CN110293853A - Torque distribution method under four motorized wheels electric car steering situation - Google Patents
Torque distribution method under four motorized wheels electric car steering situation Download PDFInfo
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- 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
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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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Torque distribution method under four motorized wheels electric car steering situation, belong to new-energy automobile control field, in order to solve the problems, such as dynamic property and stability of the FWID-EV under steering, fuzzy controller carries out the fuzzy classification of vehicle steering angle, corner variable quantity with FUZZY ALGORITHMS FOR CONTROL, is adjusted driving moment；Initial driving torque is adjusted by adjustment driving moment, obtains modified driving moment；Input of the modified driving moment as optimal torque dispensing controller, and optimal torque dispensing controller executes optimal torque allocation algorithm, to determine the torque for distributing to four wheels；Effect, which is that by, more meets turning actual wheel Torque distribution.
Description
Technical field
The invention belongs to new-energy automobile control fields, especially a kind of to be directed to four motorized wheels electric car (FWID-
EV) the Torque distribution system and working method of steering situation.
Background technique
The step that the aggravation of global energy problem has pushed new-energy automobile to develop.Four motorized wheels electric car is because of it
Have and pollutes less, consumes energy low and become the coke of new-energy automobile industry in the separately controllable feature of configuration aspects wheel torque
Point.But it will appear many safety problems in practical applications, be especially easy to that a systems such as whipping, rollover occur under steering situation
How column unsafe condition using its unique advantage carries out Torque distribution to improving vehicle safety, reaches reduction traffic accident
Effect be electric car research a key area.
Rationally carrying out Torque distribution is that the core technology of FWID-EV control and electric car realize intelligent and volume production
The steps necessary of change.Adjustment force needed for the main function of Torque distribution is the driving moment for obtaining car speed model and drives a vehicle
Square reasonable distribution gives four motors, is allowed to meet vehicle driving demand, realizes the optimum performance of driving vehicle.At present in torque point
With aspect, most of documents and research be all using average Torque distribution or it is vertical distribute, though both Torque distribution methods
Right principle is simple, but not in view of the unstability situation being likely to occur in steering procedure, therefore is not suitable for Turning travel.And turning
Into the Torque distribution of traveling, most common distribution method is to be allocated torque with certain reasonable rule, although passing through
The method of setting rule adjustment wheel torque considers Steering to a certain extent, reduces the difficulty of wheel torque distribution
Degree, but four wheels of four motorized wheels electric car can not sufficiently be excavated with the unique advantage of independent control,
The situations such as center of gravity transfer in steering procedure are not accounted for.It therefore, preferably will be upper in order to improve the steering stability of FWID-EV
Layer control algolithm is applied in wheels travel, it is necessary to develop a kind of Torque distribution granting specifically for steering situation.
Summary of the invention
In order to solve the problems, such as dynamic property and stability of the FWID-EV under steering, it is independent that the present invention provides a kind of four-wheel
The Torque distribution method under electric car steering situation is driven, technical solution is: fuzzy controller is carried out with FUZZY ALGORITHMS FOR CONTROL
The fuzzy classification of vehicle steering angle, corner variable quantity, is adjusted driving moment；By adjustment driving moment to initial driving torque
It is adjusted, obtains modified driving moment；
Input of the modified driving moment as optimal torque dispensing controller, and optimal torque dispensing controller executes most
Excellent Torque distribution algorithm, to determine the torque for distributing to four wheels；
Wherein, the first item of the objective function of optimal torque allocation algorithm is vehicle demand yaw moment and Vehicular turn
Difference between practical yaw moment, and vehicle demand yaw moment is the modified driving moment, the of objective function
Binomial is tire utilization rate.
The utility model has the advantages that the present invention is to utilize mould in the case where considering the advantage of stability and hub motor electric car of vehicle
Fuzzy control algorithm carries out vehicle steering angle, and the fuzzy classification of corner variable quantity obtains driver's closed speed control model
Driving moment is adjusted, and the output of fuzzy controller is modified driving moment value, as vehicle demand torque, with vehicle
Turning travel first item of the difference between practical yaw moment as objective function in optimal torque dispensing controller on the way,
Section 2 of the tire utilization rate as objective function constructs quadratic programming problem, using the method that active set solves to four vehicles
The driving force of wheel is allocated, to realize the Torque distribution to vehicle.
Detailed description of the invention
Figure one is driver's closed-loop speed illustraton of model.
Figure two is this programme general frame figure.
Specific embodiment
The present invention provides a kind of four motorized wheels to guarantee dynamic property and stability of the FWID-EV under steering
Torque distribution method under electric car steering situation considers the stability and hub motor electricity of vehicle in one embodiment
The advantage of electrical automobile carries out fuzzy classification to vehicle steering angle, corner variable quantity using FUZZY ALGORITHMS FOR CONTROL, is adjusted driving
Torque, and be adjusted by its driving moment obtained to driver's closed speed control model, it exports as modified driving force
Square value, as the difference between vehicle demand torque, with Vehicular turn traveling on the way practical yaw moment as optimal power
The first item of objective function in square dispensing controller, Section 2 of the tire utilization rate as objective function, construction quadratic programming are asked
Topic is allocated the driving force of four wheels using the method that active set solves.
