CN105539426B - Dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle - Google Patents

Dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle Download PDF

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Publication number
CN105539426B
CN105539426B CN201610006961.2A CN201610006961A CN105539426B CN 105539426 B CN105539426 B CN 105539426B CN 201610006961 A CN201610006961 A CN 201610006961A CN 105539426 B CN105539426 B CN 105539426B
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wheel
vehicle
yaw
bridge
magnet synchronous
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CN105539426A (en
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胡纪滨
李雪原
彭增雄
魏超
倪俊
唐寿星
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • 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
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Abstract

The invention belongs to vehicle dynamics stability control system field, and vehicle is driven for 8 × 8 multiaxis distributed dynamoelectrics, specifically discloses a kind of dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle.The system includes two modules of hardware and software, and wherein hardware is mainly made of 4 Direct wheel drives motors, 4 electric machine controllers, yaw-rate sensor, longitudinal acceleration sensor, lateral acceleration sensor, entire car controllers；The software mould of the system includes：Side slip angle computing module, vehicle unstability judgment module and yaw moment supplementary module；Can vehicle dynamics stability requirement under different speeds, filled up the blank of the distributed driving vehicle dynamics stability control system of 8 × 8 multiaxises.

Description

Dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle
Technical field
The invention belongs to vehicle dynamics stability control system field, and in particular to one kind is used for multiaxis distributed dynamoelectric Drive the dynamic stability control system of vehicle.
Background technology
Multiple-axle vehicle has outstanding advantages of load distribution is reasonable, dynamic property is strong, passability is good, is widely used in military Wheeled vehicle and civilian heavily loaded wheeled vehicle.But by taking traditional 8 × 8 vehicle of a11wheel drive as an example, it is at least needed between 4 wheels Differential mechanism and 3 inter-axle differentials could realize a11wheel drive, and driving force is unable to flexible allocation between having complicated, between centers wheel The shortcomings of, so occur as the distributed dynamoelectric that publication No. CN103587403A is proposed drives vehicle scheme, its preceding two bridge Wheel is driven by engine driving, rear two bridges wheel by wheel motor, power can between rear each wheel of two bridges 0-100% it is flexible Distribution, dramatically improves the dynamic property and cross-country ability of vehicle.
But distributed driving vehicle dynamics stability control system existing at present is all based on 4 wheel motor vehicles for civilian use And develop, had not been reported for 8 × 8 grade multiple-axle vehicles.
The content of the invention
In view of this, the present invention provides the vehicle dynamics stability control system for multiaxis distributed dynamoelectric driving vehicle System, disclosure satisfy that vehicle dynamics stability requirement under different speeds, fill up the distributed driving dynamics of vehicle of 8 × 8 multiaxises The blank of stabilitrak.
The concrete scheme for implementing the present invention is as follows：
For the dynamic stability control system of multiaxis distributed dynamoelectric driving vehicle, the system hardware is by preceding two bridges car Wheel, rear two bridges wheel, steering column, engine, generator, transfer case, gearbox, 3 between centers inter-wheel differentials, 4 wheel sides are driven Dynamic motor, 4 hub reduction gears, 4 electric machine controllers, storage battery, mounting box, steering wheel angle sensor, yaw velocity Sensor, longitudinal acceleration sensor, lateral acceleration sensor and entire car controller composition.
