CN114670672A - Comprehensive stability control method and system for wheel-side driven electric automobile - Google Patents
Comprehensive stability control method and system for wheel-side driven electric automobile 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
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- 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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Abstract
The invention provides a method and a system for comprehensively controlling the stability of a wheel-side driven electric automobile, wherein the method comprises the following steps: firstly, building a layered control architecture; the monitoring layer based on the framework can perform model calculation on key indexes of target equipment to respectively obtain ideal reference value sets, and control mode switching logic is designed to further obtain difference variable sets of each ideal reference value and each actual key index in the ideal reference value sets; calculating the difference variable set through a control algorithm to obtain a yaw moment set of the target equipment; and then according to a lower layer controller, optimizing and distributing the yaw moment set to obtain the target motor torque of the target equipment, and intelligently controlling the stable motion of the target equipment.
Description
Technical Field
The invention relates to the technical field of distributed driving, in particular to a method and a system for comprehensively controlling the stability of a wheel-side driven electric automobile.
Background
The distributed driving is a brand new driving form of the electric automobile, and compared with a centralized driving electric automobile, the distributed driving has the advantages that the transmission efficiency is improved, and the whole automobile arrangement and the dynamic control are more flexible. The directional stability and roll stability of a vehicle are important factors affecting the safe driving of the automobile. The direction stability control is mainly responsible for enabling the vehicle to carry out curve running according to the intention of a driver and avoiding the vehicle from generating large sideslip. Roll stability control is responsible for preventing rollover due to excessive lateral acceleration of the vehicle. The directional stability of the vehicle is a safety problem which needs to be solved under the limit working condition of the automobile with any configuration, and in addition, the roll of the vehicle during steering influences the comfort and safety of the whole automobile, so that the research on the roll stability control of the vehicle is also very necessary.
However, the directional stability control and the roll stability control of most vehicles in the prior art are separately and independently studied. In practice, however, the vehicle is strongly coupled in its motion, and when roll control is performed, the vertical load of the vehicle varies, affecting the longitudinal and lateral forces of the tires and ultimately the directional stability of the vehicle. Meanwhile, when the vehicle is subjected to yaw control, lateral dynamics change, thereby affecting roll stability.
Disclosure of Invention
The embodiment of the invention provides a comprehensive control method and a comprehensive control system for stability of a wheel-side driven electric automobile, which are used for solving the technical problems that the stability of the automobile cannot be comprehensively and comprehensively evaluated and the driving safety and stability of the automobile are influenced because the direction stability control and the side-tipping stability control of most of the automobiles in the prior art are separately and independently researched.
In order to solve the technical problems, the invention adopts the following technical scheme:
a stability integrated control method for a wheel-side driven electric vehicle is realized by a stability integrated control system for the wheel-side driven electric vehicle, wherein the method comprises the following steps: building a layered control architecture, wherein the layered control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller; performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment; obtaining difference variable sets of each ideal reference value and each actual key index in the ideal reference value set; calculating the difference variable set based on a control algorithm of the upper controller to obtain a yaw moment set corresponding to a stability control mode of the target equipment; according to the lower layer controller, optimizing and distributing the yaw moment set to obtain a target motor torque of the target equipment; and intelligently controlling the stable motion of the target equipment according to the target motor torque.
In another aspect, the present invention further provides a stability integrated control system for a wheel-side driven electric vehicle, configured to execute the stability integrated control method for a wheel-side driven electric vehicle according to the first aspect, where the system includes: the system comprises a first building unit, a second building unit and a third building unit, wherein the first building unit is used for building a hierarchical control architecture, and the hierarchical control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller; the first calculation unit is used for performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment; a first obtaining unit, configured to obtain, in the ideal reference value set, a difference variable set of each ideal reference value and each actual key indicator; a second calculating unit, configured to calculate the difference variable set based on a control algorithm of the upper controller, and obtain a yaw moment set corresponding to a stability control mode of the target device; the first distribution unit is used for carrying out optimized distribution on the yaw moment set according to the lower layer controller to obtain a target motor torque of the target equipment; and the first control unit is used for intelligently controlling the stable motion of the target equipment according to the target motor torque.