Generally, Torque distribution algorithm is as follows:
1. whole torque allocation strategy is as shown in attached drawing two.It is obtained according to the gyroscope and optical encoder that are mounted on corner axis
An angular signal of picking up the car is closed according to velocity sensor acquisition Vehicle Speed using steering wheel angle and speed as driver
The input signal of ring controller, is handled by PID controller, and the output of driver's closed loop controller is initial driving torque.
2. the input of fuzzy controller is that steering wheel angle and steering wheel angle variable quantity, controller pass through fuzzy control
Algorithm obtains required modified yaw moment variable quantity under steering situation, and controller is finally obtained in conjunction with initial driving torque
Output is modified driving moment.
3. by the final modified driving moment that previous step controller exports and the Stratabound for being installed on FWID-EV car body
In the adjustment torque input optimal torque dispensing controller of device output processed, four wheels are distributed to using Novel Algorithm determination
Torque size, the output of controller directly acts on four wheels, the complete divertical motion of trend vehicle
Its above-mentioned Torque distribution algorithm is described in detail below:
A. driving force is corrected:
A1. initial driving torque
Vehicle in the process of moving, first should obtain initial driving torque according to operator demand to maintain vehicle to transport substantially
It is dynamic.The present embodiment selected in terms of driver's rate pattern PID closed loop feedback model as this driver's closed loop controller with
With the ideal speed of operator demand, control input is the difference between vehicle actual vehicle speed and ideal speed, and control output is throttle
Aperture goes out the size of accelerator open degree by speed difference and time of driver's reaction decision, then connects throttle working characteristics table,
Current torque is reasonably allocated to four wheels finally by lower layer's distributor by the size for exporting current desired output driving torque
The upper speed for carrying out four motorized wheels electric car is adjusted.
The present embodiment is mainly allocated control to motor torque, therefore does not consider electricity here in driver's rate pattern
Machine retarding braking effect.
A2. driving force is corrected
When vehicle enters steering situation, driver passes through pedal and the steering wheel rotation progress decelerating turn control of stepping on the throttle
System.The aperture of air throttle determines the initial drive force size of vehicle, Torque distribution device foundation in A1 step driver's rate pattern
The Torque distribution algorithm of design sends instruction to the motor for being installed on deflecting roller.In steering procedure, vehicle is uniquely connect with ground
Touching is four wheels, and two deflecting rollers can generate respectively two restraining forces on ground at this time, the two restraining forces surround respectively
Y-axis generates torque, and the value of the two torques is respectively different, and torque needed for turning to is formed between left and right wheels.This steering moment with
The operational torque of driver's input resists the moment of inertia of the moment of friction and wheel that generate between part in steering system jointly, drives
Make Vehicular turn to complete steering procedure.The turning operation situation of vehicle can be fed back again by the effect of vehicle dynamic model
To driver, operator can be allowed to complete the steering operation of subsequent time according to virtual condition, turned until automobile is driven out to completely
To operating condition.
By being analyzed above it is found that the operational process of vehicle is by driver's close-loop driven power, sideway under steering situation
Torque and lateral centripetal torque overcome a motion process of resistance progress Vehicular turn.In Torque distribution whole process,
By adjusting the longitudinal force of each wheel, will be not quite similar in the effect of yaw moment.Such as it turns right when vehicle enters
To situation when, if ideal yaw moment is in smaller range, the driving moment that at this moment can reduce left front turbin generator is avoided
Oversteering occurs, if ideal yaw moment is in larger range, it is necessary to which the torque of other two wheel carries out comprehensive control
System.Therefore, the present embodiment is modified stability and dynamic property when improving Vehicular turn by the driving moment to two front wheels.
By kinetic model it is found that the near front wheel and the torque difference that off-front wheel generates are writeable are as follows:
In formula, Tc1Driving moment, T for revolverc2Driving moment, T for right wheeld1For the steering driving moment of revolver, Td2
For the steering driving moment of right wheel, Fx1Driving force, F for revolverx2For the driving force of right wheel, lcFor the wheelspan of left and right wheels.R is
Radius of wheel.From the above equation, we can see that automobile is under steering situation, if the torque of vehicle outside wheel greatly with inboard wheel torque, that
Original driving moment is modified in entire steering procedure.
In formula, TdFor original driving moment, T1' it is that the near front wheel corrects driving moment, T2' it is that off-front wheel corrects driving moment,
ΔTdTo adjust driving moment, by adjusting Δ TdSize driving moment is adjusted, increase the power in steering procedure
Property and stability.
