CN110481343A - The combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation - Google Patents
The combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation Download PDFInfo
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- CN110481343A CN110481343A CN201910814242.7A CN201910814242A CN110481343A CN 110481343 A CN110481343 A CN 110481343A CN 201910814242 A CN201910814242 A CN 201910814242A CN 110481343 A CN110481343 A CN 110481343A
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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
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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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
- B60L2240/12—Speed
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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
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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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
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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
- B60L2240/40—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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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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Abstract
The invention discloses a kind of combination Second Order Sliding Mode Control methods of four-wheel In-wheel motor driving automobile torque compensation, include the following steps: step 1: by vehicle overall size and complete vehicle quality basic parameter, vehicle attitude data and pavement state data, in conjunction with vehicle two-freedom model, vehicle ideal yaw velocity is obtained, the vehicle ideal yaw velocity is as real-time yaw velocity model- following control target；Step 2: the initial control moment of four-wheel hub motor is obtained by driving intention information and current vehicle speed information；Step 3: designing real-time yaw rate and vehicle centroid side drift angle is the sliding formwork control model for controlling variable, pass through the sliding formwork control model, additional yaw moment is applied to vehicle instability status, by the compensation of additional yaw moment on the initial control moment of four-wheel hub motor.The present invention can compensate wheel hub 4 wheel driven yaw moment, and then more effectively improve vehicle handling stability, increase Vehicular turn sensitivity.
Description
Technical field
The present invention relates to pure electric automobile control technology fields, in particular to a kind of four-wheel In-wheel motor driving automobile torque
The combination Second Order Sliding Mode Control method of compensation.
Background technique
Hub motor technology and application are by overturning formula innovation change orthodox car transmission system, in new-energy automobile industry
Have much mainstream development trend that is perspective by extensive concern, and being remembered as Future New Energy Source Automobile drive technology, industrialization
Development prospect is huge, and relative to the internal combustion engine or motor of traditional centralization driving, hub motor takes distributed drive
It is dynamic, driving, transmission and brake apparatus are all integrated into wheel hub, clutch, transmission, transmission shaft, differential mechanism, transfer is omitted
The transmission parts such as device.Driving actuator-hub motor of wheel-hub motor driven vehicle is in wheel independent, and control is certainly
It is greatly improved by spending with accuracy.
Torque vector controls main purpose and improves vehicle performance performance, increases steering response speed, reduces the shakiness of steering
It is qualitative and improved curved speed etc..The internal combustion engine or motor automobile of traditional centralization driving realize torque vector control
It needs to distribute differential mechanism by torque vector and realizes that its structure is complicated, and freedom degree is not high.Relative to conventional mechanical transmission vapour
It is more flexible to realize that four-wheel difference turns round vector controlled because its wheel power can be controlled separately for vehicle, wheel hub 4 wheel driven pure electric automobile.Four-wheel
Difference turns round vector control method to improve vehicle handling stability, increases Vehicular turn sensitivity, studies wheel hub 4 wheel driven difference torque
Vector control method has become the technology focus of those skilled in the art, and it is wheel hub 4 wheel driven that difference, which turns round yaw moment decision-making module,
The nucleus module of poor torque vector control, it is a kind of vehicle active safety control technology that difference, which turns round yaw moment control, improves vehicle
Lateral stability, inhibit motor turning excessively or wretched insufficiency trend, improve vehicle limiting condition under control stability.
Existing wheel hub 4 wheel driven pure electric automobile torque compensation mode generally uses pid control algorithm, and PID control is cardinar number
Algorithm is learned, Full Vehicle Dynamics model is not considered, can not accomplish self adaptive control；Although some controls are using independent single order sliding formwork
Or independent Second Order Sliding Mode Control, but in sliding formwork movement, it perhaps leads to the problem of and seriously buffets or sliding formwork velocity of approach is slow,
System response efficiency is low.
