CN109747434A - Distributed-driving electric automobile torque vector distributes control method - Google Patents
Distributed-driving electric automobile torque vector distributes control method Download PDFInfo
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Abstract
The invention discloses distributed-driving electric automobile torque vectors to distribute control method, pass through the relationship of the stability of vehicle running state and desired yaw velocity under vehicle dynamic model, the ideal movements state that the vehicle that broad sense is added under yaw moment should have is calculated, by it is expected that whether the control stability of yaw velocity discriminatory analysis system needs to carry out yaw moment control come decision；The particular value under stable state is set by tire straight skidding rate, the accurate distribution of driving torque is carried out under the conditions of meeting coefficient of road adhesion, is driven by reasonable distribution antero posterior axis or braking moment.The present invention can significantly improve desired yaw velocity response speed, so that vehicle has ideal motion state when excessively curved, and it restrained effectively the problem of Vehicular turn difficulty when accelerating insufficient, improved curved efficiency, improve vehicle run stability and ride comfort, pilot control burden is reduced significantly, improves traffic safety.
Description
Technical field
The present invention relates to Control of Electric Vehicles fields, in particular to distributed-driving electric automobile torque vector distribution control
Method.
Background technique
The research and development of traditional combustion engine running car kinetic control system have obtained fruitful achievement, main use pair
Wheel applies braking moment, sacrifices the measure of dynamic property to control the motion state of vehicle, such as ABS, ESP and DYC dynamics
Control system also makes full use of road surface to adhere to condition, applies braking moment in differential mechanism output end and carrys out vector distribution driving turn
The complicated machinery device of square (TVC) can be made up to a certain extent due to threshold decision bring controlling dead error.Conventional truck
It is general that steering characteristic is controlled using differential braking or the distribution of differential mechanism torque vector, but differential braking is comparatively rough
And working frequency is lower, substantially reduces vehicle comfort, and differential mechanism vector controlled structure is complex, due to Hydraulic braking system
Work of uniting is more rough and frequent starting deteriorates comfort.Electric car driving method generally can be divided into centralized and distributed.
Distribution driving is that motor is deployed directly into each wheel, has structure space compact, and transmission efficiency is high, fast response time and
The features such as individually controllable property of torque is strong.But only consideration driving motor is as execution system, since driving torque output area is limited,
The demand for control being unable to satisfy between the whole district when Vehicular turn increases driver to vehicle so that Vehicular turn is unstable
Manipulation burden.
Summary of the invention
The object of the present invention is to provide a kind of distributed-driving electric automobile torque vectors to distribute control method.This hair
It is bright vector distribution effectively to be carried out to automobile torque, improve vehicle run stability and ride comfort, reduces and drive significantly
The person of sailing manipulates burden, improves travel safety.
Technical solution of the present invention: distributed-driving electric automobile torque vector distribute control method, in the steps below into
Row:
A, vehicle dynamic model is established, for indicating the stability of vehicle running state and the pass of desired yaw velocity
System, and tire straight skidding rate is calculated using Dugoff tire model；
B, yaw moment control device is designed using vehicle dynamic model, it would be desirable to which yaw velocity inputs yaw moment control
Additional yaw moment is calculated in device processed；It is that current left and right sides driving wheel motor can produce driving turn that the broad sense, which adds yaw moment,
Minimum value between the maximum value of square and additional yaw moment, specially Mz_sat=min (Mz,Mmax), formula (1)
In formula: Mz_satYaw moment is added for broad sense；MzAdditional yaw moment；MmaxIt can produce driving for driving wheel motor
The maximum value of torque；
C, it according to the accelerator pedal aperture and steering wheel angle of driver's input, obtains the required motor of vehicle driving and drives
Kinetic moment, and yaw moment is added according to broad sense, calculate the torque of left and right sidesing driving wheel: TL=Mθ/2-Mz_sat·rw/ d/2, formula (2)
TR=Mθ/2+Mz_sat·rw/ d/2, formula (3)
In formula: TLFor left driving wheel torque；TRFor right driving wheel torque；MθTo meet the driving torque needed for accelerating to be intended to,
D is rear track, rwFor vehicle wheel roll radius；
D, tire straight skidding rate is set as particular value, exports the longitudinal in this tire of each driving wheel using sliding formwork control
Driving torque T under slip rated；
E, torque vector distribution is carried out using driving torque allocation algorithm, the driving torque vector allocation algorithm is specific
Are as follows: input broad sense adds yaw moment, finds out T respectively according to the torque of left and right sidesing driving wheelLAnd TR, while judging two side drive wheels
Torque size, if being both less than the driving moment T that is set as under the straight skidding rate of definite valueD, LAnd TD, R, then left driving wheel
Torque output value is TL, left driving wheel torque output value is TR；But if there is one or both sides to be respectively greater than TD, LOr TD, R, then compare
Compared with TLAnd TRIf TRBig then right driving wheel torque output value is TRAnd TD, RBetween minimum value, left driving wheel torque output value be TL
And TRWith TD, RThe absolute value of difference between difference, if TRSmall then left driving wheel torque output value is TLAnd TD, LBetween minimum
Value, right driving wheel torque output value are TRAnd TLWith TD, LThe absolute value of difference between difference.