The present embodiment is adjusted driving moment Δ T using FUZZY ALGORITHMS FOR CONTROLdValue, be with vehicle actual travel process
Input of the input corner and corner change rate of middle driver as fuzzy controller, the torque of vehicle the near front wheel and off-front wheel
Difference is output, establishes fuzzy control rule according to the steering experience of driver, output is adjustment driving moment.
Adjustment driving moment is adjusted original driving moment according to formula (2), obtains modified driving moment.Adjustment is driven
Kinetic moment is following proposal acquisition.
A2. the acquisition of driving moment size is adjusted
The acquisition of the present embodiment driving moment size is the driving according to driving experience to four motorized wheels electric car
Angular signal is acquired, and obtains the value range of front wheel angle and corner change rate, front wheel angle domain is taken as [- 60,
60], it is specified that when wheel left steering is positive, when right turn, is negative, the fuzzy domain of front wheel angle [- 60, -40, -20,0,20,40,
60] it is set to 7 fuzzy subsets [NB, NM, NS, ZO, PS, PM, PB], wherein NB indicates front wheel angle in -60 degree left and right, and NM is indicated
Front wheel angle is between -50~-30 degree, and NS indicates front wheel angle in -30~-10 degree, and ZO indicates front wheel angle at -10~10 degree
Between, PS indicates front wheel angle between 10~30 degree, and PM indicates front wheel angle between 30~50 degree, and PB indicates front wheel angle
At 60 degree or so.Each subordinating degree function is all trigonometric function.The fuzzy domain range of forward angular rate of change is [0,1], is obscured
Language subitem is set to [FA, MI, SL, ZO], and wherein FA indicates front wheel angle change rate absolute value between 0.75~1, and MI is indicated
Front wheel angle change rate absolute value between 0.5~0.75, SL indicate front wheel angle change rate absolute value 0.25~0.5 it
Between, ZO indicates that between 0~0.25, the velocity variations of steering angle in operating process are indicated with this for front wheel angle change rate absolute value
Demand equally uses Triangleshape grade of membership function.The output of fuzzy controller is longitudinal torque differences of the near front wheel and off-front wheel, will
Its domain is set to [- 8080], and fuzzy language is expressed as [NB, NM, NS, ZO, PS, PM, PB], and fuzzy rule is shown in Table 1, thus
To adjustment driving moment.
B. optimal torque allocation algorithm
After determining adjustment driving moment, this driving moment is adjusted, modified driving moment is obtained, by itself and vehicle
Adjustment force by control is determined the practical distribution torque of four wheels using optimum allocation algorithm, the present embodiment institute
The optimal torque distribution of use is to comprehensively consider pavement conditions, motor export-restriction and axle load shift it is several under the conditions of one
Kind torque distribution mode.
B1. optimal torque allocation algorithm objective function
The first item of objective function: in order to guarantee that torque distributor is exported to four electricity under the influence factors such as pavement conditions
The torque of machine meets torque required for controller as far as possible, i.e., actually drives steering moment and vehicle required for pivoted wheels on vehicle
The difference of theoretical yaw moment applied is needed to want as small as possible.Analyzing vehicle dynamic model can obtain:
Longitudinal movement equation of the automobile along x-axis:
Weaving equation of the automobile around mass center:
Write (3) (4) two formula as matrix form, mathematical expression is as follows:
V=Bu (5)
Wherein
M is complete vehicle weight, vxFor vehicular longitudinal velocity, vyIt is for yaw velocity that vehicle lateral speed, γ are automobile, β
Vehicle centroid side drift angle, Fx1For vehicle the near front wheel longitudinal force, Fx2For vehicle off-front wheel longitudinal force, Fx3It is longitudinal for vehicle left rear wheel
Power, Fx4For vehicle off hind wheel longitudinal force, Fy1Cross force, F for vehicle the near front wheely2For the cross force of vehicle off-front wheel, Fy3For vehicle
The cross force of left rear wheel, Fy4For the cross force of vehicle off hind wheel, δfFor front wheel angle, IzInertia, M are turned about the Z axis for vehiclex
For yaw moment, lfDistance, l for vehicle's center of gravity to front axlerFor the distance of vehicle's center of gravity to rear axle, lwFor Wheel centre distance, Fx is
The driving force of wheel, T3For the driving moment of left rear wheel, T4For the driving moment of off hind wheel；
The first part of objective function be used for Vehicular turn under operation control, it is therefore an objective to make vehicle actual steering situation with
The desired steering situation of driver is as identical as possible, therefore will distribute error as the first item of Torque distribution controller and control mesh
Mark, is written as matrix norm form for above formula:
The Section 2 of objective function: during Turning travel, the stability of vehicle is that entire controller design is most important
Part, therefore introduce the concept of tire utilization rate herein, tire utilization rate refer to ground reaction force that tire is subject to
The ratio between the limit stress before locking occurs in it, and the degree of stability of vehicle is usually reflected with this, can be expressed with following formula.