In a third aspect, the present invention further provides a stability integrated control system for a wheel-side driven electric vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect when executing the program.
In a fourth aspect, an electronic device, comprising a processor and a memory;
the memory is used for storing;
the processor is configured to execute the method according to any one of the first aspect above by calling.
In a fifth aspect, a computer program product comprises a computer program and/or instructions which, when executed by a processor, performs the steps of the method of any of the first aspect described above.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
building a layered control architecture; the monitoring layer based on the framework can perform model calculation on key indexes of target equipment to respectively obtain ideal reference value sets, and control mode switching logic is designed to further obtain difference variable sets of each ideal reference value and each actual key index in the ideal reference value sets; calculating the difference variable set through a control algorithm to obtain a yaw moment set of the target equipment; and then according to a lower layer controller, optimizing and distributing the yaw moment set to obtain the target motor torque of the target equipment, and intelligently controlling the stable motion of the target equipment. According to the target motor torque, the stability movement of the target equipment is intelligently controlled, so that the technical effects of comprehensively controlling the direction stability and the roll stability of the electric automobile and effectively improving the direction stability and the roll stability of the automobile through the coordinated control of motor torsion are achieved.
When the stability comprehensive control system is established, the stability control modes of the vehicle are divided into three conditions of yaw stability control, lateral stability control and roll stability control, and the monitoring layer is responsible for designing switching rules among the three control modes according to the three calculated key indexes, so that the intelligent switching of the running stability of the electric automobile is realized.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling stability of a wheel-side-driven electric vehicle according to the present invention;
FIG. 2 is a schematic flow chart of a hierarchical control architecture in the method for comprehensively controlling stability of a wheel-side-driven electric vehicle according to the present invention;
FIG. 3 is a schematic flow chart illustrating model calculation of key index features of target equipment in the method for comprehensively controlling stability of a wheel-side driven electric vehicle according to the present invention;
FIG. 4 is a schematic flow chart of a linear 2-DOF reference model in the method for comprehensively controlling the stability of a wheel-side driven electric vehicle according to the present invention;
fig. 5 is a schematic flow chart illustrating a control mode switching logic for designing the target device in the method for comprehensively controlling stability of the wheel-side driven electric vehicle according to the present invention;
FIG. 6 is a schematic structural diagram of a stability integrated control system of a wheel-side driven electric vehicle according to the present invention;
Fig. 7 is a schematic structural diagram of an exemplary electronic device of the present invention.
Description of the reference numerals:
a first building unit 11, a first calculating unit 12, a first obtaining unit 13, a second calculating unit 14, a first distributing unit 15, a first control unit 16, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 305.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a comprehensive control method and a comprehensive control system for stability of a wheel-side driven electric automobile, and solves the technical problems that in the prior art, the directional stability control and the roll stability control of most vehicles are separately and independently researched, so that the stability of the automobile cannot be comprehensively evaluated, and the driving safety and stability of the vehicle are influenced. The method has the advantages that the stability and the motion of the target equipment are intelligently controlled according to the torque of the target motor, the direction stability and the roll stability of the electric automobile are comprehensively controlled, the direction stability and the roll stability of the automobile can be effectively improved through the coordinated control of the motor torsion, and the driving safety and the stability of the automobile are ensured.
In the technical scheme of the invention, the acquisition, storage, use, processing and the like of the data all accord with relevant regulations of national laws and regulations.
In the following, the technical solutions in the present invention will be clearly and completely described with reference to the accompanying drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
The invention provides a stability comprehensive control method for a wheel-side driven electric vehicle, which is applied to a stability comprehensive control system for the wheel-side driven electric vehicle, wherein the method comprises the following steps: building a layered control architecture, wherein the layered control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller; performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment; obtaining difference variable sets of each ideal reference value and each actual key index in the ideal reference value set; calculating the difference variable set based on a control algorithm of the upper controller to obtain a yaw moment set corresponding to a stability control mode of the target equipment; according to the lower layer controller, optimizing and distributing the yaw moment set to obtain a target motor torque of the target equipment; and intelligently controlling the stable motion of the target equipment according to the target motor torque.