Above-mentioned distributed-driving electric automobile torque vector distributes control method, and the vehicle established in the step a is dynamic
Mechanical model includes two degrees of freedom wheel steering model；The two degrees of freedom wheel steering model includes lateral movement and sideway fortune
Two dynamic freedom degrees；The front wheel angle of the two degrees of freedom wheel steering model and the state equation of yaw moment are
Wherein b12=0,
In formula: IzFor around the rotary inertia of z-axis；ωrIt is expected yaw velocity；β is side slip angle；δ is equivalent front-wheel
Corner；kfAnd krFor the total cornering stiffness of front and back tire；laAnd lbFor mass center to wheel base from；U is point of the systemic velocity in x-axis
Amount；
By Laplace transformation, desired yaw velocity ω is derivedrWith equivalent front wheel angle δ and additional yaw moment Mz
It is coupled；The expectation yaw velocity ωrIt is generated by front-wheel steer and additional yaw moment, transmission function are as follows:
In formula:For yaw velocity steady-state response gain；For yaw moment steady-state response gain；δ is front-wheel
Corner, MzTo add yaw moment；
Wherein yaw velocity steady-state response gainWith desired yaw moment steady-state response gainIt is respectively as follows:
Distributed-driving electric automobile torque vector above-mentioned distributes control method, and the vehicle established in the step a is dynamic
Mechanical model further includes seven freedom wheel steering model；The seven freedom wheel steering model includes longitudinal movement, lateral
The 7 degree of freedom that movement and vertical sideway and four wheels rotate, kinetics equation are as follows:
In formula:For systemic velocity y-axis component；∑FxSummation for vehicle by longitudinal force；∑FyFor vehicle by
The summation of lateral force；∑MzIt is vehicle by the summation around z-axis yaw moment；
With driving wheel force analysis, the moving equilibrium equation of driving wheel are as follows:
In formula: FxFor wheel longitudinal force；For wheel angular velocity of rotation；FzIt is wheel by ground vertical load；TdTo drive
Dynamic torque；IwFor vehicle wheel rotation inertia；rwFor vehicle wheel roll radius；fwFor coefficient of rolling resistance.
Distributed-driving electric automobile torque vector above-mentioned distributes control method, Dugoff tyre mould in the step a
The method of type calculating tire straight skidding rate are as follows: total slip rate λresWith the resultant force F of wheel longitudinal force and lateral forceresRespectively
Are as follows:
In formula: α is side drift angle, λxFor tire straight skidding rate, FzFor tire vertical load,For coefficient of road adhesion,
Product of the vector resultant force for the longitudinal force and lateral force that middle tire is subject to no more than coefficient of road adhesion and tire vertical load；
The wheel longitudinal force is
In formula: bxAnd cxFor wheel longitudinal force parameter；
By formula (14) joint type (12) and formula (13), wheel straight skidding rate λ is reversely solvedresWith side drift angle α:
Distributed-driving electric automobile torque vector above-mentioned distributes control method, before the yaw moment control device includes
Present controller and feedback controller:
The feedforward controller is used for the driving status of real-time control automobile, and specially practical yaw velocity is to preceding rotation
The gain at angle, beneficiating process is by yaw velocity steady-state response gainWith yaw moment steady-state response gainAnd wink
State process responds gain composition, and transient process responds the transmission function of gain are as follows:
Wherein:
In formula: K is stability factor；For time constant；Gain is responded for transient process；
Joint type (5) and formula (17) derive that the transmission function of the yaw moment of feedforward controller is
The feedback controller constitutes closed-loop system for update the system characteristic error and other external interference factors；Institute
Feedback controller is stated using synovial membrane variable-structure controller, integral operator, yaw velocity tracking error is added in synovial membrane face are as follows:
E=ωr-ωr_d, formula (19)
In formula: ωrIt is expected yaw velocity, ωr_dFor practical yaw velocity；
The area linear switching function of sliding formwork are as follows:
In formula: c0And c1For undetermined coefficient, the two guarantees that all feature roots of characteristic equation that it is constituted are left in complex plane
Side is in stable state；
Using exponentially approaching rule:
It can be obtained by formula (4):
In formula: β is system performance error, and δ is other external interference factors；
Thus the yaw moment control device designed compensates it, adds yaw moment MzAre as follows:
Distributed-driving electric automobile torque vector above-mentioned distributes control method, and the tire straight skidding rate is 10-
30%, the tire straight skidding rate function and its derivative are respectively as follows:
Wherein, during driving, λ=0 when pure rolling；λ=1 when pure skidding；
Actual slip rate λ between tire and road surfacedTracking error with the tyre skidding rate λ of particular value is e=λ-λd, formula
(25)
It defines sliding-mode surface function and its derivative is respectively as follows:
S=e+ γ ∫ edt, formula (25)
In formula: γ is the relative weight coefficient that error and error intergal add up；α and β is undetermined coefficient；
Formula (25) and formula (26) are substituted into formula (11), calculate driving torque TdAre as follows:
Distributed-driving electric automobile torque vector above-mentioned distributes control method, and the sliding-mode surface function is saturation function
Module, the saturation function module are as follows:
In formula: ζ is the boundary layer thickness of sliding-mode surface；
Wherein meet error range [- ζ, ζ] in boundary layer, that is, is considered as closed-loop system and is in stable state.