Wherein, μ is coefficient of road adhesion, ηiFor tire utilization rate, FxiFor wheel longitudinal force, FyiFor wheel cross force, Fzi
For analysis of wheel vertical active force, i=1,2,3,4 be respectively the near front wheel, off-front wheel, left rear wheel and off hind wheel.
The degree of stability of automobile can be to make the purpose of indicating, be set to the second objective function by the utilization rate of tire
Four tires attachment utilization rate of vehicle is small as far as possible, and tire utilization rate is higher, and the stability of vehicle is poorer, and tire utilizes
The limiting value of rate is 1, and stability reaches extreme value at this time, and vehicle will sink into unstability situation.Therefore, in order to ensure that the safety of automobile, is answered
η is reduced in controllable situationi.It is the main raising for considering to distribute progress stability by moment optimization herein, therefore ignores cross
Effect to power, the second objective function are the sum of four tire utilization rates:
Equally it is written as matrix norm form:
Wherein, Txi' it is revised driving moment, WuIt is the weight matrix of driving moment matrix u, it is each in u for determining
Specific gravity relationship between element,
When carrying out solution objective function using quadratic programming, in order to make | | Bu-V | | it is as minimum as possible, power is incorporated herein
Weight coefficient ξ, the objective function eventually formed are writeable are as follows:
Wherein, Fz1For vehicle the near front wheel vertical, Fz2For vehicle off-front wheel vertical, Fz3It is left back for vehicle
Take turns vertical, Fz4For vehicle off hind wheel vertical.B is the linear matrix of quadratic programming, and A is the weight of quadratic programming
Matrix, V are the matrix of longitudinal force and yaw moment.WvIt is the weight matrix for distributing error, for determining that first item distributes error
Weight relationship between middle each element, weight coefficient ξ are taken as 106。
B2. optimal torque allocation algorithm constraint condition
Bound for objective function first item: when there is trackslipping phenomenon in wheel, cross force between wheel and ground and
Longitudinal adhesive force can all substantially reduce, and vehicle will prevent wheel in breakneck situation in order to ensure the safety of vehicle
The danger excessively trackslipped occurs on the way in traveling, is considered first herein using the slip rate of four wheels adjustment torque as first about
Beam condition, as long as the actual slip rate absolute value of that is, a certain wheel is greater than the maximum slip rate absolute value of setting, then this wheel
Torque will be determined directly by slip rate adjustment torque, and the mathematical form of equality constraint in quadratic programming problem is translated into:
Wherein, siFor 1 or 0 (i=1,2,3,4), the s if slip rate is greater than 0.2i1 is taken, if being not more than siTake 0, Ts1For a left side
Front wheel slip rate adjusts torque, Ts2Torque, T are adjusted for off-front wheel slip rates3For left rear wheel slip rate torque, Ts4For off hind wheel
Slip rate torque.
Constraint condition Section 2: pass through building and analyzing it is found that permanent-magnet brushless DC electric machine can expire to motor model
The working characteristics and motion requirement of sufficient vehicle.The torque of direct current generator under different rotating speeds situation is different, answers when being constrained
Consider the torque rotary speed property of motor, the relationship between the power of motor, revolving speed and torque can be expressed as follows.
Wherein, TNFor torque maximum value, nNFor motor permanent torque and invariable power revolving speed separation, n is vehicle wheel rotational speed, nNFor
Motor speed maximum value, PNFor the power maximum value of motor.
The present embodiment mainly studies the Torque distribution of four wheels, therefore ignores the factors pair such as battery loss, charging coefficient
The influence that motor generates, therefore inequality constraints condition is formulated in quadratic programming problem are as follows:
Tbrmax≤Ti≤Tdrmax
Wherein, TbrmaxFor the braking moment maximum that motor can be given, TiFour electricity are finally given for Torque distribution device
The torque of machine, TdrmaxThe driving moment minimum that can be given for motor.
Constrained objective Section 3: Torque distribution device is considering to constrain using tire adhesion force as the second objective function
The saturation limitation of tire force is considered when condition.Vehicle in the process of running, is acted on, between tire and ground by vehicle vertical load
Lateral force and tangential force can be generated, when fixing the side drift angle of some tire, as the continuous increase lateral force of driving force can be by
Decrescence small, when driving force increases to a certain limit, lateral force will tend to 0, and adhesive force is almost entirely occupied by tangential force, at this time
Tire can not provide more lateral forces, and tire lateral traction will become very limited.When tire action force is brake force,
It equally will appear this rule.Circle, referred to as friction circle are done with the maximum adhesion power between tire and ground.The lateral force of tire with cut
It is mutually perpendicular to be distributed on friction circle to power, and can only change in friction circle, in actual travel, friction circle is usually one
It is oval.In addition to this, longitudinal force is also limited by tire conditions, and elliptical constraint is adhered on integrated tire condition and road surface, can
To obtain the area of feasible solutions of tire force.Automobile is not only driven power, brake force and steering force three in steering procedure simultaneously
The constraint of person, is also limited by road surface friction force, and the vector sum of four constraint condition is by longitudinal tire force and lateral tire force
An approximate ellipse is synthesized, so vehicle is in motion, it is necessary to be in tire force in attachment ellipse, be write as mathematical table
The constraint condition of Da Shike get tire force is following formula.
