CN106166960A - The side slip angle control method of four motorized wheels electric automobile - Google Patents

The side slip angle control method of four motorized wheels electric automobile Download PDF

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Publication number
CN106166960A
CN106166960A CN201610350361.8A CN201610350361A CN106166960A CN 106166960 A CN106166960 A CN 106166960A CN 201610350361 A CN201610350361 A CN 201610350361A CN 106166960 A CN106166960 A CN 106166960A
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China
Prior art keywords
slip angle
side slip
electric automobile
error
tracking
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CN201610350361.8A
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Inventor
牛强军
张虎城
贾涛
赵辉
张强
贾德宇
丁永强
黄国庆
赵敬
黄家成
闫涛
王欣
陈锐
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PLA AIR FORCE FIRST AERONAUTICAL COLLEGE
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PLA AIR FORCE FIRST AERONAUTICAL COLLEGE
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
    • 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
    • B60W30/045—Improving turning performance
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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
    • B60W2720/40—Torque distribution
    • B60W2720/406—Torque distribution between left and right wheel
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses the side slip angle control method of a kind of four motorized wheels electric automobile, it is theoretical by Active Disturbance Rejection Control, devise side slip angle automatic disturbance rejection controller, obtain additional yaw moment Δ M, finally by this additional yaw moment value, each wheel torque is allocated, to the command torque of four motor input distribution of automobile, thus control the side slip angle of electric automobile so that it is follow the tracks of side slip angle setting value.The present invention is relatively low to algorithm model degree of dependence, and capacity of resisting disturbance is strong, is suitable for dynamic characteristic complicated, and there is various probabilistic nonlinear system.