Preceding two bridges wheel includes：One bridge left side wheel, two bridge left side wheels, a bridge right side wheels and two bridge right side wheels；
Two bridge wheels include afterwards：Two bridge left side wheels, three bridge left side wheels, three bridge right side wheels and four bridge right side wheels；
3 between centers inter-wheel differentials include：Differential between centers inter-wheel differential I, between centers inter-wheel differential II and between centers wheel Device III；
4 Direct wheel drives motors include：Permanent-magnet synchronous driving motor I, permanent-magnet synchronous driving motor II, permanent-magnet synchronous driving Motor III and permanent-magnet synchronous driving motor IV；
4 hub reduction gears include：Hub reduction gear I, hub reduction gear II, hub reduction gear III and hub reduction gear IV；
4 permanent magnet synchronous motors include：Permanent magnet synchronous motor I, permanent magnet synchronous motor II, permanent magnet synchronous motor III and forever Magnetic-synchro motor IV；
4 electric machine controllers include：Electric machine controller I, electric machine controller II, electric machine controller III and electric machine controller IV；
Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle centroid In the mounting box of position；
The power of engine is divided into two-way through transfer case, is driven all the way after gearbox by 3 between centers inter-wheel differentials Move preceding two bridges wheel；Another way drives electrical power generators to 4 Direct wheel drives motors and storage battery, 4 Direct wheel drives electricity Machine respectively by corresponding 4 hub reduction gears driving after two bridge wheels, 4 permanent magnet synchronous motors are respectively by corresponding 4 electricity Machine controller controls in real time.Entire car controller be installed on car body center at, the entire car controller is divided into two-way, all the way with steering Disk rotary angle transmitter is connected, and the steering wheel angle sensor is fixed on steering column, monitors steering wheel angle in real time, by turning To be gearratio conversion obtain front wheel angle；The another way of the entire car controller is by the steering in CAN network connection mounting box Disk rotary angle transmitter, yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor, are realized logical in real time News.
Further, for multiaxis distributed dynamoelectric driving vehicle dynamic stability control system, the system it is soft Part module includes：Side slip angle computing module, vehicle unstability judgment module and yaw moment supplementary module；
The side slip angle computing module, for by yaw velocity ω, side acceleration and speed, calculating vehicle Side slip angle β, and it is sent to vehicle unstability judgment module；
The vehicle unstability judgment module is steady for prestoring yaw velocity ω-side slip angle β under different speeds Deckle circle, using stability boundaris expression formulaExpression, wherein, a, b are fitting parameter, and a, b are fixed under same speed Value；Corresponding stability boundaris expression formula is extracted according to current vehicle speed, current yaw velocity ω and side slip angle β is substituted into and is carried The stability boundaris expression formula taken, if metCondition, then judge vehicle unstability, otherwise, it is determined that vehicle is in Stable state；
The yaw moment supplementary module, for the vehicle unstability judgment module judge vehicle unstability when, after estimation The vertical load of each wheel of two bridges, and apply auxiliary torque to the wheel of vertical load maximum, so that it is horizontal to provide auxiliary for vehicle Torque is put, helps vehicle to reply stable state.
Further, the dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle, it is characterised in that Side slip angle β computational methods are in the side slip angle computing module：
In formula, ayFor vehicle side acceleration；U is vehicular longitudinal velocity；ω is yaw rate；T is the time.
Further, the dynamic stability control system for being used for multiaxis distributed dynamoelectric driving vehicle, it is special Sign is that the yaw moment supplementary module determines that the mode of the vertical load of rear each wheel of two bridges is：With reference to longitudinal acceleration Each analysis of wheel vertical load of two bridges after longitudinal direction of car that sensor and lateral acceleration sensor are provided, latax estimation.
Beneficial effect：
1. yaw rate-side slip angle unstability border MAP chart of the present invention is in advance by a large amount of virtual prototypes What Numerical Simulation Results obtained, and the stabilization under different speeds is fitted to planar boundary according to experimental data, meet reality The meaning of border application.
2. the present invention has filled up the blank of the distributed driving vehicle dynamics stability control system of 8 × 8 multiaxises, meanwhile, Used yaw rate-side slip angle unstability border MAP chart can be adjusted freely according to demand, to meet different cars The lower vehicle dynamics stability requirement of speed.
Brief description of the drawings
Fig. 1 is a kind of kinetic control system hardware configuration signal that vehicle is driven for multiaxis distributed dynamoelectric.
Fig. 2 is a kind of kinetic control system software configuration signal that vehicle is driven for multiaxis distributed dynamoelectric.
Fig. 3 is yaw velocity-side slip angle stable phase planar boundary figure under speed 10m/s.
Fig. 4 is yaw velocity-side slip angle stable phase planar boundary figure under speed 20m/s.