Arranging to it can obtain
In motion, longitudinal force of tire is limited vehicle by motor torque capacity:
Wherein, TxiFor wheel longitudinal force square.
Above three constraint condition is arranged, the constraint condition of quadratic programming problem is ultimately formed
B3. optimal torque allocation algorithm method for solving
It is as follows according to the available quadratic programming normal formula of B1, B2:
Formula 17 can be solved with active set m ethod, the maximum difficult point of active set m ethod is not know active set, therefore
Constructive geometry sequence goes to approach, and solution procedure is as follows:
Wherein, uminFor driving moment minimum value matrix, umaxFor the maximum value matrix of driving moment.
Inequality in constraint condition is written as matrix form
Selection meets the starting point u of formula 180, operative constraint index set at this point is indicated with W, sets uk(k=0,1,
2 ..., N-1) along dkDirection search, wherein N is kth time searching times, dkFor the step-length declined along gradient minimum direction.
Regard two binding targets in formula 18 as equality constraint, above formula is writeable are as follows:
Wherein, ukFor the u value of kth time search, diFor step-size in search.
If uk+diIt is problem feasible solution, then step-length αk=1, uk+1=uk+diLagrange multiplier is solved according to the following formula
If multiplier λ >=0, optimal solution is exactly uk+1If λ < 0, constraint condition corresponding to minimum λ is removed
Binding target collection W carries out u next timekIteration.
If uk+diIt is not problem feasible solution, the maximum step-length α for meeting feasible condition is found out by following formulak, correct active set
Sequence.
αk=max { αk∈[0,1]:umin≤uk+αkdi≤umax} (21)
Enable uk+1=uk+αkdi, this iteration point is added in working set with the currently active constraint and starts to update next time, so
Circulation, eventually finds Best Point in feasible zone.
Compared with prior art, the present embodiment has the advantages that
1 the present embodiment devises a kind of optimal torque allocation algorithm for steering situation, is modified knot to driving force
The construction for closing quadratic programming problem not only ensure that stability of the vehicle in steering procedure also assures that vehicle is travelling on the way
Dynamic property.
3 the present embodiment utilize FUZZY ALGORITHMS FOR CONTROL, safety, dynamic property are comprehensively considered according to driver experience, last
Optimal torque assignment constraints condition in slip rate constraint is added vehicle is avoided to trackslip danger, driving force is devised with this and is repaired
Positive strategy and optimal torque distribution system.
4 the present embodiment devise a kind of consideration FWID-EV and are likely to occur understeer and negative understeer in steering procedure
Dangerous Torque distribution strategy, the strategy consider to take turns by introducing the method for being changed driving force, while in objective function
Tire saturation conditions, load transfer and danger of trackslipping solve to the problem of construction and improve FWID- finally by active set m ethod
The steering stability of EV simultaneously guarantees its dynamic property, can be effectively reduced vehicle and causes danger during Turning travel probability.
The present embodiment is combined by fuzzy algorithmic approach with optimal torque allocation algorithm can be in the dynamic property for guaranteeing FWID-EV
The stability for greatly improving steering situation simultaneously has the function that reduce traffic accident.
In one embodiment: a kind of Torque distribution method under four motorized wheels electric car steering situation:
Fuzzy controller carries out the fuzzy classification of vehicle steering angle, corner variable quantity with FUZZY ALGORITHMS FOR CONTROL, is adjusted
Driving moment；Initial driving torque is adjusted by adjustment driving moment, obtains modified driving moment；
Input of the modified driving moment as optimal torque dispensing controller, and optimal torque dispensing controller executes most
Excellent Torque distribution algorithm, to determine the torque for distributing to four wheels；
Wherein, the first item of the objective function of optimal torque allocation algorithm is vehicle demand yaw moment and Vehicular turn
Difference between practical yaw moment, and vehicle demand yaw moment is the modified driving moment, the of objective function
Binomial is tire utilization rate.
Further, the execution step of optimal torque allocation algorithm is:
Objective function is constructed,
Constraint condition is established,
It solves and carries out optimal torque distribution.
Further, the first item of constraint condition is the slip rate of four wheels,
The Section 2 of constraint condition is the torque rotary speed property of motor,
The Section 3 of constraint condition is tire force.
Further, quadratic programming normal formula is obtained by objective function and constraint condition, it is asked with active set m ethod
Solution, and constructive geometry sequence approaches it in solution.
Further, driver's rate pattern selects PID closed loop feedback model as driver's closed loop controller, with accompanying the emperor
The ideal speed of the person's of sailing demand, control input are the difference between vehicle actual vehicle speed and ideal speed, and control output is accelerator open degree,
Go out accelerator open degree by speed difference and time of driver's reaction decision, connect throttle working characteristics table, exports current desired defeated
Driving moment is initial torque out.