Summary of the invention
Present invention aim to provide a kind of combination Second Order Sliding Mode of four-wheel In-wheel motor driving automobile torque compensation
Control method.The present invention can compensate wheel hub 4 wheel driven yaw moment, and then more effectively improve vehicle handling stability, increase
Vehicular turn sensitivity.
In order to achieve this, a kind of combination second order of four-wheel In-wheel motor driving automobile torque compensation designed by the present invention
Sliding-mode control, which is characterized in that it includes the following steps:
Step 1: by vehicle overall size and complete vehicle quality basic parameter, vehicle attitude data and pavement state data,
Vehicle two-freedom model is established, and vehicle ideal yaw velocity is obtained by vehicle two-freedom model, the vehicle is ideal
Yaw velocity is as real-time yaw velocity model- following control target；
Step 2: the initial control moment of four-wheel hub motor is obtained by driving intention information and current vehicle speed information；
Step 3: designing real-time yaw rate and vehicle centroid side drift angle is the sliding formwork control mould for controlling variable
Type is applied additional yaw moment to vehicle instability status, additional yaw moment is compensated in four-wheel by the sliding formwork control model
On the initial control moment of hub motor.
Compared with prior art, the invention has the advantages that
In currently existing scheme, using individual PID control, single order sliding formwork control, more, the present invention of Second Order Sliding Mode Control
Using Second Order Sliding Mode+self adaptive control+PID control+index and tanh segmentation Reaching Law design+yaw velocity and compensation
The filtering of torque one order inertia, different control methods and means are applied in combination.Traditional PID control only has mathematical model control, no
Meet Full Vehicle Dynamics moving law, therefore control effect is poor；Single order sliding formwork control, it is quite a lot of compared with PID control effect, but single order
Sliding formwork control can lead to the problem of violent buffeting；Second Order Sliding Mode Control, although it is contemplated that the sliding-mode surface one of system response change rate
Order derivative, buffeting problem obtains a degree of alleviation, but does not have to the bound determination of ancillary relief moment variations rate integral
Solution can only provide the maximum value of an estimation, therefore sliding formwork velocity of approach is slow；The combination Second Order Sliding Mode that the present invention uses
Control method solves the problems, such as that ancillary relief moment variations rate integrates bound, index therein by ADAPTIVE CONTROL
Tendency rate+two sections of tanh Reaching Law design, adaptability improves sliding formwork velocity of approach, and alleviates buffeting problem.
Detailed description of the invention
Fig. 1 is that In-wheel motor driving 4-wheel driven car difference torsional moment compensates control cage flow chart；
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation as shown in Figure 1, it includes
Following steps:
Step 1: by vehicle overall size and complete vehicle quality basic parameter, vehicle attitude data and pavement state data,
Vehicle two-freedom model is established, and vehicle ideal yaw velocity is obtained by vehicle two-freedom model, the vehicle is ideal
Yaw velocity is as real-time yaw velocity model- following control target；
Step 2: the initial control moment of four-wheel hub motor is obtained by driving intention information and current vehicle speed information；
Step 3: real-time yaw rate (measured and provided by vehicle-mounted gyroscope) and vehicle centroid side drift angle are provided
(measured and provided by vehicle-mounted gyroscope) is the sliding formwork control model of control variable, by the sliding formwork control model, to vehicle unstability
State applies additional yaw moment, by the compensation of additional yaw moment on the initial control moment of four-wheel hub motor.
In above-mentioned technical proposal, yaw velocity, side slip angle are that two most basic reflection running cars stablize journey
The fixed reference feature amount of degree, the former mainly stresses the essential characteristic amount of stability of automobile problem, reflects course in vehicle traveling process
The speed of angle variation, determines the steering characteristic of automobile；The latter then stresses the essential characteristic amount of vehicle track Preserving problems, reflects vapour
In vehicle steering procedure with the departure degree of desired trajectory.Sliding formwork control in the present invention is namely based on yaw velocity and mass center side
The sliding formwork control of the two control variables in drift angle obtains the ideal yaw angle of vehicle based on the linear two-freedom model of vehicle
Speed, and target is followed using ideal yaw velocity as vehicle control, compensation yaw moment is obtained, vehicle instability status is applied
Add additional yaw moment, compensates on the initial control moment of wheel hub four-wheel, further increase whole vehicle stability.
