Torque target value Tq1, Tq2, Tq3, Tq4 are dynamically followed the tracks of in the torque that four turbin generator pull-in control system (9) (10) (11) (12) control four traction electric machines respectively.

Claims (4)

1. the dynamic decoupling method of a four-wheel full drive electric automobile chassis active safety integrated control system, it is characterized in that: this system comprises pilot control platform (1), attitude parameter expected value generation unit (4), vehicle centroid sideslip angle observing unit (2), yaw-rate sensor (3), attitude controller (5), decoupling compensation unit (6), active front steering system (7), torque distribution controller (8), the near front wheel wheel hub motor and control system (9) thereof, off front wheel wheel hub motor and control system (10) thereof, left rear wheel wheel hub motor and control system (11) thereof, off hind wheel wheel hub motor and control system (12) thereof,
Described pilot control platform (1) is connected to attitude parameter expected value generation unit (4), and attitude parameter expected value generation unit (4) calculates the vehicle centroid sideslip angle and yaw velocity that ensure that vehicle safety is stable according to vehicular drive instruction and preset vehicle parameter;
Described vehicle centroid sideslip angle observing unit (2), the attitude of yaw-rate sensor (3) Real-time Obtaining vehicle;
Described attitude parameter expected value generation unit (4) and vehicle centroid sideslip angle observing unit (2), yaw-rate sensor (3) are connected to attitude controller (5) jointly, attitude controller generates the expected value of front-wheel steering compensation rate and yaw moment compensation rate, dynamic adjustments vehicle attitude;
Described torque distribution controller (8) calculates four-wheel traction electric machine torque target value separately according to the yaw compensated torque gauge that attitude controller (5) exports;
Described torque distribution controller (8) connects the near front wheel wheel hub motor and control system (9) thereof, off front wheel wheel hub motor and control system (10) thereof, left rear wheel wheel hub motor and control system (11) thereof, off hind wheel wheel hub motor and control system (12) thereof, four turbin generator pull-in control system (9) (10) (11) (12) control the torque of four traction electric machines and dynamically follow the tracks of the motor target torque value that torque distribution controller (8) exports.
2. the dynamic decoupling method of four-wheel according to claim 1 full drive electric automobile chassis active safety integrated control system, it is characterized in that: the building method of decoupling controller: adopt 4 input nodes and two output node composition dynamic neural networks, wherein comprise two integrators (13), (14) in input node, the forward process that forward decoupling controller (16) is neural network, the reverse weighed value adjusting process that weight generator (15) is neural network.
3. the dynamic decoupling method of four-wheel according to claim 1 full drive electric automobile chassis active safety integrated control system, is characterized in that: concrete grammar of the present invention is as follows:
Pilot control platform (1) exports driver control instruction: vehicle target speed V and target rotation angle attitude parameter expected value generation unit (4) is utilized to generate the expected value of attitude parameter side slip angle β and yaw velocity γ, as Setting signal β * and the γ * of attitude controller, feedback quantity is that the observed value of vehicle centroid sideslip angle observing unit (2) Real-time Obtaining side slip angle β and yaw-rate sensor (3) export yaw velocity γ actual measured amount, obtains controlling to export by attitude controller (5)---the object variations amount of side slip angle and yaw velocity and.
4. decoupling compensation unit according to claim 2 comprises two parts: forward decoupling controller (16) and weight generator (15);
Weight generator (15) obtains the weights of forward decoupling controller (16) according to car load attitude parameter and expected value;
By two four inpuies exporting and form forward decoupling controller (16) respectively through two integrators of attitude controller (5), in forward decoupling controller (16), be weighted summation, calculate Vehicular turn angle compensation amount and yaw moment compensation rate;
Active front steering system (7) carries out dynamic adjustments according to corner compensation rate;
Yaw moment compensates then by torque distribution controller (8), generates the torque target value Tq1 of four wheel hub motors, Tq2, Tq3, Tq4 respectively; Torque target value Tq1, Tq2, Tq3, Tq4 are dynamically followed the tracks of in the torque that four turbin generator pull-in control system (9) (10) (11) (12) control four traction electric machines respectively.
CN201310494776.9A 2013-10-22 2013-10-22 Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis Pending CN104554255A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310494776.9A CN104554255A (en) 2013-10-22 2013-10-22 Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310494776.9A CN104554255A (en) 2013-10-22 2013-10-22 Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis

Publications (1)

Publication Number Publication Date
CN104554255A true CN104554255A (en) 2015-04-29

Family

ID=53071605

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310494776.9A Pending CN104554255A (en) 2013-10-22 2013-10-22 Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis

Country Status (1)

Country Link
CN (1) CN104554255A (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105882741A (en) * 2016-05-24 2016-08-24 辽宁工业大学 Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method
CN108107731A (en) * 2017-12-18 2018-06-01 长春工业大学 A kind of Vehicle Stability Control method based on Tire nonlinearity characteristic
CN108107732A (en) * 2017-12-18 2018-06-01 长春工业大学 Active front wheel steering and the united Vehicle Stability Control method of direct yaw moment
CN108248601A (en) * 2018-01-10 2018-07-06 大连理工大学 A kind of steering stability control system and method based on four motorized wheels electric vehicle
CN108622094A (en) * 2017-03-17 2018-10-09 马自达汽车株式会社 The control device of vehicle
CN109291803A (en) * 2018-08-21 2019-02-01 沈阳工业大学 The stability control method virtually taken turns based on the full drive electric automobile of four-wheel
CN109343531A (en) * 2018-11-08 2019-02-15 北京天隼图像技术有限公司 Vehicular chassis system and automatic driving vehicle comprising it
WO2019042141A1 (en) * 2017-08-29 2019-03-07 清华大学 Centralised-distributed control system for four-wheel independently driven and independently steered electric vehicle
CN110058518A (en) * 2019-04-04 2019-07-26 江苏大学 A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive
CN111231984A (en) * 2020-02-15 2020-06-05 江苏大学 Four-wheel steering intelligent automobile pseudo-decoupling controller and control method thereof
CN111391822A (en) * 2020-03-27 2020-07-10 吉林大学 Automobile transverse and longitudinal stability cooperative control method under limit working condition
CN111873985A (en) * 2019-05-29 2020-11-03 长春工业大学 Integrated chassis control method of four-wheel drive electric automobile
CN113009829A (en) * 2021-02-25 2021-06-22 清华大学 Longitudinal and transverse coupling control method for intelligent internet motorcade

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040024565A1 (en) * 2002-08-05 2004-02-05 Jingsheng Yu Vehicle operating parameter determination system and method
DE102010017704A1 (en) * 2010-07-02 2012-01-05 Ford Global Technologies, Llc. Driving dynamics controller for e.g. active steering system of motor vehicle, has compensation unit computing compensation term, where compensation term of control accomplished by feedback control unit is superimposed
CN102336189A (en) * 2011-06-10 2012-02-01 合肥工业大学 Decoupling control method applied to automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system
CN103223940A (en) * 2013-05-02 2013-07-31 北京航空航天大学 Electric car coordination control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040024565A1 (en) * 2002-08-05 2004-02-05 Jingsheng Yu Vehicle operating parameter determination system and method
DE102010017704A1 (en) * 2010-07-02 2012-01-05 Ford Global Technologies, Llc. Driving dynamics controller for e.g. active steering system of motor vehicle, has compensation unit computing compensation term, where compensation term of control accomplished by feedback control unit is superimposed
CN102336189A (en) * 2011-06-10 2012-02-01 合肥工业大学 Decoupling control method applied to automobile AFS (Active Front Steering) and ESP (Electronic Stability Program) integrated system
CN103223940A (en) * 2013-05-02 2013-07-31 北京航空航天大学 Electric car coordination control system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
丁惜瀛等: "基于神经网络的4WD电动汽车AFS/DYC解耦控制研究", 《大功率变流技术》 *