Distributed-driving electric automobile torque vector above-mentioned distributes control method, in the step c needed for vehicle driving
The parsing strategic function for the motor driving moment asked indicates are as follows:
Tm=f (θacc, n, η), formula (29)
In formula: TmFor motor driving moment；N is motor speed；η is electric efficiency, θaccFor accelerator pedal aperture.
Distributed-driving electric automobile torque vector above-mentioned distributes control method, it is characterised in that: the expectation sideway
The upper limit of angular speed are as follows:
In formula: μ is road surface adhesive ability coefficient, and g is acceleration of gravity, and v is systemic velocity, axIt is vehicle acceleration in x
Component on axis, ayFor the component of vehicle acceleration on the y axis.
Compared with prior art, the invention has the following advantages:
1, the present invention passes through the stability of vehicle running state under vehicle dynamic model and desired yaw velocity
Relationship calculates the ideal movements state that the vehicle that broad sense is added under yaw moment should have, by it is expected yaw velocity
The control stability of discriminatory analysis system comes whether decision needs to carry out yaw moment control；It sets tire straight skidding rate to
Particular value under stable state carries out the accurate distribution of driving torque, by rationally dividing under the conditions of meeting coefficient of road adhesion
With antero posterior axis driving or braking moment, desired yaw velocity response speed is significantly improved, so that vehicle has reason when excessively curved
The motion state thought, and restrained effectively the problem of Vehicular turn difficulty when accelerating insufficient, curved efficiency was improved, was changed
It has been apt to vehicle run stability and ride comfort, has reduced pilot control burden significantly, improve traffic safety.
2, the present invention carries out the producing method of analysis expectation yaw velocity by establishing two degrees of freedom wheel steering model
And derive and calculate the gain of yaw velocity steady-state response and desired yaw moment steady-state response gain；By establishing seven freely
Degree wheel steering model carries out the driving status of more accurate reflection distributed-driving electric automobile, and simplifies the dynamic of vehicle
Mechanical equation, convenient for real-time perfoming analysis intact stability and control method.
3, the present invention pushes over inversion model by Dugoff tire model to calculate tire longitudinal direction sliding rate, reduces test
The number of parameters of identification, reduces nonlinear degree and calculation amount, so that distributed electric automobile is ensuring that total output is constant
Under the premise of, apply different driving forces under tire limit of adhesion especially to adjust yaw moment, so that the cunning of each driving wheel
Shifting rate is controlled in stable range, improves the stability of vehicle driving.
4, the present invention is by being designed to that feedforward controller and feedback controller, feedforward controller are used for yaw moment control device
In the driving status of real-time control automobile, feedback controller structure for update the system characteristic error and other external interference factors
At closed-loop system；Under the premise of guaranteeing Longitudinal demand, so that vehicle reaches the demand of maximum side acceleration, into
And it is compensated by yaw moment control device, removal system performance error and other external interference factors, to improve
The stabilization and anti-interference ability of system, improve the stability of vehicle driving in yaw moment control device.
5, sliding-mode surface function is also defined as saturation function module by the present invention, and avoiding system performance error in sliding-mode surface is
When zero, vehicle generate high speed buffet the phenomenon that；Also by optimizing the upper limit of desired yaw velocity, so that the present invention designs
Yaw moment control device more meets vehicle actual travel situation, further optimizes the algorithm of driving torque distribution.
Detailed description of the invention
Fig. 1 is driving torque vector allocation algorithm schematic diagram of the invention；
Fig. 2 is two degrees of freedom wheel steering model schematic of the invention；
Fig. 3 is seven freedom wheel steering model schematic of the invention；
Fig. 4 is driving wheel force analysis figure of the invention；
Fig. 5 is yaw moment control device schematic diagram of the invention；
Fig. 6 is kinetic model and controller simulation performance analysis figure of the invention；
Fig. 7 is pedal input parsing strategic function three-dimensional figure of the invention；
Fig. 8 is the relational graph of expectation yaw velocity and vehicle condition feature of the invention；
Fig. 9 is the relational graph of the expectation yaw velocity and Vehicular turn characteristic of conventional truck；
Figure 10 is the relational graph of expectation yaw velocity and Vehicular turn characteristic of the invention.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but be not intended as to the present invention limit according to
According to.