Having described the general principles of the invention, reference will now be made in detail to various non-limiting embodiments of the invention, examples of which are illustrated in the accompanying drawings.
Example one
Referring to fig. 1, the invention provides a stability integrated control method for a wheel-side driven electric vehicle, wherein the method is applied to a stability integrated control system for the wheel-side driven electric vehicle, and the method specifically comprises the following steps:
step S100: building a layered control architecture, wherein the layered control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller;
specifically, currently, the directional stability control and the roll stability control of most vehicles are separately and independently studied. In practice, however, the vehicle is strongly coupled in its motion, and when roll control is performed, the vertical load of the vehicle varies, affecting the longitudinal and lateral forces of the tires and ultimately the directional stability of the vehicle. Meanwhile, when the vehicle is controlled in a transverse swinging mode, lateral dynamics changes, and then the side-tipping stability is influenced.
More specifically, as shown in fig. 2, the hierarchical control architecture is composed of a monitoring layer, an upper controller and a lower controller, wherein the implementation of the hierarchical control strategy is effectively ensured through the cascade cooperation of three levels.
Step S200: performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment;
specifically, after the hierarchical control architecture is constructed, model calculation may be performed on key indexes of a target device according to a monitoring layer on the hierarchical control architecture, where the target device may be characterized as an electric vehicle, the key indexes include yaw rate, centroid yaw angle, roll index RI, and the like in a driving process of the electric vehicle, and the key indexes may be specifically calculated according to a model corresponding to the indexes, and it should be noted that data calculated based on the model are ideal reference values of the key indexes, that is, the ideal reference value set. Wherein, the yaw velocity refers to the deflection of the automobile around a vertical axis, and the magnitude of the deflection represents the stability degree of the automobile; the mass center slip angle generated when the automobile runs is determined by the slip characteristic of the tire of the automobile because the actual course of the automobile is the lateral direction of the automobile when drifting and the included angle between the actual course and the direction of the automobile head is 90 degrees; when the automobile is turned to one side sharply at a certain speed, the automobile body inclines, and the index of the maximum roll angle between the plane of the automobile body and the ground, which can be borne by the automobile body, can be understood as a roll index.
The stability control mode corresponding to the electric vehicle can be obtained according to each key index, that is, the yaw rate corresponds to the yaw stability control mode, the centroid yaw angle corresponds to the lateral stability control mode, and the roll index RI corresponds to the roll stability control mode, so that the monitoring layer is responsible for designing a switching rule between the three control modes according to the three calculated key indexes, illustratively, a safety threshold of the three key indexes, that is, the yaw rate, the centroid yaw angle and the roll index RI, is set according to a certain rule, and when an actually obtained key index exceeds the safety threshold, corresponding control is performed, for example, the yaw rate is greater than the safety value, and the stability control mainly controls the yaw rate.
Step S300: obtaining a difference variable set of each ideal reference value and each actual key index in the ideal reference value set;
step S400: calculating the difference variable set based on a control algorithm of the upper controller to obtain a yaw moment set corresponding to a stability control mode of the target equipment;
specifically, because the data in the ideal reference value set is obtained by calculation based on each model, a difference variable set between each ideal reference value and each actual key index needs to be obtained by calculation, that is, a difference variable between an actual index of the yaw rate and the ideal index, a difference variable between an actual index of the centroid yaw angle and the ideal index, a difference variable between an actual index of the roll index and the ideal index, and the like are obtained.
More specifically, the upper controller is responsible for calculating the yaw moment corresponding to the three stability modes. The method comprises the following specific steps: and calculating to obtain the corresponding yaw moment of the three stability control modes by adopting a classical PI control algorithm and taking the difference values of the actual yaw velocity, the centroid side slip angle, the RI and respective ideal values as control variables. Wherein the control algorithm is a classic PI control algorithm. The control algorithm of the system mainly adopts a PI control algorithm, and the algorithm is as follows:
u(t)＝Kp[e(t)+1Ti∫t0e(t)dt]
wherein: kpIs a proportionality coefficient, TiIs an integral coefficient. If the sampling period of the single chip microcomputer is T, the above formula can be approximated as:
u(t)＝Kp[e(t)+TTi∑kj]＝0e(j)＝Kpe (k) + Ki Σ kj ═ 0e (j) T, that is, the position PI algorithm.