Fig. 5 is yaw velocity-side slip angle stable phase planar boundary figure under speed 30m/s.
Fig. 6 is yaw velocity-side slip angle stable phase planar boundary figure under speed 40m/s.
Wherein, mono- bridge left side wheels of 1-；Bis- bridge left side wheels of 2-；Bis- bridge left side wheels of 3-；Tri- bridge left side wheels of 4-；5- mono- Bridge right side wheels；Bis- bridge right side wheels of 6-；Tri- bridge right side wheels of 7-；Tetra- bridge right side wheels of 8-；9- steering columns；10- engines； 11- generators；12- transfer cases；13- gearboxes；14- between centers inter-wheel differentials I；15- between centers inter-wheel differentials II；16- between centers Inter-wheel differential III；17- electric machine controllers I；18- electric machine controllers II；19- electric machine controllers III；20- electric machine controllers IV；21- hub reduction gears I；22- permanent-magnet synchronous driving motors I；23- permanent-magnet synchronous driving motors II；24- hub reduction gears II； 25- hub reduction gears III；26- permanent-magnet synchronous driving motors III；27- permanent-magnet synchronous driving motors IV；28- hub reduction gears IV；29- storage batteries；30- mounting boxs；31- entire car controllers；32- steering wheel angle sensors.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle, the system hardware is by preceding two Differential between 13,3 bridge wheel, rear two bridges wheel, steering column 9, engine 10, generator 11, transfer case 12, gearbox between centers wheels Device, 4 Direct wheel drives motors, 4 hub reduction gears, 4 electric machine controllers, storage battery 29, mounting box 30, steering wheel angle pass Sensor 32, yaw-rate sensor, longitudinal acceleration sensor, lateral acceleration sensor and entire car controller composition.
Preceding two bridges wheel includes：Car on the right side of one bridge left side wheel 1, two bridge left side wheels 2, a bridge right side wheels 5 and two bridges Wheel 6；
Two bridge wheels include afterwards：Car on the right side of two bridge left side wheels 3, three bridge left side wheels 4, three bridge right side wheels 7 and four bridges Wheel 8；
3 between centers inter-wheel differentials include：Between between centers inter-wheel differential I14, between centers inter-wheel differential II15 and between centers wheel Differential mechanism III16；
4 Direct wheel drives motors include：Permanent-magnet synchronous driving motor I22, permanent-magnet synchronous driving motor II23, permanent-magnet synchronous Drive motor III26 and permanent-magnet synchronous driving motor IV27；
4 hub reduction gears include：Hub reduction gear I21, hub reduction gear II 24, hub reduction gear III25 and wheel side Retarder IV28；
4 permanent magnet synchronous motors include：Permanent magnet synchronous motor I22, permanent magnet synchronous motor II23, permanent magnet synchronous motor III26 and permanent magnet synchronous motor IV27；
4 electric machine controllers include：Electric machine controller I17, electric machine controller II18, electric machine controller III19 and motor Controller IV20；
Fig. 1 is 8 × 8 vehicles using distributed dynamoelectric drive scheme, and the power of engine 10 is divided to for two through transfer case 12 Road, two bridge wheels before being driven all the way after gearbox 13 by 3 between centers inter-wheel differentials；Another way drives generator 11 to send out Electricity to 4 Direct wheel drives motors and storage battery 29,4 Direct wheel drives motors passes through corresponding 4 hub reduction gears respectively Two bridge wheel after driving, 4 permanent magnet synchronous motors are controlled in real time by corresponding 4 electric machine controllers respectively.Entire car controller 31 At car body center, the entire car controller 31 divides for two-way, is connected all the way with steering wheel angle sensor 32, described turn It is fixed on to disk rotary angle transmitter 32 on steering column 9, monitors steering wheel angle in real time, can be obtained by steering system ratio conversion Front wheel angle；Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle matter In the mounting box 30 of heart position, yaw velocity, longitudinal acceleration and side acceleration at vehicle centroid are measured in real time, it is described The another way of entire car controller 31 is sensed by the steering wheel angle sensor in CAN network connection mounting box 30, yaw velocity Device, longitudinal acceleration sensor and lateral acceleration sensor, realize real-time communication.