The present invention defines sliding-mode surface by the error and error rate of ideal yaw velocity and real-time yaw velocity；
Using hyperbolic tangent function design sliding formwork approach rule approach sliding-mode surface；It is rotated by sliding-mode surface, sliding-mode surface change rate and vehicle
The Full Vehicle Dynamics relationship of inertia obtains additional yaw moment change rate；It is finally obtained and is answered by yaw moment change rate integral
The additional yaw moment of compensation.
In sliding formwork control, due to the presence of sign function sgn (s), system is made the characteristic discontinuously switched occur, is easy to produce
Raw to buffet, using the boundedness and parity of the hyperbolic tangent function tanh (x) in saturation function sat (x), figure is clipped in water
Between flat line y=1 and y=-1, and when the absolute value of x is very big, its figure in first quartile close to straight line y=1,
And close to straight line y=-1 in third quadrant.Hyperbolic tangent function tanh (x) replaces sign function sgn (x) to carry out Reaching Law
Design, come when backing across diverter surface when inhibiting system mode approach diverter surface, in its two sides finite region and what is generated tremble
Vibration guarantees that diverter surface nearby controls and inputs smooth continuity.
In above-mentioned technical proposal, according to vehicle overall size and complete vehicle quality basic parameter, vehicle attitude in the step 1
Data, pavement state data are established the two-freedom model in combination Second Order Sliding Mode Control strategy, are built according to two-freedom model
Vertical vehicle kinematics equilibrium equation carries out Induction Solved by Laplace Transformation solution to vehicle kinematics equilibrium equation, final to obtain vehicle reason
Think yaw velocity.It can accomplish real-time yaw velocity and ideal yaw angle speed by combining Second Order Sliding Mode Control strategy
Degree has better followability；
In above-mentioned technical proposal, the driving intention information includes the gear information of selector, gas pedal information, braking
Pedal information, steering wheel angle information turn the gear information of selector, gas pedal information, brake pedal information, steering wheel
Angle information and current vehicle speed information identify control algolithm by driver's driving intention, obtain initial on wheel hub four-wheel
Control moment.
Pass through the error of vehicle ideal yaw velocity and the real-time yaw velocity of vehicle in the step 3 of above-mentioned technical proposal
And error rate, define the sliding-mode surface of sliding formwork control model；It is slided using hyperbolic tangent function design sliding formwork approach rule approach
Die face；By sliding-mode surface, sliding-mode surface change rate and vehicle rotary inertia, additional yaw moment change rate is obtained；Finally by adding
Yaw moment change rate integral obtains additional yaw moment.Sliding formwork control is to inscribe complicated Study on Vehicle Dynamic Control knowledge, letter
It is melted into the control of the approach procedure from a state to perfect condition, advantage is that it is unrelated with many parameters and disturbance, is passed through
This control obtains additional yaw moment change rate first, then by integral, obtains additional yaw moment.