The incremental control algorithm is adopted here, and can be obtained according to the recursion principle:
u(k-1)＝Kpe (k-1) + Ki ∑ (k-1) j ═ 0e (j) T, the incremental algorithm is:
Δu(k)＝u(k)-u(k-1)＝Kp[e(k)-e(k-1)]+Kie(k)；
wherein: kpKi is the integral time constant for the controller scaling factor. Because the system adopts the proportional-integral regulator, the rotating speed of the motor reaches static state without difference through the regulating action of the PI regulator under the action of disturbance. In the static speed-regulating system without difference, the proportional part of proportional-integral regulator makes the dynamic response faster (without lag), and the integral part makes the system eliminate the difference.
Direct Yaw moment control, known in english as Direct Yaw-moment control (DYC). The method is a new function developed on the basis of a brake anti-lock braking system (ABS)/a drive anti-slip system (ASR), so that the active safety technology of the automobile tends to be more perfect, and the method becomes a chassis control method with the most development prospect in the stability control of the automobile. Generally, there are two evaluation criteria for direct yaw moment control of an automobile: the system comprises a yaw rate and a centroid slip angle, wherein the yaw rate is mainly used for judging whether the automobile is under-turned or over-turned during the turning process, and the centroid slip angle can be used for judging whether the track deviation exists during the turning process. The two evaluation indexes cooperate with each other to jointly determine the stable state of the automobile.
Step S500: according to the lower layer controller, optimizing and distributing the yaw moment set to obtain a target motor torque of the target equipment;
further, step S500 includes:
step S510: obtaining a first constraint characteristic index, a second constraint characteristic index and a third constraint characteristic index of the target equipment;
step S520: constructing an active set algorithm model;
Step S530: and inputting the yaw moment set, the first constraint characteristic index, the second constraint characteristic index and the third constraint characteristic index into the active set algorithm model for optimization training to obtain the target motor torque.
Step S600: and intelligently controlling the stable motion of the target equipment according to the target motor torque.
Specifically, after the upper controller decides the additional yaw moment, the lower controller is responsible for allocation, specifically, the additional yaw moment can be realized by the motor driving/braking torque until the target motor torque is obtained. The lower layer takes the minimum tire utilization rate as an optimization target, considers the peak value constraint, the change rate constraint and the road adhesion condition constraint of the actuator, adopts an active set algorithm to optimally distribute the additional yaw moment of the upper layer, and finally obtains the target torque of the motor. The first constraint characteristic index can be characterized as peak value constraint, the second constraint characteristic index can be characterized as change rate constraint, the third constraint characteristic index can be characterized as road adhesion condition constraint, an active set algorithm is integrated in the active set algorithm model, input data can be calculated, and the method is characterized in that an iteration point can follow a constraint boundary until an optimal point of a problem is reached; the motor torque, simply speaking, refers to the magnitude of the rotating force, but the torque of the motor is proportional to the strength of the rotating magnetic field, the current in the rotor cage, and the square of the power supply voltage, so the torque is determined by the factors of the current and the voltage. The target motor holding torque is the most iterative result, namely the rotation force of the motor of the electric automobile.
Furthermore, the stability movement of the target equipment is intelligently controlled according to the target motor torque, the direction stability and the roll stability of the electric automobile are comprehensively controlled, and the direction stability and the roll stability of the automobile can be effectively improved through the coordination control of the motor torsion.
Further, as shown in fig. 3, the step S200 of performing model calculation on the key index features of the target device includes:
step S210: according to the monitoring layer, constructing a yaw motion reference model, a lateral motion reference model and a roll motion model of the target equipment;
step S220: calculating a first key index of the target equipment according to the yaw motion reference model to obtain an ideal reference value of the first index;
further, step S220 includes:
step S221: according to the formula
Calculating to obtain an ideal reference value of the first index;
step S230: calculating a second key index of the target equipment according to the lateral motion reference model to obtain a second index ideal reference value;
further, step S230 includes:
according to the formula
And calculating to obtain the second index ideal reference value, wherein, 
Is the vehicle stability factor.