Embodiment: distributed-driving electric automobile torque vector distributes control method, carries out in the steps below:
A, vehicle dynamic model is established, for indicating the stability of vehicle running state and the pass of desired yaw velocity
System, and tire straight skidding rate is calculated using Dugoff tire model；
B, yaw moment control device is designed using vehicle dynamic model, it would be desirable to which yaw velocity inputs yaw moment control
Additional yaw moment is calculated in device processed；It is that current left and right sides driving wheel motor can produce driving turn that the broad sense, which adds yaw moment,
Minimum value between the maximum value of square and additional yaw moment, specially Mz_sat=min (Mz,Mmax), formula (1)
In formula: Mz_satYaw moment is added for broad sense；MzAdditional yaw moment；MmaxIt can produce driving for driving wheel motor
The maximum value of torque；
C, it according to the accelerator pedal aperture and steering wheel angle of driver's input, obtains the required motor of vehicle driving and drives
Kinetic moment calculates the reason that vehicle should have using reference auto model according to current vehicle speed and coefficient of road adhesion information
Motion state is thought, as the control target of system, including reference expected yaw velocity, the control stability of discriminatory analysis system
Come whether decision needs to carry out yaw moment control, so that vehicle has ideal motion state, and additional by applying
The accurate distribution of vehicle institute wheel driving torque, the torque for the left and right sidesing driving wheel being calculated are as follows: T is calculated in yaw momentL
=Mθ/2-Mz_sat·rw/ d/2, formula (2)
TR=Mθ/2+Mz_sat·rw/ d/2, formula (3)
In formula: TLFor left driving wheel torque；TRFor right driving wheel torque；MθTo meet the driving torque needed for accelerating to be intended to,
D is rear track, rwFor vehicle wheel roll radius；
D, tire straight skidding rate is set as particular value, exports the longitudinal in this tire of each driving wheel using sliding formwork control
Driving torque T under slip rated；
E, torque vector distribution is carried out using driving torque allocation algorithm, as shown in Figure 1, the driving torque vector distributes
Algorithm specifically: input broad sense adds yaw moment, finds out T respectively according to the torque of left and right sidesing driving wheelLAnd TR, while judging two
The size of the torque of side drive wheel, if being both less than the driving moment T being set as under the straight skidding rate of definite valueD, LAnd TD, R, then
Left driving wheel torque output value is TL, left driving wheel torque output value is TR；But if there is one or both sides to be respectively greater than TD, LOr
TD, R, then compare TLAnd TRIf TRBig then right driving wheel torque output value is TRAnd TD, RBetween minimum value, left driving wheel torque
Output valve is TLAnd TRWith TD, RThe absolute value of difference between difference, if TRSmall then left driving wheel torque output value is TLAnd TD, L
Between minimum value, right driving wheel torque output value be TRAnd TLWith TD, LThe absolute value of difference between difference.Distribution driving
Electric car torque vector control process is exactly the mapping established from broad sense yaw moment to each driving wheel torque, according to tire
The maximum driving force and best straight skidding rate that attachment circle can be provided carry out balanced drive wheel torque reasonable distribution, while needing to examine
Consider driving torque value and load change, the factors such as limitation of tire characteristics, coefficient of road adhesion, motor driven power are adjusted in real time
It is whole, so that accurately coordinated control is assigned to the driving torque of each wheel.
The vehicle dynamic model established in the step a includes two degrees of freedom wheel steering model；As shown in Fig. 2, institute
State two freedom degrees that two degrees of freedom wheel steering model includes lateral movement and weaving；The two degrees of freedom wheel steering mould
The front wheel angle of type and the state equation of yaw moment are
Wherein b12=0,
In formula: IzFor around the rotary inertia of z-axis；ωrIt is expected yaw velocity；β is side slip angle；δ is equivalent front-wheel
Corner；kfAnd krFor the total cornering stiffness of front and back tire；laAnd lbFor mass center to wheel base from；U is point of the systemic velocity in x-axis
Amount；
By Laplace transformation, desired yaw velocity ω is derivedrWith equivalent front wheel angle δ and additional yaw moment Mz
It is coupled；The expectation yaw velocity ωrIt is generated by front-wheel steer and additional yaw moment, transmission function are as follows:
In formula:For yaw velocity steady-state response gain；For yaw moment steady-state response gain；δ is front-wheel
Corner, MzTo add yaw moment；
Wherein yaw velocity steady-state response gainWith desired yaw moment steady-state response gainIt is respectively as follows:
The vehicle dynamic model established in the step a further includes seven freedom wheel steering model；As shown in figure 3,
The seven freedom wheel steering model includes seven of longitudinal movement, lateral movement and vertical sideway and the rotation of four wheels
Freedom degree, kinetics equation are as follows:
In formula:For systemic velocity y-axis component；∑FxSummation for vehicle by longitudinal force；∑FyFor vehicle by
The summation of lateral force；∑MzIt is vehicle by the summation around z-axis yaw moment；
As shown in figure 4, with driving wheel force analysis, the moving equilibrium equation of driving wheel are as follows:
In figure: FxFor wheel longitudinal force；For wheel angular velocity of rotation；FzIt is wheel by ground vertical load；ezTo drag
Away from TdFor driving torque；TfFor the friction rolling moment of resistance, IwFor vehicle wheel rotation inertia；rwFor vehicle wheel roll radius；fwTo roll resistance
Force coefficient.
