CN110371106A - A kind of steering stability method based on four motorized wheels electric car - Google Patents
A kind of steering stability method based on four motorized wheels electric car Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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Abstract
The invention discloses a kind of steering stability methods based on four motorized wheels electric car, comprising: determines yaw moment control plan and driving force dispensing controller, according to motor turning operating condition, distributes driving moment in real time；It determines EPS active control strategies, when understeer or oversteering operating condition occurs in automobile, booster torquemoment is adjusted according to control model.A kind of steering stability method based on four motorized wheels electric car is provided, differential power-assisted steering and EPS are reduced to motor turning bring unstability using the method for direct yaw moment control, to guarantee that vehicle steadily travels.
Description
Technical field
The present invention relates to Vehicle Handling and Stability Simulation technical fields, and in particular to one kind is electronic based on four motorized wheels
The steering stability method of automobile.
Background technique
Energy shortage and environmental pollution are increasing to mankind's bring pressure, the invention of electric car with it is universal meet work as
The theme of modern human society peace and development also complies with establishing resource economizing type in China's strategy of sustainable development, environmental-friendly
The theme of type society, and four motorized wheels electric vehicle engineering is individually controllable, manoeuvrable excellent with its four-wheel drive torque
Point keeps its comprehensive performance and corresponding product quite competitive in electric car field.Four motorized wheels electric car is in low speed
When, turning radius is smaller, and it is more flexible, it is lighter；When high speed, returnability is good, there is certain road feel.This is electric car to steering
Basic demand.But it can be seen that by a large amount of l-G simulation tests electronic under EPS system and differential power-assisted steering co- controlling
When motor turning, no matter high speed or low speed all have smaller turning radius compared with the automobile of any control is not added, and fit
When negative understeer characteristic, more flexible handling characteristic.Therefore stability control strategy is added, makes electric car in low speed rotation
Xiang Shi keeps manipulating laborsaving, flexible and certain negative understeer characteristic；And when high speed steering, keep certain road feel and
Understeer characteristics, so that automobile be made when especially high speed steering, to have better stability when turning to, avoid causing danger.
For four motorized wheels electric car in low speed, turning radius is smaller, more flexible, lighter；When high speed, returnability
It is good, there is certain road feel.This is basic demand of the electric car to steering.In EPS system and differential power-assisted steering co- controlling
Under electric car turn to when, no matter high speed or low speed, compared with the automobile of any control is not added, all have smaller turning
Radius, negative understeer characteristic appropriate, more flexible handling characteristic.Therefore, it is necessary to which stability control strategy is added, make electronic vapour
Vehicle keeps manipulating laborsaving, flexible and certain negative understeer characteristic when low speed turns to；And when high speed steering, keep certain
Road feel and understeer characteristics, thus make automobile turn to when especially high speed steering when, have better stability, avoid
It causes danger.
Summary of the invention
The present invention is to solve current technology shortcoming, provides a kind of turn based on four motorized wheels electric car
To stability approach, differential power-assisted steering and EPS are reduced to motor turning bring using the method for direct yaw moment control
Unstability, to guarantee that vehicle steadily travels.
Technical solution provided by the invention are as follows: a kind of steering stability method based on four motorized wheels electric car,
Include:
It determines yaw moment control plan and driving force dispensing controller, according to motor turning operating condition, distributes driving force in real time
Square；
EPS active control strategies are determined, when understeer or oversteering operating condition occurs in automobile, according to control model tune
Save booster torquemoment.
Preferably, the driving force dispensing controller takes PID control.
Preferably, the driving force dispensing controller specifically includes:
Input is total driving moment and additional yaw moment, by reference yaw velocity and actually measured yaw velocity
Compensation yaw moment of the difference as output, and be symmetrically distributed in left and right driving motor in the form of torque.
Preferably, described to be determined with reference to yaw velocity according to linear two degrees of freedom single track model.
Preferably, the linear two degrees of freedom single track model meets:
In formula: β is side slip angle；R is yaw velocity；Cf、CrRespectively front and rear wheel cornering stiffness；IZFor automobile around
The rotary inertia of z-axis；If、IrRespectively distance of the axle to mass center；δfFor front wheel angle；MtRestoring force when squeegee action
Square, MzFor wheel aligning torque, V is Vehicle Speed.