Step S240: calculating a third key index of the target equipment according to the roll motion model to obtain an ideal reference value of the third index;
further, step S240 includes:
step S241: according to the formula:
calculating to obtain the ideal reference value of the third index, wherein in the formula, C1，C2，k1For calibrating the parameters, wherein 0<C1<1，0<C2<1。
In order to be the side inclination angle,
calibrating a threshold for roll angular velocity, ay_thA threshold is calibrated for lateral acceleration.
Step S250: generating the set of ideal reference values from the first, second, and third index ideal reference values.
Specifically, when performing model calculation on key index features of the target device, a yaw motion reference model, a lateral motion reference model and a roll motion model of the target device may be constructed based on the monitoring layer, wherein each model is embedded with a set of algorithm and is capable of calculating corresponding key features, the yaw motion reference model may train the input yaw angular velocity of the target device, and the train obtains the ideal reference value of the first index, that is, the ideal yaw angular velocity reference value of the electric vehicle, which may be calculated according to a formula
Calculating to obtain the ideal reference value of the first index, as shown in FIG. 4,/rThe running length of the electric vehicle in the original running direction, lfV for starting to change the travel length of the travel direction to finishxFor the driving speed of the vehicle, KstaIs the vehicle stability factor.
More specifically, the lateral motion reference model may train the input centroid slip angle of the target device, and the second index ideal reference value, i.e., the ideal centroid slip angle reference value of the electric vehicle, may be obtained through training according to a formula
And calculating to obtain the second index ideal reference value, wherein,
and m is the mass of the electric automobile.
Furthermore, the roll motion model may train the input roll index of the target device, and train to obtain the ideal reference value of the third indicator, that is, the ideal roll index of the electric vehicle, according to a formula:
calculating to obtain the ideal reference value of the third index, wherein in the formula, C1，C2，k1For calibrating the parameters, wherein 0<C1<1，0<C2<1。
In order to be the side inclination angle,
calibrating a threshold for roll angular velocity, ay_thA threshold is calibrated for lateral acceleration.
And finally, the first index ideal reference value, the second index ideal reference value and the third index ideal reference value are collected to generate an ideal reference value set, so that the yaw moment corresponding to the three modes at the later stage can be conveniently obtained.
Further, as shown in fig. 5, the step S200 further includes, according to the control mode switching logic designed for the target device, S260:
step S261: presetting a first index safety threshold according to the first index ideal reference value;
step S262: presetting a second index safety threshold according to the second index ideal reference value;
step S263: presetting a third index safety threshold according to the third index ideal reference value;
step S264: obtaining a first actual key index, a second actual key index and a third actual key index of the target equipment;
step S265: judging whether the first actual key index exceeds the first index safety threshold, whether the second actual key index exceeds the second index safety threshold, or whether the third actual key index exceeds the third index safety threshold;
step S266: and if the first actual key index exceeds the first index safety threshold, or the second actual key index exceeds the second index safety threshold, or the third actual key index exceeds the third index safety threshold, performing special stability control on the first actual key index, or the second actual key index, or the third actual key index.
Specifically, when the control mode switching logic of the target device is designed, a safety threshold may be set for each key indicator, specifically, a first indicator safety threshold is preset according to the ideal reference value of the first indicator, where the safety threshold corresponding to the first indicator safety threshold is a safety threshold of the yaw rate; presetting a second index safety threshold according to the second index ideal reference value, wherein the second index safety threshold corresponds to a safety threshold of the centroid slip angle; and presetting a third index safety threshold according to the third index ideal reference value, wherein the third index safety threshold corresponds to a safety threshold of the roll index.
Meanwhile, an actual reference value of each key index can be obtained, wherein the first actual key index is an actual reference value of the yaw rate, the second actual key index is an actual reference value of the centroid yaw angle, and the third actual key index is an actual reference value of the roll index.
And then, respectively judging whether the first actual key index exceeds the first index safety threshold, whether the second actual key index exceeds the second index safety threshold, or whether the third actual key index exceeds the third index safety threshold, and when the actually obtained key index exceeds the safety threshold, performing corresponding control, namely if the first actual key index exceeds the first index safety threshold, or the second actual key index exceeds the second index safety threshold, or the third actual key index exceeds the third index safety threshold, and if any judgment result is true, performing special stability control on the corresponding key index, so as to improve the direction stability and the roll stability of the vehicle.