The method that Dugoff tire model calculates tire straight skidding rate in the step a are as follows: total slip rate λresWith
The resultant force F of wheel longitudinal force and lateral forceresIt is respectively as follows:
In formula: α is side drift angle, λxFor tire straight skidding rate, FzFor tire vertical load,For coefficient of road adhesion,
Product of the vector resultant force for the longitudinal force and lateral force that middle tire is subject to no more than coefficient of road adhesion and tire vertical load；
The wheel longitudinal force is
In formula: bxAnd cxFor wheel longitudinal force parameter；
By formula (14) joint type (12) and formula (13), wheel straight skidding rate λ is reversely solvedresWith side drift angle α:
The yaw moment control device includes feedforward controller and feedback controller:
The feedforward controller is used for the driving status of real-time control automobile, under certain speed, it is expected that yaw velocity
It is positively correlated with front wheel angle, and with the increase of speed, it is expected that yaw velocity successively decreases to the gain of front wheel angle, specially
Gain of the practical yaw velocity to front wheel angle, beneficiating process is by yaw velocity steady-state response gainWith sideway power
Square steady-state response gainAnd transient process response gain composition, wherein transient process response gain can be considered single order link,
The transmission function of transient process response gain are as follows:
Wherein:
In formula: K is stability factor；For time constant；Gain is responded for transient process；
Joint type (5) and formula (17) derive that the transmission function of the yaw moment of feedforward controller is
The feedback controller constitutes closed-loop system for update the system characteristic error and other external interference factors；Before
Controller is presented under the conditions of current vehicle speed, the control input quantity of needs is precomputed, system is corrected, due to not needing
It is fed back and is realized by closed-loop system, so fast response time, but due to the error of system performance and other external interference factors
In the presence of not can guarantee system only with feedforward controller can reach expected ideal operation stabilization state, additional horizontal to allow
Torque quick response is put, the stabilization and anti-interference ability of system are improved, and uses feedback controller, feedback controller utilizes vehicle
The deviation of virtual condition and stable state constitutes closed-loop system control output sideway torque as feed back input amount.The feedback
Controller uses synovial membrane variable-structure controller, and integral operator, yaw velocity tracking error is added in synovial membrane face are as follows:
E=ωr-ωr_d, formula (19)
In formula: ωrIt is expected yaw velocity, ωr_dFor practical yaw velocity；
The area linear switching function of sliding formwork are as follows:
In formula: c0And c1For undetermined coefficient, the two guarantees that all feature roots of characteristic equation that it is constituted are left in complex plane
Side is in stable state；
Using exponentially approaching rule:
It can be obtained by formula (4):
In formula: β is system performance error, and δ is other external interference factors；
Thus the yaw moment control device designed compensates it, adds yaw moment MzAre as follows:
Feedforward controller combines the additional yaw moment summation of feedback controller composition, as meeting vehicle handling stability energy need
The yaw moment asked improves the control stability of vehicle.In order to verify additional yaw moment control method accuracy and effectively
Property, kinetic model and controller are established, simulation analysis, control block diagram such as Fig. 5 have been carried out under MATLAB/Simulink environment
It is shown.
Emulation operating condition is high attachment coefficient road surfaceSlalom test characterize vehicle handling stability, speed
For 80km/h, steering wheel angle uses Sine Wave (amplitude is pi/2 for 30 °, frequency) to input, and rear-wheel two sides motor uses etc.
Torque actuated, maximum limitation 800Nm, simulation result are as shown in Figure 6.Fig. 6 can be seen that as yaw velocity is referred to, and two certainly
It is considered as single order link in the case where the input for not considering additional sideway torque by degree car model, also indicates that formula (17) can be reduced to
First-order transfer function relevant to speed is maintained at 0.409 rad/s after stable state；Under no application yaw moment control, seven
The yaw velocity of freedom degree automobile and reference yaw velocity comparison incipient stage (in 15 seconds) obviously have certain deviation, but go through
It is held essentially constant after stable state, for difference in 5% range, which can be completely applied to torque vector control algolithm；?