In the step 3 of above-mentioned technical proposal, vehicle ideal yaw velocity is calculated using two-freedom model, passes through
Onboard gyroscope obtains the real-time yaw velocity of vehicle, according to vehicle ideal yaw velocity and the real-time yaw velocity of vehicle
Obtain error, vehicle ideal yaw velocity and the vehicle between vehicle ideal yaw velocity and the real-time yaw velocity of vehicle
Error rate, vehicle ideal yaw velocity between real-time yaw velocity and the mistake between the real-time yaw velocity of vehicle
Error rate weight between poor weight, vehicle ideal yaw velocity and the real-time yaw velocity of vehicle；Then according to vehicle
Error, vehicle ideal yaw velocity and vehicle between ideal yaw velocity and the real-time yaw velocity of vehicle is horizontal in real time
Error power between error rate, vehicle ideal yaw velocity between pivot angle speed and the real-time yaw velocity of vehicle
Error rate weight between value, vehicle ideal yaw velocity and the real-time yaw velocity of vehicle defines sliding formwork control model
Sliding-mode surface；Then, according to the sliding-mode surface of sliding formwork control model, sliding-mode surface change rate, sliding-mode surface sign function, Vehicular yaw angle
The tendency rate parameter of speed is using exponential approach and hyperbolic tangent function design sliding formwork segmentation approach rule approach sliding-mode surface；Pass through
Sliding-mode surface, sliding-mode surface change rate and vehicle rotary inertia obtain additional yaw moment change rate；Finally become by additional yaw moment
Rate integral obtains additional yaw moment.
In the step 3 of above-mentioned technical proposal, when to additional yaw moment change rate is obtained, need to carry out following adaptive
Control, control process are as follows:
The steady oscillation amplitude h of sliding formwork movement is the function for approaching diverter surface rate ε, sliding-mode surface coefficient q, sampling period T,
The degree of convergence of sliding-mode surface s (k) is influenced by diverter surface rate ε and sampling period T, is stablized according to vehicle Liapunov second
Criterion carries out stability analysis to the control system of design and constructs exponential approach section and tanh including sliding-mode surface s (k)
The steady oscillation amplitude h function for approaching section, when vehicle movement starts, using the exponentially approaching rule of sliding-mode surface s (k) to the fortune of vehicle
Dynamic state, which carries out control, makes the yaw velocity of vehicle reach vehicle ideal yaw velocity；The index for reaching sliding-mode surface s (k) becomes
After the switching point of nearly rule control and hyperbolic tangent function reaching law control, with hyperbolic tangent function Reaching Law to the movement shape of vehicle
State, which carries out control, makes the yaw velocity of vehicle reach vehicle ideal yaw velocity；It obtains exponential approach section and tanh becomes
The Reaching Law bound of the sliding formwork compensating torque change rate integral of proximal segment, adaptability improve sliding formwork velocity of approach；
0 is converged in s (k), and s (k) tends to be balanced and a little zero (when reaching s (k)=0, also to slide, protect at zero point
Card slipping smoothness) when calculate the corresponding ε value in s (k)/2, which is the index of sliding-mode surface s (k)
The switching point of reaching law control and hyperbolic tangent function reaching law control.
The value of sliding-mode surface s (k) is in [- h, the h] of exponentially approaching rule and [- h, h] range of hyperbolic tangent function Reaching Law
It is interior.
In above-mentioned technical proposal, ε value reduces, and can reduce the buffeting of system, but ε value is too small, influences system and reaches diverter surface
Velocity of approach, while T is also impossible to obtain very little, and therefore, ideal ε value is divided to two sections, when system motion starts, ε value more greatly,
Using exponentially approaching rule；As time increases, ε value should gradually reduce, using hyperbolic tangent function Reaching Law.Rule of thumb
Set suitable ε, T.
The combination of self adaptive control and sliding formwork control is to solve Parameter uncertainties or time-variable parameter system control problem
A kind of effective control method, for the nonlinear system of a kind of available linearization, a kind of dynamic self-adapting structure changes of design are sliding
Mould control, the present invention guarantee the reasonability of variable-structure control gain, solve cunning by a kind of new parameter adaptive estimation method
Integral bound is difficult to determining problem in mould control, thus realize nonlinear system model reference adaptive sliding formwork control, it is real
Now with uncertain and unknown outer interference Robust Control for Nonlinear Systems.