The software architecture of dynamic stability control system in entire car controller 31 is as shown in Fig. 2, the software of the system Mould includes：Side slip angle computing module, vehicle unstability judgment module and yaw moment supplementary module；
The side slip angle computing module, for entire car controller 31 by yaw velocity ω, side acceleration and Speed, calculates vehicle centroid side drift angle β, and is sent to vehicle unstability judgment module；The i.e. described side slip angle computing module Middle side slip angle computational methods are：
In formula, ayFor vehicle side acceleration；U is vehicular longitudinal velocity；ω is yaw rate；T is the time.
After the side slip angle computing module in entire car controller is completed to calculate, side slip angle signal is sent to car Unstability judgment module, vehicle unstability judgment module gathers the yaw rate signal sent by CAN network at the same time, with reference to difference Yaw rate-side slip angle unstability border MAP chart during speed completes the judgement to vehicle stabilization state, if its position Outside stability boundaris, then vehicle is in instability status.Wherein, in practical applications, different cars as seen in figures 3-6 are devised Yaw rate-side slip angle unstability border MAP chart when fast, its stability boundaris and speed, side slip angle and horizontal stroke Pivot angle speed is related, is to be obtained in advance by a large amount of virtual prototype Numerical Simulation Results.
Yaw velocity-side slip angle that Fig. 3-6 is illustrated when speed is 10m/s, 20m/s, 30m/s and 40m/s is steady Determine phase plane boundary graph, when yaw rate ω and side slip angle numerical value β is located in the border that heavy line surrounded, Vehicle is considered then stable, conversely, vehicle then considered to be in instability status.Meanwhile using formulaIntend Close yaw velocity under different speeds-side slip angle stable phase planar boundary：If meetCondition, then sentence Vehicle unstability is determined, otherwise, it is determined that vehicle is in stable state；Wherein：A, b are fitting parameter；Under different speeds, made according to difference User formulates the different demands on intact stability border, it is only necessary to which a, b are adjusted.
Vehicle-state and yaw rate-side slip angle unstability border MAP obtained by vehicle unstability judgment module Figure is transmitted to entire car controller 31 by CAN network, and entire car controller 31 is based on the two difference, is calculated by PI controllers defeated Go out demand auxiliary yaw moment, and this value is sent to yaw moment supplementary module.
In yaw moment supplementary module, estimate first it is electrically driven (operated) after two bridges each wheels vertical load, and to vertical The wheel of load maximum applies auxiliary torque, so as to provide auxiliary yaw moment for vehicle, helps vehicle to reply stable state.
In conclusion the foregoing is merely a prefered embodiment of the invention, it is not intended to limit the scope of the present invention. Within the spirit and principles of the invention, any modification, equivalent replacement, improvement and so on, should be included in the present invention's Within protection domain.