Description

The side slip angle control method of four motorized wheels electric automobile
Technical field:
The present invention relates to a kind of electric automobile side slip angle control method, particularly relate to a kind of four motorized wheels electricity The side slip angle control method of electrical automobile.
Background technology:
In the research to automobile side slip angle it was found that when automobile side slip angle is less, driver Ke Tong The operation control running car crossing steering wheel turns to.But being as side slip angle to increase, automobile tire progresses into saturation region, Automobile yaw moment will tend to 0.Mean that driver will not pass through manipulation vehicle steering to produce yaw moment control vapour Car, automobile is by out of control.So, automobile side slip angle certain limit to be controlled in, automobile side slip angle is carried out rationally Efficient control has caused increasing concern.
" yaw velocity of a kind of four motorized wheels electric automobile controls the patent of Patent No. 201410781886.8 Method " describe a kind of method that yaw velocity is controlled, but, for meeting the need of stability of automobile and safety Asking, the control to automobile side slip angle is the most particularly important.Four motorized wheels electric automobile can be single due to four driving wheels Solely control, automobile side angle dynamic property can be controlled by direct yaw moment control, namely by additional yaw moment Control the side slip angle of electric automobile.Traditional control method often has PID controller, fuzzy controller, Self Adaptive Control Device etc..Pid control algorithm is simple, parameter is few, reliability is high, but PID controller is weak, anti-to the adaptive ability of load change Interference performance is poor；The shortcomings such as fuzzy control and Self Adaptive Control also have that real-time is more weak and structure complicated, to control result undesirable.
Summary of the invention:
The technical problem to be solved is: overcome the deficiencies in the prior art, it is provided that a kind of easily implement, anti-interference Ability is strong and the side slip angle control method of four motorized wheels electric automobile that automatically controls.
The technical scheme is that
The side slip angle control method of a kind of four motorized wheels electric automobile, comprises the following steps:
A, according to auto-disturbance rejection technology principle, design automatic disturbance rejection controller, obtain additional yaw moment Δ M；
B, between wheel, carry out Torque distribution according to additional yaw moment value Δ M, then the instruction of each wheel by distribution Torque inputs to four motors of corresponding wheel, thus controls the side slip angle of electric automobile according to setting value βdChange.
Further: in step a automatic disturbance rejection controller mainly by Nonlinear Tracking Differentiator, extended state observer, error non- Linear combination and disturbance compensation link are constituted, and its mathematical model is as follows:
In mathematical model:
A) Nonlinear Tracking Differentiator is utilized to obtain expecting side slip angle βdThe tracking signal of (side slip angle setting value) and this Follow the tracks of the differential of signal, wherein, x1It is exactly to expectation side slip angle βdTracking signal, x2For x1Differential, h is integration step Long, r is the velocity factor determining tracking velocity, fhan (x1-βd, x2, r, h) it is time-optimal control comprehensive function, this function is mainly used In allowing x1Under the restriction of acceleration r, " full out " and " without tremor ground " follows the tracks of βd；
Wherein, the expression formula of time-optimal control comprehensive function is:
Wherein,
B) extended state observer is utilized to obtain estimated value Z of side slip angle β1Estimated value with side slip angle differential Z2, and uncertain disturbance estimated value Z that electric automobile is subject to3；
In the model of extended state observer, b0It it is compensating factor；Work as integration Step-length h gives timing, the parameter beta of extended state observer01β02β03Determine by following equation:
C) in the nonlinear combination of error, utilize error signal and differential signal nonlinear combination, obtain error feedback Controlled quentity controlled variable；Wherein, e1For error signal, e2For differential error signal, u0For error feedback control amount, h1Determine to follow the tracks of barycenter side The tracking accuracy of drift angle expected value；C is damping factor；r0For error feedback control flow gain generally, r0Increase to certain Have little to no effect after degree；
D) in disturbance compensation, the method abandoning feedback error integration in traditional PI D, utilize estimated value Z3Anti-to error Feedback controlled quentity controlled variable u0Compensate, obtain additional yaw moment value Δ M.
Further: the torque allocation algorithm used in step b is as follows:
Wherein, T'=K θCRepresenting the expected driving torque of each wheel, K is the acceleration pedal of electric automobile degree of depth, θCIt is anti- Reflect the constant of corresponding relation between accelerator pedal and expected driving torque,WithRepresent left front, right respectively Before, the command torque of rear four wheels left back, right.
Further: the expression formula of described time-optimal control comprehensive function is:
Wherein,
The invention has the beneficial effects as follows:
1, the present invention can suppress the impact of various disturbance well, makes automobile side slip angle follow the tracks of quickly and accurately Setting value, is a kind of preferably automobile side slip angle control strategy.
2, Nonlinear Tracking Differentiator transition process arranging in the present invention, compared with traditional PID control, gives and reasonably controls letter Number, solve the contradiction between response speed and overshoot.
3, the present invention uses and directly observes unknown disturbance, the mode of process disturbance carrys out the disturbance suppression impact on system, has Effect decreases the complexity of control system.
4, the controller of present invention design utilizes the method for " observation+compensate " to come in processing system non-linear and uncertain Property, coordinate nonlinear feedback system simultaneously, thus improve the dynamic property of controller.
5, the present invention is relatively low to algorithm accurate model degree of dependence, and capacity of resisting disturbance is strong, is suitable for dynamic characteristic complicated, and There is various probabilistic nonlinear system, it is easy to promotion and implementation, there is good economic benefit.
Accompanying drawing illustrates:
Fig. 1 is electric automobile side slip angle Control system architecture block diagram of the present invention；
Side slip angle simulation result comparison diagram when Fig. 2 is to follow the tracks of aptitude tests；
When Fig. 3 is interference rejection ability test, front wheel angle disturbance arranges figure；
Result figure after side slip angle is disturbed when Fig. 4 is interference rejection ability test；
When Fig. 5 is interference rejection ability test, side slip angle controls Comparative result figure.
Detailed description of the invention:
Embodiment: see Fig. 1-Fig. 5.
Fig. 1 is four motorized wheels electric automobile course tracking control system architecture diagram of the present invention；
Fig. 1 is side slip angle Control system architecture block diagram.
In the present embodiment, as it is shown in figure 1, control algolithm uses double-layer control structure, its upper strata is direct yaw moment Formulation layer, lower floor is torque Distribution Layer.At direct yaw moment formulation layer, obtain from four motorized wheels electric automobile vehicle model Take vehicle parameter side slip angle β, set the side slip angle expected value β needing to follow the tracks ofd, by the two value by design Automatic disturbance rejection controller obtains additional yaw moment Δ M.At torque Distribution Layer, additional yaw moment Δ M is calculated by torque distribution Method is allocated, to the command torque of four motor input distribution of automobileThus control electronic vapour The side slip angle of car so that it is tracking fixed valure.
The concrete grammar that control system controls automobile side slip angle below is described in detail, as follows:
The side slip angle control method of a kind of four motorized wheels electric automobile, comprises the following steps:
(1) design automatic disturbance rejection controller, obtains additional yaw moment Δ M
According to auto-disturbance rejection technology principle, design automatic disturbance rejection controller, mainly by Nonlinear Tracking Differentiator, extended state observer, The nonlinear combination of error and disturbance compensation link are constituted, and its mathematical model is as follows:
In mathematical model:
A) Nonlinear Tracking Differentiator is utilized to obtain expecting side slip angle βdThe tracking signal of (side slip angle setting value) and this Follow the tracks of the differential of signal, wherein, x1It is exactly to expectation side slip angle βdTracking signal, x2For x1Differential, h is integration step Long, r is the velocity factor determining tracking velocity, fhan (x1-βd, x2, r, h) it is time-optimal control comprehensive function, this function is mainly used In allowing x1Under the restriction of acceleration r, " full out " and " without tremor ground " follows the tracks of βd；
Wherein, the expression formula of time-optimal control comprehensive function is:
Wherein,
B) extended state observer is utilized to obtain estimated value Z of side slip angle β1Estimated value with side slip angle differential Z2, and uncertain disturbance estimated value Z that electric automobile is subject to3；
In the model of extended state observer, b0It it is compensating factor；Work as integration Step-length h gives timing, the parameter beta of extended state observer01β02β03Determine by following equation:
C) in the nonlinear combination of error, utilize error signal and differential signal nonlinear combination, obtain error feedback Controlled quentity controlled variable；Wherein, e1For error signal, e2For differential error signal, u0For error feedback control amount, h1Determine to follow the tracks of barycenter side The tracking accuracy of drift angle expected value；C is damping factor；r0For error feedback control flow gain generally, r0Increase to certain Have little to no effect after degree；
D) in disturbance compensation, the method abandoning feedback error integration in traditional PI D, utilize estimated value Z3Anti-to error Feedback controlled quentity controlled variable u0Compensate, obtain additional yaw moment value Δ M；
(2) between wheel, Torque distribution is carried out according to additional yaw moment value Δ M
Use following torque allocation algorithm:
Wherein, T'=K θCRepresenting the expected driving torque of each wheel, K is the acceleration pedal of electric automobile degree of depth, θCIt is anti- Reflect the constant of corresponding relation between accelerator pedal and expected driving torque,WithRepresent respectively left front, right before, The command torque of rear four wheels left back, right；
The command torque of 4 wheels of distribution is inputed to four motors of corresponding wheel again, thus controls electric automobile Yaw lateral movement, make automobile automobile side slip angle tracking fixed valure.
Example
Gross mass m=1650kg, wheelbase L=3.05m, distance a=1.40m of barycenter to front axle, barycenter to rear axle away from From b=1.65m, front-wheel cornering stiffness Caf=-40500, trailing wheel cornering stiffness CarThe four-wheel driven electric vehicle of=-40500, works as checking When speed is 70km/h, the tracking characteristics of the side slip angle controller of checking present invention design and immunity characteristic.
Side slip angle simulation result comparison diagram when Fig. 2 is to follow the tracks of aptitude tests.
In the present embodiment, as in figure 2 it is shown, solid line represents the setting curve needing to follow the tracks of, it is set as a sinusoidal signal, After dotted line is the side slip angle control algolithm using present invention design, the real-time tracking effect of side slip angle, it can be seen that The gap of the two curve is the least, only has the gap of 0.01～0.05deg near peak value, and remaining place essentially coincides.This Show, by additional yaw moment is carried out torque distribution, the command torque of 4 wheels is applied to four wheels of automobile On, it is possible to change turning to of automobile, make automobile side slip angle tracking fixed valure.
When Fig. 3 is interference rejection ability test, front wheel angle disturbance arranges figure；
In the present embodiment, as it is shown on figure 3, front wheel angle disturbance initial value is set to 0deg, adding amplitude when 1s is The step signal of 1.2deg, adds the cataclysm disturbance that amplitude is 0.2, and adds with the most corresponding when 5.5s, 8s when 3s Anti-disturbance, disturbs signal, the test present invention to design the interference rejection ability of control system with this.
Result figure after side slip angle is disturbed when Fig. 4 is interference rejection ability test；
In the present embodiment, as shown in Figure 4, after being disturbed signal by front wheel angle shown in Fig. 3, automobile side slip angle Simulation curve figure, it can be seen that side slip angle deviate from 0 value, all has embodiment, such as: 1s's at different interference Reach-0.5deg after step interference, after the cataclysm of 5.5s is disturbed, be transformed to-0.2deg by-0.3deg.
When Fig. 5 is interference rejection ability test, side slip angle controls Comparative result figure.
In the present embodiment, as it is shown in figure 5, with 0 as setting value, dotted line represents the control knot after adding pid control algorithm Really, it can be seen that compared with Fig. 4, side slip angle can be controlled near 0 value, shows that PID controller can make to be System output tracking expected value 0, but compared with the automatic disturbance rejection controller of the present invention design that solid line represents, it is the most anti-that the present invention designs Disturb fluctuate after controller has interference little (active disturbance rejection side slip angle fluctuation range [-0.02～0.01deg], and PID barycenter side Drift angle fluctuation range [-0.1～0.06deg]), recovering to control the effect time, short (after the interference of first step, active disturbance rejection 1.3s is extensive Multiple, and PID 2.0s recovers) advantage.
Although detailed description of the invention illustrative to the present invention is described above, in order to the technology of the art Personnel understand the present invention, the common skill it should be apparent that the invention is not restricted to the scope of detailed description of the invention, to the art From the point of view of art personnel, as long as various change limits and in the spirit and scope of the present invention that determine in appended claim, these Change is apparent from, and all utilize the innovation and creation of present inventive concept all at the row of protection.