In summary, the stability comprehensive control method for the wheel-side driven electric vehicle provided by the invention has the following technical effects:
1. a layered control architecture is built; on the basis of a monitoring layer of the framework, model calculation can be carried out on key indexes of target equipment to respectively obtain ideal reference value sets, control mode switching logic is designed, and then difference variable sets of each ideal reference value and each actual key index in the ideal reference value sets are obtained; calculating the difference variable set through a control algorithm to obtain a yaw moment set of the target equipment; and then according to a lower layer controller, optimizing and distributing the yaw moment set to obtain the target motor torque of the target equipment, and intelligently controlling the stable motion of the target equipment. According to the target motor torque, the stability motion of the target equipment is intelligently controlled, so that the technical effects of comprehensively controlling the direction stability and the roll stability of the electric automobile and effectively improving the direction stability and the roll stability of the automobile through the coordinated control of motor torsion are achieved.
2. When the stability comprehensive control system is established, the stability control mode of the vehicle is divided into three conditions of yaw, lateral and roll stability control, and the monitoring layer is responsible for designing a switching rule among the three control modes according to the three calculated key indexes, so that the intelligent switching of the running stability of the electric automobile is realized.
Example two
Based on the same inventive concept as the stability integrated control method of the wheel-side driven electric vehicle in the foregoing embodiment, the present invention further provides a stability integrated control system of a wheel-side driven electric vehicle, please refer to fig. 6, where the system includes:
the system comprises a first building unit 11, a second building unit 11 and a third building unit, wherein the first building unit 11 is used for building a hierarchical control architecture, and the hierarchical control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller;
a first calculating unit 12, where the first calculating unit 12 is configured to perform model calculation on key indexes of a target device based on the monitoring layer, respectively obtain ideal reference value sets of the target device, and design a control mode switching logic of the target device;
a first obtaining unit 13, where the first obtaining unit 13 is configured to obtain, from the ideal reference value set, difference variable sets of each ideal reference value and each actual key indicator;
a second calculating unit 14, where the second calculating unit 14 is configured to calculate the difference variable set based on a control algorithm of the upper controller, and obtain a yaw moment set corresponding to a stability control mode of the target device;
A first distributing unit 15, where the first distributing unit 15 is configured to perform optimal distribution on the set of yaw moments according to the lower layer controller, and obtain a target motor torque of the target device;
a first control unit 16, wherein the first control unit 16 is configured to intelligently control the stable motion of the target device according to the target motor torque.
Further, the system further comprises:
a first construction unit configured to construct a yaw motion reference model, a lateral motion reference model, and a roll motion model of the target device according to the monitoring layer;
a third calculating unit, configured to calculate a first key indicator of the target device according to the yaw motion reference model, and obtain an ideal reference value of the first indicator;
the fourth calculation unit is used for calculating a second key index of the target equipment according to the lateral motion reference model to obtain a second index ideal reference value;
a fifth calculation unit configured to calculate a third key index of the target apparatus based on the roll motion model to obtain a third index ideal reference value;
A first generation unit configured to generate the set of ideal reference values from the first index ideal reference value, the second index ideal reference value, and the third index ideal reference value.
Further, the system further comprises:
a sixth calculation unit for calculating a formula
Calculating to obtain an ideal reference value of the first index;
a seventh calculation unit for, according to the formula:
calculating to obtain the second index ideal reference value, wherein,
is the vehicle stability factor.
Further, the system further comprises:
an eighth calculation unit to:
RI＝0，φ(φ&-k1φ)≤0
calculating to obtain the ideal reference value of the third index, wherein in the formula, C1，C2，k1For calibrating the parameters, wherein 0<C1<1，0<C2<1。φthIn order to be the side inclination angle,
calibrating a threshold for roll angular velocity, ay_thA threshold is calibrated for lateral acceleration.