Preferably, described with reference to yaw velocity (angular speed of vertical axis rotation of the vehicle in vehicle body coordinate system)
Are as follows:
In formula, τeFor time constant, δswFor steering wheel angle, rssFor yaw velocity steady-state gain.
Preferably, the determination method of yaw velocity steady-state gain are as follows:
Automobile meets when at the uniform velocity turning toIt is then available according to linear two degrees of freedom single track model:
Preferably, when turning to is in the case where larger side acceleration, it is same greater than 0.4g to refer generally to side acceleration
When guarantee normally travel side acceleration range, need to meet with reference to yaw velocity:
In formula, μ is tire and ground attaching coefficient, and g is acceleration of gravity.
Preferably, further includes:
As additional yaw moment Δ M=0, driving force distribution meets according to mean allocation:
In formula, FL、FRRespectively left and right side front wheel drive force；fL、fRRespectively left and right side rear wheel drive force；FAlwaysFor vehicle
Total driving force；bf、brRespectively front-wheel, hind axle away from.
Preferably, the specific adjusting method of booster torquemoment are as follows:
When understeer, judge that control model for basic Power assisted control mode, then increases booster torquemoment；Judgement control mould
Formula is rotary transform tensor mode, then reduces booster torquemoment；
When oversteering, judge that control model for basic Power assisted control mode, then reduces booster torquemoment；Judgement control mould
Formula is rotary transform tensor mode, then increases booster torquemoment.
It is of the present invention the utility model has the advantages that the present invention provides a kind of steering based on four motorized wheels electric car is steady
It is unstable to motor turning bring to reduce differential power-assisted steering and EPS using the method for direct yaw moment control for qualitative method
It is qualitative, to guarantee that vehicle steadily travels.
Detailed description of the invention
Fig. 1 is linear two degrees of freedom single track model of the invention.
Fig. 2 is driving force dispensing controller model of the invention.
For the automobile for having steering stability to control of the invention and not, the automobile of stability control travels rail to Fig. 3
Mark.
Fig. 4 yaw angle of the automobile of stability control for the automobile for thering is steering stability to control of the invention and not
The curve graph of speed and time.
Fig. 5 is the automobile for having steering stability to control of the invention and the transverse direction of the automobile of stability control does not add
The curve graph of speed and time.
Fig. 6 traveling rail of the automobile of stability control for the automobile for thering is steering stability to control of the invention and not
Mark.
Fig. 7 yaw angle of the automobile of stability control for the automobile for thering is steering stability to control of the invention and not
The curve graph of speed and time.
For the automobile for having steering stability to control of the invention and not, the lateral of the automobile of stability control adds Fig. 8
The curve graph of speed and time.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
When driving, lateral force can be such that automobile is inclined outwardly for motor turning.It is reduced using the method for direct yaw moment control
Differential power-assisted steering and EPS are to motor turning bring unstability, to guarantee that vehicle steadily travels.It specifically will be with reference to cross
The difference of pivot angle speed and actually measured yaw velocity is as the compensation yaw moment exported, finally in the form of torque pair
It is distributed in left and right driving motor with claiming.
In general, wheel steering angle inputs in a linear relationship, the ginseng of direct yaw moment control relative to steering wheel angle
Examining yaw velocity can be determined according to linear two degrees of freedom single track (Bicycle) model.When low speed turns to, motor racing rail
The curvature of mark are as follows:
When low speed turns to (1-2 grades are when driving, are typically lower than 30 kilometers per hour), the curvature of motor racing track
Are as follows:
In formula, R is turning radius, and V is speed, and r is yaw velocity；
When vehicle steering angle is smaller, have:
In formula, δAReferred to as ackerman angle, l are the distance between antero posterior axis, and more than simultaneous two formulas obtain, with reference to cross level angle speed omegad
It is as follows:
It is as shown in Figure 1 linear two degrees of freedom single track model.The model is the wheel for having lateral elasticity by former and later two
Tire is supported on ground, with lateral and weaving two degrees of freedom car model.