Smoother control variable curve is obtained in the step 3 of above-mentioned technical proposal, is filtered by one order inertia, to dry
It disturbs and is filtered with noise, that is, filter off random interfering signal when yaw velocity, the variation of sliding formwork compensating torque initial value, help
In the smoothness and filtering singular point that improve output signal；
Twice using one order inertia filtering control, it is used to respectively for real-time yaw velocity and additional yaw moment
Property filtering；
Wherein, in the digital filter of real-time yaw velocity, the input of digital filter is in a sampling period
Real-time yaw velocity, real-time yaw velocity in a upper sampling period, default filter factor, time constant,
The time in each period filters out real-time yaw velocity interference signal and singular point according to one order inertia filtering algorithm respectively；
For in the digital filter of real-time additional yaw moment, the input of digital filter is attached in a sampling period
Add yaw moment, additional yaw moment in a upper sampling period, default filter factor, time constant, each period when
Between, according to one order inertia filtering algorithm, additional yaw moment interference signal and singular point are filtered out respectively.
The result filtered twice uses to obtain the song that the compensating torque initial value of yaw velocity or decision out is formed in real time
Line becomes more smooth.
In the step 3 of above-mentioned technical proposal, to additional yaw moment, the method for carrying out the compensation control of PID excess torque is
P, I, D value, and ideal yaw velocity and real-time yaw velocity difference are rule of thumb set, by pid control algorithm,
P ratio, I integral, D differential are cumulative, and final calculate obtains PID excess torque offset.
In above-mentioned technical proposal, the vehicle vehicle overall size and complete vehicle quality basic parameter include vehicle centroid height,
Automobile front-axle is to vehicle center distance, vehicle rear axle to vehicle center distance, vehicle front tread, vehicle rear wheel away from, automobile front-axle
The equivalent lateral deviation of equivalent cornering stiffness, vehicle rear axle just, complete vehicle curb weight, half mounted mass of vehicle and vehicle be fully loaded with quality.
In above-mentioned technical proposal, vehicle attitude data include vehicle movement information, tire parameter information, vehicle power part
Status information；
Wherein, vehicle movement information includes longitudinal speed, lateral speed, side slip angle；
Tire parameter information includes longitudinal tire force and lateral tire force；
Vehicle power Partial State Information includes vehicle wheel rotational speed, longitudinal acceleration, yaw velocity, side acceleration；
Pavement state data are coefficient of road adhesion.
All of above control strategy combines to form complete closed-loop control, by torque compensation control in influence factor use
Scientific method, which is given, to be considered.Automobile Real-road Driving Cycle is more complex, takes the control methods such as simple PID to be difficult satisfaction practical more
The duty requirements of denaturation, and sliding formwork control has stronger robustness as a kind of special variable structural nonlinear control method,
It influences control system by the Parameters variation of controlled device and external disturbance, therefore is very suitable to automobile Yaw stability
Control.
In the present invention, vehicle control policy framework is wheel hub 4 wheel driven pure electric automobile as controlled device, receives controller
The four-wheel drive torque that TVC control algolithm decision goes out is responded；The car bodies such as vehicle feedback speed, acceleration, yaw velocity
State parameter first passes around parameter and variable calculates, obtain the equivalent cornering stiffness and vertical load of antero posterior axis to control algolithm
Distribution；It is designed by steering characteristic, sets the ideal value of yaw velocity as TVC model- following control target；It finally will be ideal
Yaw velocity and actual value carry out additional yaw moment total needed for control decision goes out, and go out four vehicles by Torque distribution decision
Driving moment on wheel.
In the present invention, the initial torque that is parsed by driver's driving intention, Second Order Sliding Mode Control and self-adaptive controlled
After making the compensating torque obtained, the compensation of PID excess torque, the total distribution torque acted on four-wheel is as follows:
Mztot=Mz(driving intention parsing initial value)+Mz(sliding formwork+adaptive)+Mz(PID)
Wherein, MztotIndicate total compensating torque；Mz(driving intention parsing initial value)Indicate the required torque that driving intention parses
Initial value；Mz(sliding formwork+adaptive)Indicate the additional yaw moment that Second Order Sliding Mode Control, self adaptive control obtain；Mz(PID)Expression passes through
Residue compensation torque after Second Order Sliding Mode and self adaptive control that PID control obtains.