Claims (3)

1. the dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle, it is characterised in that the system hardware By preceding two bridges wheel, rear two bridges wheel, steering column (9), engine (10), generator (11), transfer case (12), gearbox (13), 3 between centers inter-wheel differentials, 4 Direct wheel drives motors, 4 hub reduction gears, 4 electric machine controllers, storage batteries (29), mounting box (30), steering wheel angle sensor (32), yaw-rate sensor, longitudinal acceleration sensor, it is lateral plus Velocity sensor and entire car controller (31) composition；
Preceding two bridges wheel includes：On the right side of one bridge left side wheel (1), two bridge left side wheels (2), a bridge right side wheels (5) and two bridges Wheel (6)；
Two bridge wheels include afterwards：On the right side of three bridge left side wheels (3), four bridge left side wheels (4), three bridge right side wheels (7) and four bridges Wheel (8)；
3 between centers inter-wheel differentials include：Between between centers inter-wheel differential I (14), between centers inter-wheel differential II (15) and between centers wheel Differential mechanism III (16)；
4 Direct wheel drives motors include：Permanent-magnet synchronous driving motor I, permanent-magnet synchronous driving motor II, permanent-magnet synchronous driving motor III and permanent-magnet synchronous driving motor IV；
4 hub reduction gears include：Hub reduction gear I (21), hub reduction gear II (24), hub reduction gear III (25) and wheel Side reducer IV (28)；
4 permanent magnet synchronous motors include：Permanent magnet synchronous motor I, permanent magnet synchronous motor II, permanent magnet synchronous motor III and permanent magnetism are same Walk motor IV；
4 electric machine controllers include：Electric machine controller I (17), electric machine controller II (18), electric machine controller III (19) and electricity Machine controller IV (20)；
Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle centroid position Mounting box (30) in；
The power of engine (10) is divided into two-way through transfer case (12), all the way by between 3 between centers wheels after gearbox (13) Two bridge wheels before differential mechanism driving；Another way drives generator (11) power generation to 4 Direct wheel drives motors and storage battery (29), institute State 4 Direct wheel drives motors, the two bridge wheels after the driving of corresponding 4 hub reduction gears respectively, 4 permanent magnet synchronous motors point Do not controlled in real time by corresponding 4 electric machine controllers.Entire car controller (31) is installed at car body center, the entire car controller (31) it is divided into two-way, is connected all the way with steering wheel angle sensor (32), the steering wheel angle sensor (32), which is fixed on, is turned To on column (9)；The another way of the entire car controller (31) is sensed by the steering wheel angle in CAN network connection mounting box (30) Device, yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor；
The software module of dynamic stability control system in the entire car controller (31) includes：Side slip angle calculates mould Block, vehicle unstability judgment module and yaw moment supplementary module；
The side slip angle computing module, for by yaw velocity ω, side acceleration and speed, calculating vehicle centroid Side drift angle β, and it is sent to vehicle unstability judgment module；
The vehicle unstability judgment module, stablizes side for prestoring yaw velocity ω under different speeds-side slip angle β Boundary, using stability boundaris expression formulaExpression, wherein, a, b are fitting parameter, and a, b are definite value under same speed；Root Corresponding stability boundaris expression formula is extracted according to current vehicle speed, current yaw velocity ω and side slip angle β is substituted into extraction Stability boundaris expression formula, if metCondition, then judge vehicle unstability, otherwise, it is determined that vehicle be in stablize State；
The yaw moment supplementary module, for the vehicle unstability judgment module judge vehicle unstability when, two bridge after estimation The vertical load of each wheel, and apply auxiliary torque to the wheel of vertical load maximum.
2. the dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle as claimed in claim 1, it is special Sign is that side slip angle β computational methods are in the side slip angle computing module：
In formula, ayFor vehicle side acceleration；U is vehicular longitudinal velocity；ω is yaw rate；T is the time.
3. the dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle as claimed in claim 1 or 2, its It is characterized in that, the yaw moment supplementary module determines that the mode of the vertical load of rear each wheel of two bridges is：With reference to longitudinal acceleration Spend the vertical load of each wheel of two bridges after longitudinal direction of car, the latax that sensor and lateral acceleration sensor are provided are estimated Lotus.
CN201610006961.2A 2016-01-05 2016-01-05 Dynamic stability control system for multiaxis distributed dynamoelectric driving vehicle Expired - Fee Related CN105539426B (en)

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CN107132849B (en) * 2017-04-11 2020-06-19 武汉理工大学 Phase plane vehicle stability judgment method
CN108839656B (en) * 2018-07-02 2019-11-19 北京理工大学 Multiaxis distribution drives the determination method of the driving moment of articulated coach
CN110333655B (en) * 2019-07-02 2020-06-09 北京交通大学 Multi-power-unit distributed control method for high-speed train
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CN110605973B (en) * 2019-09-18 2021-08-03 北京理工大学 Control method for operation stability of multi-axis distributed electrically-driven vehicle based on layered structure
CN111572558A (en) * 2020-04-01 2020-08-25 北京理工大学 Maximum envelope dynamics control method for unmanned vehicle
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