Further, the system further comprises:
the first preset unit is used for presetting a first index safety threshold value according to the first index ideal reference value;
the second preset unit is used for presetting a second index safety threshold value according to the second index ideal reference value;
A third presetting unit, configured to preset a third index safety threshold according to the third index ideal reference value;
a second obtaining unit, configured to obtain a first actual key index, a second actual key index, and a third actual key index of the target device;
a first judging unit, configured to judge whether the first actual key indicator exceeds the first indicator safety threshold, whether the second actual key indicator exceeds the second indicator safety threshold, or whether the third actual key indicator exceeds the third indicator safety threshold;
and the second control unit is used for carrying out special stability control on the first actual key index, the second actual key index or the third actual key index if the first actual key index exceeds the first index safety threshold, or the second actual key index exceeds the second index safety threshold, or the third actual key index exceeds the third index safety threshold.
Further, the system further comprises:
a third obtaining unit configured to obtain a first constraint characteristic index, a second constraint characteristic index, and a third constraint characteristic index of the target device;
A second construction unit for constructing an active set algorithm model;
and the first input unit is used for inputting the yaw moment set, the first constraint characteristic index, the second constraint characteristic index and the third constraint characteristic index into the PI control algorithm model for optimization training to obtain the target motor torque.
In the present description, each embodiment is described in a progressive manner, and the emphasis of each embodiment is on the difference from other embodiments, the stability integrated control method of the wheel-side driven electric vehicle in the first embodiment of fig. 1 and the specific example are also applicable to the stability integrated control system of the wheel-side driven electric vehicle in the present embodiment, and through the foregoing detailed description of the stability integrated control method of the wheel-side driven electric vehicle, a person skilled in the art can clearly know the stability integrated control system of the wheel-side driven electric vehicle in the present embodiment, so for the brevity of the description, detailed description is omitted here. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Exemplary electronic device
The electronic device of the present invention is described below with reference to fig. 7.
Fig. 7 illustrates a schematic structural diagram of an electronic device according to the present invention.
Based on the inventive concept of the stability integrated control method of the wheel-side driven electric vehicle in the foregoing embodiments, the present invention further provides a stability integrated control system of a wheel-side driven electric vehicle, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any one of the above-mentioned stability integrated control methods of a wheel-side driven electric vehicle.
Where in fig. 7 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 305 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium.
The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The invention provides a comprehensive stability control method for a wheel-side driven electric automobile, which is applied to a comprehensive stability control system for the wheel-side driven electric automobile, wherein the method comprises the following steps: building a layered control architecture, wherein the layered control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller; performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment; obtaining a difference variable set of each ideal reference value and each actual key index in the ideal reference value set; calculating the difference variable set based on a control algorithm of the upper controller to obtain a yaw moment set corresponding to a stability control mode of the target equipment; according to the lower layer controller, optimizing and distributing the yaw moment set to obtain a target motor torque of the target equipment; and intelligently controlling the stable motion of the target equipment according to the torque of the target motor. The technical problems that direction stability control and roll stability control of most vehicles in the prior art are separately and independently researched, so that comprehensive evaluation on the stability of the vehicles cannot be carried out, and the driving safety and stability of the vehicles are influenced are solved. According to the torque of the target motor, the stability and the motion of the target equipment are intelligently controlled, the comprehensive control on the direction stability and the roll stability of the electric automobile is achieved, the direction stability and the roll stability of the automobile can be effectively improved through the coordinated control of the motor torsion, and the technical effect of ensuring the driving safety and the stability of the automobile is achieved.
The invention also provides an electronic device, which comprises a processor and a memory;
the memory is used for storing;
the processor is configured to execute the method according to any one of the first embodiment through calling.