Yaw moment distribution needs to meet constraint: resultant couple demand is constant and motor torque fan-out capability.Under normal conditions,
Entire control process faces conventional operating condition downward driving process, and control purpose is to improve manoeuvereability of automobile when turning to, not limit work
Condition stability control does not interfere driver's speed to control so needing to guarantee that resultant couple demand is constant in entire control process
Journey；Motor is limited under certain rotary speed by external characteristics can only issue fixed peak torque.Therefore poor torsional moment distributes Shi Yaogen
Poor torsional moment distribution is adjusted according to the dynamic of operating point locating for motor.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation, which is characterized in that it is wrapped
Include following steps:
Step 1: by vehicle overall size and complete vehicle quality basic parameter, vehicle attitude data and pavement state data, establishing
Vehicle two-freedom model, and vehicle ideal yaw velocity, the vehicle ideal sideway are obtained by vehicle two-freedom model
Angular speed is as real-time yaw velocity model- following control target；
Step 2: the initial control moment of four-wheel hub motor is obtained by driving intention information and current vehicle speed information；
Step 3: designing real-time yaw rate and vehicle centroid side drift angle is the sliding formwork control model for controlling variable, lead to
The sliding formwork control model is crossed, additional yaw moment is applied to vehicle instability status, additional yaw moment is compensated in four-wheel wheel hub
On the initial control moment of motor.
2. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: according to vehicle overall size and complete vehicle quality basic parameter, vehicle attitude data, road surface shape in the step 1
State data establish the two-freedom model in combination Second Order Sliding Mode Control strategy, establish vehicle movement according to two-freedom model
Equilibrium equation is learned, Induction Solved by Laplace Transformation solution is carried out to vehicle kinematics equilibrium equation, it is final to obtain vehicle ideal yaw angle speed
Degree.
3. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: the driving intention information includes the gear information of selector, gas pedal information, brake pedal information, side
To disk corner information, by the gear information of selector, gas pedal information, brake pedal information, steering wheel angle information, and
Current vehicle speed information identifies control algolithm by driver's driving intention, obtains the initial control moment on wheel hub four-wheel.
4. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: passing through the error and error of vehicle ideal yaw velocity and the real-time yaw velocity of vehicle in the step 3
Change rate defines the sliding-mode surface of sliding formwork control model；Using hyperbolic tangent function design sliding formwork approach rule approach sliding-mode surface；It is logical
Sliding-mode surface, sliding-mode surface change rate and vehicle rotary inertia are crossed, additional yaw moment change rate is obtained；Finally by adding yaw moment
Change rate integral obtains additional yaw moment.
5. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: vehicle ideal yaw velocity is calculated using two-freedom model, passes through onboard top in the step 3
Spiral shell instrument obtains the real-time yaw velocity of vehicle, obtains vehicle according to vehicle ideal yaw velocity and the real-time yaw velocity of vehicle
Error, vehicle ideal yaw velocity and the real-time sideway of vehicle between ideal yaw velocity and the real-time yaw velocity of vehicle
Error weight between error rate, vehicle ideal yaw velocity between angular speed and the real-time yaw velocity of vehicle,
Error rate weight between vehicle ideal yaw velocity and the real-time yaw velocity of vehicle；Then ideal horizontal according to vehicle
Error, vehicle ideal yaw velocity and the real-time yaw velocity of vehicle between pivot angle speed and the real-time yaw velocity of vehicle
Between error rate, the error weight between vehicle ideal yaw velocity and the real-time yaw velocity of vehicle, vehicle manage
Think that the error rate weight between yaw velocity and the real-time yaw velocity of vehicle defines the sliding-mode surface of sliding formwork control model；
Then, according to sliding-mode surface, sliding-mode surface change rate, sliding-mode surface sign function, the yaw rate in sliding formwork control model
Tendency rate parameter is using hyperbolic tangent function design sliding formwork approach rule approach sliding-mode surface；Pass through sliding-mode surface, sliding-mode surface change rate
With vehicle rotary inertia, additional yaw moment change rate is obtained；Additional cross is finally obtained by additional yaw moment change rate integral
Put torque.
6. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: when to additional yaw moment change rate is obtained, needing to carry out following self adaptive control in the step 3, control
Process processed are as follows:
The steady oscillation amplitude h of sliding formwork movement is the function for approaching diverter surface rate ε, sliding-mode surface coefficient q, sampling period T, sliding formwork
The degree of convergence of face s (k) is influenced by diverter surface rate ε and sampling period T, according to the second stability criterion of vehicle Liapunov
Stability analysis is carried out to the control system of design and constructs exponential approach section and tanh approach including sliding-mode surface s (k)
The steady oscillation amplitude h function of section, when vehicle movement starts, using the exponentially approaching rule of sliding-mode surface s (k) to the movement shape of vehicle
State, which carries out control, makes the yaw velocity of vehicle reach vehicle ideal yaw velocity；Reach the exponentially approaching rule of sliding-mode surface s (k)
Control with after the switching point of hyperbolic tangent function reaching law control, with hyperbolic tangent function Reaching Law to the motion state of vehicle into
Row control makes the yaw velocity of vehicle reach vehicle ideal yaw velocity；It obtains exponential approach section and tanh approaches section
Sliding formwork compensating torque change rate integral Reaching Law bound；
Converge to 0 in s (k), and s (k) tend to be balanced a little zero when calculate the corresponding ε value in s (k)/2, when the corresponding sampling of the ε value
Between point be sliding-mode surface s (k) exponentially approaching rule control and the switching point of hyperbolic tangent function reaching law control.
7. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by:
Twice using one order inertia filtering control in step 3, respectively for real-time yaw velocity and additional yaw moment into
Row digital filter；
Wherein, in the digital filter of real-time yaw velocity, the input of digital filter is the reality in a sampling period
When yaw velocity, it is real-time yaw velocity in a upper sampling period, default filter factor, time constant, each
The time in period filters out real-time yaw velocity interference signal and singular point according to one order inertia filtering algorithm respectively；
For in the digital filter of real-time additional yaw moment, the input of digital filter is the additional cross in a sampling period
Torque is put, additional yaw moment, default filter factor, time constant, the time in each period in a upper sampling period, root
According to one order inertia filtering algorithm, additional yaw moment interference signal and singular point are filtered out respectively.
8. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by:, to additional yaw moment, the method for carrying out the compensation control of PID excess torque is according to experience in the step 3
P, I, D value, and ideal yaw velocity and real-time yaw velocity difference are set, pid control algorithm, P ratio, I are passed through
Integral, D differential are cumulative, and final calculate obtains PID excess torque offset.
9. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: the vehicle vehicle overall size and complete vehicle quality basic parameter include vehicle centroid height, automobile front-axle to vehicle
Centre distance, vehicle rear axle to vehicle center distance, vehicle front tread, vehicle rear wheel away from, the equivalent cornering stiffness of automobile front-axle,
The equivalent lateral deviation of vehicle rear axle just, complete vehicle curb weight, half mounted mass of vehicle and vehicle be fully loaded with quality.
10. the combination Second Order Sliding Mode Control method of four-wheel In-wheel motor driving automobile torque compensation according to claim 1,
It is characterized by: vehicle attitude data include vehicle movement information, tire parameter information, vehicle power Partial State Information；
Wherein, vehicle movement information includes longitudinal speed, lateral speed, side slip angle；
Tire parameter information includes longitudinal tire force and lateral tire force；
Vehicle power Partial State Information includes vehicle wheel rotational speed, longitudinal acceleration, yaw velocity, side acceleration；
Pavement state data are coefficient of road adhesion.
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