The overshoot of the yaw velocity of vehicle is more uncontrolled under additional yaw moment control is reduced, and transit time reduces,
Steady-state value can more rapidly be reached, while can preferably track reference yaw velocity.
Tire attachment circle, also known as friction circle, the coupled relation of longitudinal force and lateral force drive steering procedure to tyre side
The influence of inclined characteristic and steering characteristic.Tire straight skidding rate has a larger impact to tire cornering stiffness, i.e. straight skidding rate
Increase, tire generates lateral deviation power and reduces, and the driving force difference of left and right rear-wheel leads to the difference of straight skidding rate, finally influences vehicle
Steering characteristic.Under high attachment coefficient, vehicle sliding ingredient is smaller, and inwardly turned side load shifts outward, leads to inboard wheel
Cornering stiffness reduces and foreign steamer cornering stiffness increases, and vehicle has more degree to turn to tendency, if wheelbase is short, the high vehicle transfer of mass center
Bigger, this influence is more obvious.Distribution driving wheel especially adheres to pole in tire under the premise of ensuring that total output is constant
Limit is lower to apply different driving forces to adjust yaw moment, so that the slip rate of each wheel is controlled in stable range,
Improve vehicle run stability.The non-10%-30% of tire longitudinal sliding motion rate, can be supplied to the maximum zigzag tread patterns of tire
Power.
The tire straight skidding rate function and its derivative are respectively as follows:
Wherein, during driving, λ=0 when pure rolling；λ=1 when pure skidding；
Actual slip rate λ between tire and road surfacedTracking error with the tyre skidding rate λ of particular value is e=λ-λd, formula
(25)
It defines sliding-mode surface function and its derivative is respectively as follows:
S=e+ γ ∫ edt, formula (25)
In formula: γ is the relative weight coefficient that error and error intergal add up；α and β is undetermined coefficient；
Formula (25) and formula (26) are substituted into formula (11), calculate driving torque TdAre as follows:
The sliding-mode surface function is saturation function module, the saturation function module are as follows:
In formula: ζ is the boundary layer thickness of sliding-mode surface；
Wherein meet error range [- ζ, ζ] in boundary layer, that is, is considered as closed-loop system and is in stable state.
The parsing strategic function of the required motor driving moment of vehicle driving indicates in the step c are as follows:
Tm=f (θacc, n, η), formula (29)
In formula: TmFor motor driving moment；N is motor speed；η is electric efficiency, θaccFor accelerator pedal aperture, range
Variation is [0,100], meets resultant couple demand.
Parsing strategic function is inputted by pedal and determines output motor torque, and three-dimension curved surface is as shown in Figure 7.
The upper limit of the expectation yaw velocity are as follows:
In formula: μ is road surface adhesive ability coefficient, and g is acceleration of gravity, and v is systemic velocity, axIt is vehicle acceleration in x
Component on axis, ayFor the component of vehicle acceleration on the y axis.
After being set to above-mentioned distributed-driving electric automobile torque vector distribution control method, imitated using sample car
True test, the present invention use sample car for rear-guard pure electric automobile, weight in working order 750kg, wheelbase 1.9m, and rear tread 1.2m is carried
The nominal voltage of lithium battery monomer be 3.2V, capacity 50Ah, use 24 be composed in series power unit respectively give driving motor provide
Energy, driving motor selection permanent magnet synchronous motor ME0709, rated power 7028W, voltage rating 72V, rated speed 3300 ±
250r/min is connected between motor and wheel hub using planetary reduction gear, speed ratio 7.Rated motor torque is 38Nm, driving wheel institute energy
Reach torque capacity TmaxFor 817Nm.
Fig. 8 be it is expected yaw velocity and vehicle condition feature relationship, under certain speed, it is expected that yaw velocity and
Front wheel torque is positively correlated, and illustrates the significant condition of vehicle.By tire driving force carry out to automobile tire state feature into
Row indicates that conventional truck controls Vehicular turn characteristic using differential braking or differential mechanism braking progress torque vector distribution,
Simulation curve is as shown in Figure 9；By automobile driving wheel after the progress torque vector distribution of driving torque allocation algorithm, emulation is bent
Line is as shown in Figure 10.Comparison diagram 9 and Figure 10 can significantly find out, using differential braking comparatively roughly and working frequency compared with
Low, wheel driving force substantially reduces vehicle comfort because brake fluid system work frequent starting variation is complicated and tortuous,
And torque vector allocation algorithm of the invention is used, wheel drives example variation gentle and stable, significantly improves desired yaw angle
Speed responsive speed, so that vehicle driving is smooth and stable.