Further, fuzzy controller carries out the fuzzy classification of vehicle steering angle, corner variable quantity with FUZZY ALGORITHMS FOR CONTROL,
The method for being adjusted driving moment is:
The driving angular signal of four motorized wheels electric car is acquired, obtains front wheel angle and front wheel angle
The value range of change rate, is taken as [- 60,60] for front wheel angle domain, it is specified that when wheel left steering is positive, and when right turn is
It is negative；
The fuzzy domain of front wheel angle is [- 60, -40, -20,0,20,40,60], is defined as 7 fuzzy subsets
[NB, NM, NS, ZO, PS, PM, PB], NB indicate front wheel angle in -60 degree left and right, and NM indicates front wheel angle in -50~-30 degree
Between, NS indicates front wheel angle in -30~-10 degree, and ZO indicates front wheel angle between -10~10 degree, and PS indicates that front wheel angle exists
Between 10~30 degree, PM indicates front wheel angle between 30~50 degree, and PB indicates front wheel angle at 60 degree or so；
The fuzzy domain range of front wheel angle change rate is [0,1], and fuzzy language subitem is defined as [FA, MI, SL, ZO],
FA indicates front wheel angle change rate absolute value between 0.75~1, and MI indicates front wheel angle change rate absolute value 0.5~0.75
Between, SL indicates front wheel angle change rate absolute value between 0.25~0.5, and ZO indicates front wheel angle change rate absolute value 0
Between~0.25；
The output of fuzzy controller is longitudinal torque differences of the near front wheel and off-front wheel, its domain is set to [- 8080], mould
Paste language is expressed as [NB, NM, NS, ZO, PS, PM, PB], and fuzzy rule see the table below；
Driving moment is adjusted by fuzzy rule.
Further, the torque difference that automobile the near front wheel and off-front wheel generate are as follows:
In formula: Tc1For the driving moment of revolver, Tc2For the driving moment of right wheel, Td1For the steering driving moment of revolver, Td2
For the steering driving moment of right wheel, Fx1For the driving force of revolver, Fx2For the driving force of right wheel, lcFor the wheelspan of left and right wheels, r is
Radius of wheel；
Automobile is under steering situation, if the torque of vehicle outer side wheel is greater than inboard wheel torque, in entire steering procedure
In the original driving moment is modified as the following formula, obtain amendment driving moment:
In formula:
TdFor the original driving moment, T1' it is that the near front wheel corrects driving moment, T2' it is that off-front wheel corrects driving moment,
ΔTdTo adjust driving moment.
Further, the objective function is:
Wherein: WuIt is the weight matrix of driving moment matrix u；U is driving moment matrix, u=[T1',T2',T3,T4]T；ξ
For weight coefficient；WvFor the weight matrix for distributing error；
B is the linear matrix of quadratic programming；A is the weight matrix of quadratic programming；FxDriving force, M for wheelxFor sideway
Torque；δfIt is radius of wheel, l for front wheel angle, rwFor Wheel centre distance, lfFor the distance of vehicle's center of gravity to front axle.
Further, the constraint condition is:
Bound for objective function first item: the slip rate of four wheels adjusts torque；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Wherein, siFor 1 or 0 (i=1,2,3,4), the s if slip rate is greater than 0.2i1 is taken, if being not more than siTake 0, Ts1For a left side
Front wheel slip rate adjusts torque, Ts2Torque, T are adjusted for off-front wheel slip rates3For left rear wheel slip rate torque, Ts4For off hind wheel
Slip rate torque；
Bound for objective function Section 2: the torque rotary speed property of motor；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Tbrmax≤Ti≤Tdrmax
Wherein, TbrmaxFor the braking moment maximum that motor can be given, TiFour electricity are finally given for Torque distribution device
The torque of machine, TdrmaxThe driving moment minimum that can be given for motor.
Bound for objective function Section 3: tire force；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Wherein, i=1,2,3,4, respectively the near front wheel, off-front wheel, left rear wheel and off hind wheel, r are radius of wheel, and μ is road
Face attachment coefficient, TxiFor wheel longitudinal force square, FyiFor wheel cross force, FziFor analysis of wheel vertical active force；
Three constraint conditions are arranged, the constraint condition of quadratic programming problem is formed:
Further, described to solve and carry out optimal torque distribution:
Quadratic programming normal formula is as follows:
Wherein: WuIt is the weight matrix of driving moment matrix u；U is driving moment matrix, u=[T1',T2',T3,T4]T；ξ
For weight coefficient；WvFor the weight matrix for distributing error；
B is the linear matrix of quadratic programming；A is the weight matrix of quadratic programming；FxDriving force, M for wheelxFor sideway
Torque；δfIt is radius of wheel, l for front wheel angle, rwFor Wheel centre distance, lfFor the distance of vehicle's center of gravity to front axle；uminFor driving
Minimum torque matrix, umaxFor the maximum value matrix of driving moment.