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105882741A (en) * 2016-05-24 2016-08-24 辽宁工业大学 Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method
CN108622094B (en) * 2017-03-17 2021-05-18 马自达汽车株式会社 Vehicle control device
CN108622094A (en) * 2017-03-17 2018-10-09 马自达汽车株式会社 The control device of vehicle
WO2019042141A1 (en) * 2017-08-29 2019-03-07 清华大学 Centralised-distributed control system for four-wheel independently driven and independently steered electric vehicle
CN108107731A (en) * 2017-12-18 2018-06-01 长春工业大学 A kind of Vehicle Stability Control method based on Tire nonlinearity characteristic
CN108107732A (en) * 2017-12-18 2018-06-01 长春工业大学 Active front wheel steering and the united Vehicle Stability Control method of direct yaw moment
CN108107731B (en) * 2017-12-18 2020-02-11 长春工业大学 Automobile stability control method based on tire nonlinear characteristics
CN108248601A (en) * 2018-01-10 2018-07-06 大连理工大学 A kind of steering stability control system and method based on four motorized wheels electric vehicle
CN109291803A (en) * 2018-08-21 2019-02-01 沈阳工业大学 The stability control method virtually taken turns based on the full drive electric automobile of four-wheel
CN109343531A (en) * 2018-11-08 2019-02-15 北京天隼图像技术有限公司 Vehicular chassis system and automatic driving vehicle comprising it
CN110058518A (en) * 2019-04-04 2019-07-26 江苏大学 A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive
CN111873985A (en) * 2019-05-29 2020-11-03 长春工业大学 Integrated chassis control method of four-wheel drive electric automobile
CN111873985B (en) * 2019-05-29 2021-07-20 长春工业大学 Integrated chassis control method of four-wheel drive electric automobile
CN111231984A (en) * 2020-02-15 2020-06-05 江苏大学 Four-wheel steering intelligent automobile pseudo-decoupling controller and control method thereof
CN111231984B (en) * 2020-02-15 2021-07-20 江苏大学 Four-wheel steering intelligent automobile pseudo-decoupling controller and control method thereof
CN111391822A (en) * 2020-03-27 2020-07-10 吉林大学 Automobile transverse and longitudinal stability cooperative control method under limit working condition
CN111391822B (en) * 2020-03-27 2022-06-24 吉林大学 Automobile transverse and longitudinal stability cooperative control method under limit working condition
CN113009829A (en) * 2021-02-25 2021-06-22 清华大学 Longitudinal and transverse coupling control method for intelligent internet motorcade

Similar Documents

Publication Publication Date Title
CN104554255A (en) Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis
US11021158B2 (en) Vehicle dynamics control system in a motor vehicle and electronic vehicle dynamics control unit for a vehicle dynamics control system
CN107472082B (en) driving torque distribution method and system of four-wheel drive electric automobile and electric automobile
CN102658812B (en) Composite braking phase plane anti-lock control method for electrical driven automobile
CN104175902B (en) The torque distribution control method of electric wheel truck wheel hub motor torque-split system
CN106985813B (en) A kind of stability integrated control method of intelligence wheel electric drive automobile
CN107161210B (en) A kind of differential power-assisted steering control system and method for distributed-driving electric automobile
CN105936273B (en) Between automobile-used active torque wheel, between centers distribution method
US20130211678A1 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
CN109291803B (en) Stability control method based on four-wheel all-wheel-drive electric vehicle virtual wheel
CN108859862B (en) Self-adaptive drive control system of distributed drive cross-country vehicle
CN110466604B (en) Control method for differential driving steering and stability of electric automobile driven by hub motor
US20140379220A1 (en) Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
CN106882080B (en) Differential steering system and adaptive neural network fault-tolerant control method thereof
CN102975714B (en) A kind of elec. vehicle chassis system
KR101305124B1 (en) Vehicle dynamic performance improvement apparatus and method for the same
CN107992681A (en) A kind of Compound Control Strategy of electric automobile active nose wheel steering
CN106227189A (en) A kind of Two axle drive electric automobile hardware-in-the-loop test system synchronization control method
CN105774902A (en) Automobile power steering control device with fault-tolerant function and control method
CN102975631B (en) The full drive electric automobile axle saturation compensation attitude control system of four-wheel and control method
KR20210014821A (en) Wheel slip control method for vehicle
WO2023087900A1 (en) Vehicle, and control method and apparatus for front-wheel drive of steer-by-wire system therefor
CN107380256B (en) The steering traffic control method of driven plate transport vehicle
CN106166960A (en) The side slip angle control method of four motorized wheels electric automobile
Jian-Guo et al. The research of stability performance of 4WD vehicles basing on electric wheels torque control

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20150429