In conclusion the present invention passes through the stability of vehicle running state under vehicle dynamic model and desired yaw angle
The relationship of speed calculates the ideal movements state that the vehicle that broad sense is added under yaw moment should have, by it is expected sideway
The control stability of angular speed discriminatory analysis system comes whether decision needs to carry out yaw moment control；By tire straight skidding rate
The particular value being set as under stable state carries out the accurate distribution of driving torque under the conditions of meeting coefficient of road adhesion, passes through
The driving of reasonable distribution antero posterior axis or braking moment, significantly improve desired yaw velocity response speed, so that vehicle is when excessively curved
It with ideal motion state, and restrained effectively the problem of Vehicular turn difficulty when accelerating insufficient, improved curved
Efficiency, improves vehicle run stability and ride comfort, reduces pilot control burden significantly, improves traffic safety.
Claims (9)
1. distributed-driving electric automobile torque vector distributes control method, it is characterised in that: carry out in the steps below:
A, vehicle dynamic model is established, for indicating the stability of vehicle running state and the relationship of desired yaw velocity,
And tire straight skidding rate is calculated using Dugoff tire model；
B, yaw moment control device is designed using vehicle dynamic model, it would be desirable to which yaw velocity inputs yaw moment control device
It is middle to calculate additional yaw moment；It is that current left and right sides driving wheel motor can produce driving torque that the broad sense, which adds yaw moment,
Minimum value between maximum value and additional yaw moment, specially Mz_sat=min (Mz,Mmax), formula (1)
In formula: Mz_satYaw moment is added for broad sense；MzAdditional yaw moment；MmaxIt can produce driving torque for driving wheel motor
Maximum value；
C, according to the accelerator pedal aperture and steering wheel angle of driver's input, the required motor driving force of vehicle driving is obtained
Square, and yaw moment is added according to broad sense, calculate the torque of left and right sidesing driving wheel: TL=Mθ/2-Mz_sat·rw/ d/2, formula (2)
TR=Mθ/2+Mz_sat·rw/ d/2, formula (3)
In formula: TLFor left driving wheel torque；TRFor right driving wheel torque；MθTo meet the driving torque needed for accelerating to be intended to, d is
Rear track, rwFor vehicle wheel roll radius；
D, tire straight skidding rate is set as particular value, using sliding formwork control export each driving wheel in this tire straight skidding
Driving torque T under rated；
E, torque vector distribution, the driving torque vector allocation algorithm specifically: defeated are carried out using driving torque allocation algorithm
Enter broad sense and add yaw moment, T is found out according to the torque of left and right sidesing driving wheel respectivelyLAnd TR, while judging the torque of two side drive wheels
Size, if being both less than the driving moment T that is set as under the straight skidding rate of definite valueD, LAnd TD, R, then left driving wheel torque is defeated
Value is T outL, left driving wheel torque output value is TR；But if there is one or both sides to be respectively greater than TD, LOr TD, R, then compare TLWith
TRIf TRBig then right driving wheel torque output value is TRAnd TD, RBetween minimum value, left driving wheel torque output value be TLAnd TRWith
TD, RThe absolute value of difference between difference, if TRSmall then left driving wheel torque output value is TLAnd TD, LBetween minimum value, right drive
Driving wheel torque output value is TRAnd TLWith TD, LThe absolute value of difference between difference.
2. distributed-driving electric automobile torque vector according to claim 1 distributes control method, it is characterised in that: institute
Stating the vehicle dynamic model established in step a includes two degrees of freedom wheel steering model；The two degrees of freedom wheel steering mould
Type includes two freedom degrees of lateral movement and weaving；The front wheel angle and sideway of the two degrees of freedom wheel steering model
The state equation of torque is
Wherein b12
=0,
In formula: IzFor around the rotary inertia of z-axis；ωrIt is expected yaw velocity；β is side slip angle；δ is equivalent preceding rotation
Angle；kfAnd krFor the total cornering stiffness of front and back tire；laAnd lbFor mass center to wheel base from；U is component of the systemic velocity in x-axis；
By Laplace transformation, desired yaw velocity ω is derivedrWith equivalent front wheel angle δ and additional yaw moment MzPhase coupling
It closes；The expectation yaw velocity ωrIt is generated by front-wheel steer and additional yaw moment, transmission function are as follows:
In formula:For yaw velocity steady-state response gain；For yaw moment steady-state response gain；δ is front wheel angle,
MzTo add yaw moment；
Wherein yaw velocity steady-state response gainWith desired yaw moment steady-state response gainIt is respectively as follows:
3. distributed-driving electric automobile torque vector according to claim 2 distributes control method, it is characterised in that: institute
Stating the vehicle dynamic model established in step a further includes seven freedom wheel steering model；The seven freedom wheel steering
Model includes the 7 degree of freedom of longitudinal movement, lateral movement and vertical sideway and the rotation of four wheels, kinetics equation
Are as follows:
In formula:For systemic velocity y-axis component；∑FxSummation for vehicle by longitudinal force；∑FyIt is vehicle by lateral
The summation of power；∑MzIt is vehicle by the summation around z-axis yaw moment；
With driving wheel force analysis, the moving equilibrium equation of driving wheel are as follows:
In formula: FxFor wheel longitudinal force；For wheel angular velocity of rotation；FzIt is wheel by ground vertical load；TdTurn for driving
Square；IwFor vehicle wheel rotation inertia；rwFor vehicle wheel roll radius；fwFor coefficient of rolling resistance.