It is as follows to establish two degrees of freedom state of motion of vehicle equation:
In formula: β is side slip angle；R is yaw velocity；Cf、CrRespectively front and rear wheel cornering stiffness；IZFor automobile around
The rotary inertia of z-axis；If、IrRespectively distance of the axle to mass center；δfFor front wheel angle；MtRestoring force when squeegee action
Square, MzFor wheel aligning torque, V is Vehicle Speed.
When automobile at the uniform velocity turns to, haveBring above formula into,
Obtain yaw velocity steady-state gain:
Then, with reference to yaw velocity (angular speed that vertical axis of the vehicle in vehicle body coordinate system rotates), definition is such as
Under:
In formula, τeFor time constant, δswFor steering wheel angle.In addition, it is contemplated that meeting in the case where larger side acceleration
Beyond tire turning capacity limit, then also constrained by following formula with reference to yaw velocity:
In formula, μ is tire and ground attaching coefficient.
For the driving force of reasonable distribution four motorized wheels four driving wheels of electric car, the distribution control of design driven power
Device.The input of driving force dispensing controller is total driving moment and additional yaw moment, according to control target, to four wheel hub electricity
The driving moment size of machine is allocated.
The direction of value, Δ M of additional yaw moment when regulation electric car turns left is positive, and Δ M when right-hand rotation is negative；
The direction of steering wheel angle δ when automobile turns left is positive, and turning angle of steering wheel δ when right-hand rotation is negative.
Driving force distributes control strategy are as follows:
As Δ M=0, vehicle is neutral steer, and without adding control, driving force is distributed according to Principle of Average Allocation:
In formula: FL、FRRespectively left and right side front wheel drive force；fL、fRRespectively left and right side rear wheel drive force；FAlwaysFor vehicle
Total driving force；bf、brRespectively front-wheel, hind axle away from.
Such as: as Δ M > 0；When δ > 0, when left-hand rotation, if there is understeer vehicle condition in vehicle, the control of driving force distribution at this time
Device processed needs to increase the yaw moment of Δ M.
Remaining situation is as shown in table 1:
1 driving moment allocation table of table
Driving force dispensing controller model is as shown in Figure 2.M in the model1、M2The torque of front-wheel, rear-wheel is respectively indicated, it is defeated
Enter into Embedded control strategy, export 1 torque of revolver respectively, 2 torque of revolver, 3 torque of right wheel, 4 torque of right wheel formed it is differential
Power-assisted.
Traditional electric boosting steering system mainly solves operation portability and high speed steering when automobile low speed turns to
When road feel problem, not can increase the stationarity turned to integral automobile, therefore build EPS active control strategies: in conjunction with upper
The yaw moment control strategy that text is told, if understeer operating condition occurs in automobile, EPS system judgement is to carry out basic power-assisted
Control or rotary transform tensor, if it is basic Power assisted control mode, then EPS system assist motor increases booster torquemoment；If it is
Rotary transform tensor then reduces booster torquemoment.Other situations are as shown in the table:
2 EPS active control allocation table of table
(1) low speed J-type is tested.Operating condition of test: speed 10km/h, 45 degree of steering wheel angle, coefficient of road adhesion 0.85.Figure
3-5 is respectively vehicle driving trace, yaw velocity and transverse acceleration.
As seen from Figure 3, the automobile for having steering stability to control has smaller turn than the automobile that no stability controls
To radius, maximum turning radius differs 4.2m.The experimental results showed that with the electric car tool of steering stability control under low speed
There is smaller turning radius, and the control effect under low speed turning condition is good.
As shown in Figure 4, the automobile for having steering stability to control under low speed has smaller than the automobile of not stability control
Steady-state yaw rate；Reaction time is shorter, illustrates steering response rapidly, in time；Overshoot is smaller, shows to execute error
It is small；Control effect is preferable.
As seen from Figure 5, the automobile for having steering stability to control under low speed has more than the automobile that no stability controls
Big stable state side acceleration；Reaction time is shorter, illustrates steering response rapidly, in time；Overshoot is smaller, shows to execute error
It is small；Control effect is preferable.