Formula (17) constructive geometry sequence is gone to approach, so that solving it with active set m ethod, solution procedure is as follows:
Inequality in constraint condition is written as matrix form
Selection meets the starting point u of formula (18)0, operative constraint index set at this point is indicated with W, sets uk(k=0,
1,2 ..., N-1) along dkDirection search, wherein N is kth time searching times, dkFor the step declined along gradient minimum direction
It is long, regard two binding targets in formula (18) as equality constraint, formula (18) is written as:
Wherein, ukFor the u value of kth time search, diFor step-size in search；
If uk+diIt is problem feasible solution, then step-length αk=1, uk+1=uk+di, Lagrange multiplier is solved according to the following formula
If multiplier λ >=0, optimal solution is exactly uk+1If λ < 0, constraint condition corresponding to minimum λ is removed and is constrained
Index set W carries out u next timekIteration；
If uk+diIt is not problem feasible solution, the maximum step-length α for meeting feasible condition is found out by formula (21)k, amendment is effectively
Collect sequence；
αk=max { αk∈[0,1]:umin≤uk+αkdi≤umax} (21)
Enable uk+1=uk+αkdi, this iteration point is added in working set with the currently active constraint and starts to update next time, so
Circulation, eventually finds Best Point in feasible zone.
The preferable specific embodiment of the above, only the invention, but the protection scope of the invention is not
It is confined to this, anyone skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical solution of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection scope it
It is interior.
Claims (10)
1. a kind of Torque distribution method under four motorized wheels electric car steering situation, it is characterised in that:
Fuzzy controller carries out the fuzzy classification of vehicle steering angle, corner variable quantity with FUZZY ALGORITHMS FOR CONTROL, is adjusted driving
Torque；Initial driving torque is adjusted by adjustment driving moment, obtains modified driving moment；
Input of the modified driving moment as optimal torque dispensing controller, and optimal torque dispensing controller executes optimal power
Square allocation algorithm, to determine the torque for distributing to four wheels；
Wherein, the first item of the objective function of optimal torque allocation algorithm is the reality of vehicle demand yaw moment and Vehicular turn
Difference between yaw moment, and vehicle demand yaw moment is the modified driving moment, the Section 2 of objective function
It is tire utilization rate.
2. the Torque distribution method under four motorized wheels electric car steering situation as described in claim 1, feature exist
In: the execution step of optimal torque allocation algorithm is:
Objective function is constructed,
Constraint condition is established,
It solves and carries out optimal torque distribution.
3. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 2, it is characterised in that:
The first item of constraint condition is the slip rate of four wheels,
The Section 2 of constraint condition is the torque rotary speed property of motor,
The Section 3 of constraint condition is tire force.
4. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 2, it is characterised in that:
Quadratic programming normal formula is obtained by objective function and constraint condition, it is solved with active set m ethod, and is constructed in solution
Geometric sequence approaches it.
5. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 1, it is characterised in that:
Driver's rate pattern selects PID closed loop feedback model as driver's closed loop controller, follows the dream car of operator demand
Speed, control input are the difference between vehicle actual vehicle speed and ideal speed, and control output is accelerator open degree, by speed difference with drive
The person's of sailing reaction time decision goes out accelerator open degree, connects throttle working characteristics table, it is initial for exporting current desired output driving torque
Torque.
6. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 1, it is characterised in that:
Fuzzy controller carries out the fuzzy classification of vehicle steering angle, corner variable quantity with FUZZY ALGORITHMS FOR CONTROL, is adjusted driving moment
Method be:
The driving angular signal of four motorized wheels electric car is acquired, obtains front wheel angle and front wheel angle variation
The value range of rate, is taken as [- 60,60] for front wheel angle domain, it is specified that when wheel left steering is positive, and when right turn is negative；
The fuzzy domain of front wheel angle is [- 60, -40, -20,0,20,40,60], be defined as 7 fuzzy subsets [NB, NM,
NS, ZO, PS, PM, PB], NB indicates front wheel angle in -60 degree left and right, and NM expression front wheel angle is between -50~-30 degree, NS table
Show front wheel angle in -30~-10 degree, ZO indicates front wheel angle between -10~10 degree, and PS indicates front wheel angle at 10~30 degree
Between, PM indicates front wheel angle between 30~50 degree, and PB indicates front wheel angle at 60 degree or so；
The fuzzy domain range of front wheel angle change rate is [0,1], and fuzzy language subitem is defined as [FA, MI, SL, ZO], FA table
Show front wheel angle change rate absolute value between 0.75~1, MI indicate front wheel angle change rate absolute value 0.5~0.75 it
Between, SL indicate front wheel angle change rate absolute value between 0.25~0.5, ZO indicate front wheel angle change rate absolute value 0~
Between 0.25；
The output of fuzzy controller is longitudinal torque differences of the near front wheel and off-front wheel, its domain is set to [- 8080], Vague language
Speech is expressed as [NB, NM, NS, ZO, PS, PM, PB], and fuzzy rule see the table below；
Driving moment is adjusted by fuzzy rule.
7. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 6, it is characterised in that:
The torque difference that automobile the near front wheel and off-front wheel generate are as follows:
In formula: Tc1For the driving moment of revolver, Tc2For the driving moment of right wheel, Td1For the steering driving moment of revolver, Td2For the right side
The steering driving moment of wheel, Fx1For the driving force of revolver, Fx2For the driving force of right wheel, lcFor the wheelspan of left and right wheels, r is wheel
Radius；
Automobile, if the torque of vehicle outer side wheel is greater than inboard wheel torque, is pressed under steering situation in entire steering procedure
Following formula is modified the original driving moment, obtains amendment driving moment:
In formula:
TdFor the original driving moment, T1' it is that the near front wheel corrects driving moment, T2' it is that off-front wheel corrects driving moment, Δ TdFor
Adjust driving moment.
8. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 2, it is characterised in that:
The objective function is:
Wherein: WuIt is the weight matrix of driving moment matrix u；U is driving moment matrix, u=[T1',T2',T3,T4]T；ξ is power
Weight coefficient；WvFor the weight matrix for distributing error；
B is the linear matrix of quadratic programming；A is the weight matrix of quadratic programming；FxDriving force, M for wheelxFor yaw moment；
δfIt is radius of wheel, l for front wheel angle, rwFor Wheel centre distance, lfFor the distance of vehicle's center of gravity to front axle.
9. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 8, it is characterised in that:
The constraint condition is:
Bound for objective function first item: the slip rate of four wheels adjusts torque；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Wherein, siFor 1 or 0 (i=1,2,3,4), the s if slip rate is greater than 0.2i1 is taken, if being not more than siTake 0, Ts1For the near front wheel
Slip rate adjusts torque, Ts2Torque, T are adjusted for off-front wheel slip rates3For left rear wheel slip rate torque, Ts4For off hind wheel sliding
Rate torque；
Bound for objective function Section 2: the torque rotary speed property of motor；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Tbrmax≤Ti≤Tdrmax
Wherein, TbrmaxFor the braking moment maximum that motor can be given, TiFour motors are finally given for Torque distribution device
Torque, TdrmaxThe driving moment minimum that can be given for motor.
Bound for objective function Section 3: tire force；
It is translated into the mathematical form of equality constraint in quadratic programming problem:
Wherein, i=1,2,3,4, respectively the near front wheel, off-front wheel, left rear wheel and off hind wheel, r are radius of wheel, and μ is that road surface is attached
Coefficient, TxiFor wheel longitudinal force square, FyiFor wheel cross force, FziFor analysis of wheel vertical active force；
Three constraint conditions are arranged, the constraint condition of quadratic programming problem is formed:
10. the Torque distribution method under four motorized wheels electric car steering situation as described in right wants 9, feature exist
In: the solution simultaneously carries out optimal torque distribution:
Quadratic programming normal formula is as follows:
Wherein: WuIt is the weight matrix of driving moment matrix u；U is driving moment matrix, u=[T1',T2',T3,T4]T；ξ is power
Weight coefficient；WvFor the weight matrix for distributing error；
B is the linear matrix of quadratic programming；A is the weight matrix of quadratic programming；FxDriving force, M for wheelxFor yaw moment；
δfIt is radius of wheel, l for front wheel angle, rwFor Wheel centre distance, lfFor the distance of vehicle's center of gravity to front axle；uminMost for driving moment
Small value matrix, umaxFor the maximum value matrix of driving moment.
Formula (17) constructive geometry sequence is gone to approach, so that solving it with active set m ethod, solution procedure is as follows:
Inequality in constraint condition is written as matrix form
Selection meets the starting point u of formula (18)0, operative constraint index set at this point is indicated with W, sets uk(k=0,1,
2 ..., N-1) along dkDirection search, wherein N is kth time searching times, dkFor the step-length declined along gradient minimum direction,
Regard two binding targets in formula (18) as equality constraint, formula (18) is written as:
Wherein, ukFor the u value of kth time search, diFor step-size in search；
If uk+diIt is problem feasible solution, then step-length αk=1, uk+1=uk+di, Lagrange multiplier is solved according to the following formula
If multiplier λ >=0, optimal solution is exactly uk+1If λ < 0, constraint condition corresponding to minimum λ is removed into binding target
Collect W, carries out u next timekIteration；
If uk+diIt is not problem feasible solution, the maximum step-length α for meeting feasible condition is found out by formula (21)k, correct active set sequence
Column；
αk=max { αk∈[0,1]:umin≤uk+αkdi≤umax} (21)
Enable uk+1=uk+αkdi, this iteration point is added in working set with the currently active constraint and starts to update next time, is so followed
Ring eventually finds Best Point in feasible zone.
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