Claims (4)

1. a side slip angle control method for four motorized wheels electric automobile, comprises the following steps:
A, according to auto-disturbance rejection technology principle, design automatic disturbance rejection controller, obtain additional yaw moment Δ M；
B, between wheel, carry out Torque distribution according to additional yaw moment value Δ M, then the command torque of each wheel by distribution Input to four motors of corresponding wheel, thus control the side slip angle of electric automobile according to setting value βdChange.
The side slip angle control method of four motorized wheels electric automobile the most according to claim 1, is characterized in that: step In rapid a, automatic disturbance rejection controller is mainly by Nonlinear Tracking Differentiator, extended state observer, the nonlinear combination of error and disturbance compensation ring Joint is constituted, and its mathematical model is as follows:
In mathematical model:
A) Nonlinear Tracking Differentiator is utilized to obtain expecting side slip angle βdThe tracking signal of (side slip angle setting value) and this tracking letter Number differential, wherein, x1It is exactly to expectation side slip angle βdTracking signal, x2For x1Differential, h is integration step, and r is Determine the velocity factor of tracking velocity, fhan (x1-βd, x2, r, h) it is time-optimal control comprehensive function, this function is mainly used in allowing x1 Under the restriction of acceleration r, " full out " and " without tremor ground " follows the tracks of βd；
Wherein, the expression formula of time-optimal control comprehensive function is:
Wherein,
B) extended state observer is utilized to obtain estimated value Z of side slip angle β1Estimated value Z with side slip angle differential2, with And uncertain disturbance estimated value Z that electric automobile is subject to3；
In the model of extended state observer, b0It it is compensating factor；When integration step h Give timing, the parameter beta of extended state observer01β02β03Determine by following equation:
C) in the nonlinear combination of error, utilize error signal and differential signal nonlinear combination, obtain error feedback control Amount；Wherein, e1For error signal, e2For differential error signal, u0For error feedback control amount, h1Determine to follow the tracks of side slip angle The tracking accuracy of expected value；C is damping factor；r0For error feedback control flow gain generally, r0Increase to a certain degree After have little to no effect；
D) in disturbance compensation, the method abandoning feedback error integration in traditional PI D, utilize estimated value Z3To error feedback control Amount u processed0Compensate, obtain additional yaw moment value Δ M.
The side slip angle control method of four motorized wheels electric automobile the most according to claim 1, is characterized in that: step The torque allocation algorithm used in rapid b is as follows:
Wherein, T'=K θCRepresenting the expected driving torque of each wheel, K is the acceleration pedal of electric automobile degree of depth, θCIt is that reflection adds The constant of corresponding relation between speed pedal and expected driving torque,WithRepresent respectively left front, right before, left back, The command torque of right rear four wheels.
4., according to the side slip angle control method of the four motorized wheels electric automobile described in claim 1 or 2 or 3, it is special Levy and be: the expression formula of described time-optimal control comprehensive function is:
Wherein,
CN201610350361.8A 2016-05-24 2016-05-24 The side slip angle control method of four motorized wheels electric automobile Pending CN106166960A (en)

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN107199884A (en) * 2017-05-08 2017-09-26 吉林大学 Torque distribution method for reducing the average slippage rate of axletree
CN108732923A (en) * 2018-05-29 2018-11-02 北理慧动（常熟）车辆科技有限公司 A kind of intelligent driving vehicle acceleration tracking and controlling method
CN111186445A (en) * 2020-01-20 2020-05-22 北京主线科技有限公司 Lateral control method and system for automatic driving vehicle
CN113788066A (en) * 2021-10-29 2021-12-14 合肥工业大学智能制造技术研究院 Distributed electric drive wire-controlled automobile self-adaptive steering power-assisted control method

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CN103318051A (en) * 2013-06-19 2013-09-25 电子科技大学 Failure control method for electric drive system of four-wheel drive electric vehicle
CN104787039A (en) * 2015-04-13 2015-07-22 电子科技大学 Car body stable control method of four-wheel independent drive electric car

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CN1333487A (en) * 2000-06-19 2002-01-30 韩京清 Method and device for implementing optimized self anti-interference feedback control
CN1725131A (en) * 2004-07-21 2006-01-25 韩京清 Three-parameter fastest self-anti-interference controller device and self-anti-interference control method
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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN107199884A (en) * 2017-05-08 2017-09-26 吉林大学 Torque distribution method for reducing the average slippage rate of axletree
CN107199884B (en) * 2017-05-08 2019-11-15 吉林大学 It is averaged the torque distribution method of slippage rate for reducing axle
CN108732923A (en) * 2018-05-29 2018-11-02 北理慧动（常熟）车辆科技有限公司 A kind of intelligent driving vehicle acceleration tracking and controlling method
CN108732923B (en) * 2018-05-29 2021-03-30 北理慧动（常熟）车辆科技有限公司 Intelligent driving vehicle acceleration tracking control method
CN111186445A (en) * 2020-01-20 2020-05-22 北京主线科技有限公司 Lateral control method and system for automatic driving vehicle
CN111186445B (en) * 2020-01-20 2021-11-30 北京主线科技有限公司 Lateral control method and system for automatic driving vehicle
CN113788066A (en) * 2021-10-29 2021-12-14 合肥工业大学智能制造技术研究院 Distributed electric drive wire-controlled automobile self-adaptive steering power-assisted control method

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Application publication date: 20161130