4. distributed-driving electric automobile torque vector according to claim 3 distributes control method, it is characterised in that: institute
State the method that Dugoff tire model calculates tire straight skidding rate in step a are as follows: total slip rate λresAnd wheel longitudinal force
With the resultant force F of lateral forceresIt is respectively as follows:
In formula: α is side drift angle, λxFor tire straight skidding rate, FzFor tire vertical load,For coefficient of road adhesion, wherein taking turns
Product of the vector resultant force for the longitudinal force and lateral force that tire is subject to no more than coefficient of road adhesion and tire vertical load；
The wheel longitudinal force is
In formula: bxAnd cxFor wheel longitudinal force parameter；
By formula (14) joint type (12) and formula (13), wheel straight skidding rate λ is reversely solvedresWith side drift angle α:
5. distributed-driving electric automobile torque vector according to claim 3 distributes control method, it is characterised in that: institute
Stating yaw moment control device includes feedforward controller and feedback controller:
The feedforward controller is used for the driving status of real-time control automobile, and specially practical yaw velocity is to front wheel angle
Gain, beneficiating process is by yaw velocity steady-state response gainWith yaw moment steady-state response gainAnd transient state mistake
Journey responds gain composition, and transient process responds the transmission function of gain are as follows:
Wherein:
In formula: K is stability factor；For time constant；Gain is responded for transient process；
Joint type (5) and formula (17) derive that the transmission function of the yaw moment of feedforward controller is
The feedback controller constitutes closed-loop system for update the system characteristic error and other external interference factors；It is described anti-
It presents controller and uses synovial membrane variable-structure controller, integral operator, yaw velocity tracking error is added in synovial membrane face are as follows:
E=ωr-ωr_d, formula (19)
In formula: ωrIt is expected yaw velocity, ωr_dFor practical yaw velocity；
The area linear switching function of sliding formwork are as follows:
In formula: c0And c1For undetermined coefficient, the two guarantee all feature roots of characteristic equation that it is constituted on the complex plane left side, i.e.,
In stable state；
Using exponentially approaching rule:
It can be obtained by formula (4):
In formula: β is system performance error, and δ is other external interference factors；
Thus the yaw moment control device designed compensates it, adds yaw moment MzAre as follows:
6. distributed-driving electric automobile torque vector according to claim 4 distributes control method, it is characterised in that: institute
Stating tire straight skidding rate is 10-30%, and the tire straight skidding rate function and its derivative are respectively as follows:
Wherein, during driving, λ=0 when pure rolling；λ=1 when pure skidding；
Actual slip rate λ between tire and road surfacedTracking error with the tyre skidding rate λ of particular value is e=λ-λd, formula (25)
It defines sliding-mode surface function and its derivative is respectively as follows:
S=e+ γ ∫ edt, formula (25)
In formula: γ is the relative weight coefficient that error and error intergal add up；α and β is undetermined coefficient；
Formula (25) and formula (26) are substituted into formula (11), calculate driving torque TdAre as follows:
7. distributed-driving electric automobile torque vector according to claim 6 distributes control method, it is characterised in that: institute
Stating sliding-mode surface function is saturation function module, the saturation function module are as follows:
In formula: ζ is the boundary layer thickness of sliding-mode surface；
Wherein meet error range [- ζ, ζ] in boundary layer, that is, is considered as closed-loop system and is in stable state.
8. distributed-driving electric automobile torque vector according to claim 1 distributes control method, it is characterised in that: institute
The parsing strategic function for stating the required motor driving moment of vehicle driving in step c indicates are as follows:
Tm=f (θacc, n, η), formula (29)
In formula: TmFor motor driving moment；N is motor speed；η is electric efficiency, θaccFor accelerator pedal aperture.
9. distributed-driving electric automobile torque vector according to claim 1 distributes control method, it is characterised in that: institute
State the upper limit of desired yaw velocity are as follows:
In formula: μ is road surface adhesive ability coefficient, and g is acceleration of gravity, and v is systemic velocity, axIt is vehicle acceleration in x-axis
Component, ayFor the component of vehicle acceleration on the y axis.
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