(2) high speed J-type is tested.Operating condition of test: speed 80km/h, 45 degree of steering wheel angle, coefficient of road adhesion 0.85.Such as
Fig. 6-8 is respectively the driving trace of vehicle, yaw rate signal and lateral acceleration signal.
As seen from Figure 5, the automobile for having steering stability to control has bigger turn than the automobile that no stability controls
To radius, maximum turning radius differs 24.6m.The experimental results showed that the lower electric car with steering stability control of high speed
The control with bigger turning radius, and under tempo turn operating condition has understeer characteristics, turns to more stable.
It will be appreciated from fig. 6 that the automobile for having steering stability to control has smaller stable state than the automobile of not stability control
Yaw velocity；Reaction time is shorter, illustrates steering response rapidly, in time；Overshoot is smaller, shows that execution error is small；Control
Effect is preferable.
As seen from Figure 7, the automobile for having steering stability to control has smaller steady than the automobile that no stability controls
State side acceleration；Reaction time is shorter, illustrates steering response rapidly, in time；Overshoot is smaller, shows that execution error is small；Control
Effect processed is preferable.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of steering stability method based on four motorized wheels electric car characterized by comprising
It determines yaw moment control plan and driving force dispensing controller, according to motor turning operating condition, distributes driving moment in real time；
It determines EPS active control strategies, when understeer or oversteering operating condition occurs in automobile, is helped according to control model adjusting
Power torque.
2. the steering stability method according to claim 1 based on four motorized wheels electric car, which is characterized in that
The driving force dispensing controller takes PID control.
3. the steering stability method according to claim 2 based on four motorized wheels electric car, which is characterized in that
The driving force dispensing controller specifically includes:
Input is total driving moment and additional yaw moment, by the difference of reference yaw velocity and actually measured yaw velocity
It is worth the compensation yaw moment as output, and is symmetrically distributed in left and right driving motor in the form of torque.
4. the steering stability method according to claim 3 based on four motorized wheels electric car, which is characterized in that
It is described to be determined with reference to yaw velocity according to linear two degrees of freedom single track model.
5. the steering stability method according to claim 4 based on four motorized wheels electric car, which is characterized in that
The linear two degrees of freedom single track model meets:
In formula: β is side slip angle；R is yaw velocity；Cf、CrRespectively front and rear wheel cornering stiffness；IZIt is automobile around z-axis
Rotary inertia；If、IrRespectively distance of the axle to mass center；δfFor front wheel angle；MtRestoring moment when squeegee action,
MzFor wheel aligning torque, V is Vehicle Speed.
6. the steering stability method according to claim 5 based on four motorized wheels electric car, which is characterized in that
The calculation method with reference to yaw velocity are as follows:
In formula, τeFor time constant, δswFor steering wheel angle, rssFor yaw velocity steady-state gain.
7. the steering stability method according to claim 6 based on four motorized wheels electric car, which is characterized in that
The determination method of yaw velocity steady-state gain are as follows:
Automobile meets when at the uniform velocity turning toIt is then available according to linear two degrees of freedom single track model:
8. the steering stability method according to claim 7 based on four motorized wheels electric car, which is characterized in that
When the side acceleration of steering is greater than 0.4g, need to meet with reference to yaw velocity:
In formula, μ is tire and ground attaching coefficient, and g is acceleration of gravity.
9. the steering stability method according to claim 8 based on four motorized wheels electric car, which is characterized in that
Further include:
As additional yaw moment Δ M=0, driving force distribution meets according to mean allocation:
In formula, FL、FRRespectively left and right side front wheel drive force；fL、fRRespectively left and right side rear wheel drive force；FAlwaysIt is always driven for vehicle
Power；bf、brRespectively front-wheel, hind axle away from.
10. the steering stability method according to claim 1 based on four motorized wheels electric car, feature exist
In the specific adjusting method of booster torquemoment are as follows:
When understeer, judge that control model for basic Power assisted control mode, then increases booster torquemoment；Judge that control model is
Rotary transform tensor mode, then reduce booster torquemoment；
When oversteering, judge that control model for basic Power assisted control mode, then reduces booster torquemoment；Judge that control model is
Rotary transform tensor mode, then increase booster torquemoment.
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