The invention also provides a computer program product comprising a computer program and/or instructions which, when executed by a processor, performs the steps of the method of any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely software embodiment, an entirely hardware embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention is in the form of a computer program product that may be embodied on one or more computer-usable storage media having computer-usable program code embodied therewith. And such computer-usable storage media include, but are not limited to: various media capable of storing program codes, such as a usb disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk Memory, a Compact Disc Read-Only Memory (CD-ROM), and an optical Memory.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (9)
1. A stability comprehensive control method for a wheel-side driven electric automobile is characterized by comprising the following steps:
building a layered control architecture, wherein the layered control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller;
Model calculation is carried out on key indexes of target equipment on the basis of the monitoring layer, ideal reference value sets of the target equipment are respectively obtained, and control mode switching logic of the target equipment is designed;
obtaining a difference variable set of each ideal reference value and each actual key index in the ideal reference value set;
calculating the difference variable set based on a control algorithm of the upper controller to obtain a yaw moment set corresponding to a stability control mode of the target equipment;
according to the lower layer controller, optimizing and distributing the yaw moment set to obtain a target motor torque of the target equipment;
and intelligently controlling the stable motion of the target equipment according to the torque of the target motor.
2. The method of claim 1, wherein the model computing of the key indicator features of the target device comprises:
according to the monitoring layer, constructing a yaw motion reference model, a lateral motion reference model and a roll motion model of the target equipment;
calculating a first key index of the target equipment according to the yaw motion reference model to obtain an ideal reference value of the first index;
Calculating a second key index of the target equipment according to the lateral motion reference model to obtain a second index ideal reference value;
calculating a third key index of the target equipment according to the roll motion model to obtain an ideal reference value of the third index;
and generating the ideal reference value set according to the first index ideal reference value, the second index ideal reference value and the third index ideal reference value.
3. The method of claim 2, wherein the method comprises:
according to the formula
Calculating to obtain an ideal reference value of the first index;
according to the formula
Calculating to obtain the second index ideal reference value;
wherein the content of the first and second substances,
is the vehicle stability factor.
4. The method of claim 3, wherein the method comprises:
according to the formula:
calculating to obtain the ideal reference value of the third index, wherein in the formula, C1，C2，k1For calibrating the parameters, wherein 0<C1<1，0<C2<1。
In order to be the side inclination angle,
calibrating a threshold for roll angular velocity, ay_thA threshold is calibrated for lateral acceleration.
5. The method of claim, wherein the and designing the control mode switching logic of the target device comprises:
Presetting a first index safety threshold according to the first index ideal reference value;
presetting a second index safety threshold according to the second index ideal reference value;
presetting a third index safety threshold according to the third index ideal reference value;
obtaining a first actual key index, a second actual key index and a third actual key index of the target equipment;
judging whether the first actual key index exceeds the first index safety threshold, whether the second actual key index exceeds the second index safety threshold, or whether the third actual key index exceeds the third index safety threshold;
and if the first actual key index exceeds the first index safety threshold value, or the second actual key index exceeds the second index safety threshold value, or the third actual key index exceeds the third index safety threshold value, carrying out special stability control on the first actual key index, or the second actual key index, or the third actual key index.
6. The method of claim 1, wherein the optimally allocating the set of yaw moments comprises:
Obtaining a first constraint characteristic index, a second constraint characteristic index and a third constraint characteristic index of the target equipment;
constructing an active set algorithm model;
and inputting the yaw moment set, the first constraint characteristic index, the second constraint characteristic index and the third constraint characteristic index into the PI control algorithm model for optimization training to obtain the target motor torque.
7. The utility model provides a stability integrated control system of wheel edge drive electric automobile which characterized in that, the system includes:
the system comprises a first building unit, a second building unit and a third building unit, wherein the first building unit is used for building a hierarchical control architecture, and the hierarchical control architecture comprises a monitoring layer, an upper layer controller and a lower layer controller;
the first calculation unit is used for performing model calculation on key indexes of target equipment based on the monitoring layer, respectively obtaining an ideal reference value set of the target equipment, and designing control mode switching logic of the target equipment;
a first obtaining unit, configured to obtain, in the ideal reference value set, a difference variable set of each ideal reference value and each actual key indicator;
A second calculating unit, configured to calculate the difference variable set based on a control algorithm of the upper controller, and obtain a yaw moment set corresponding to a stability control mode of the target device;
the first distribution unit is used for carrying out optimized distribution on the yaw moment set according to the lower layer controller to obtain a target motor torque of the target equipment;
and the first control unit is used for intelligently controlling the stable motion of the target equipment according to the target motor torque.
8. An electronic device comprising a processor and a memory;
the memory is used for storing;
the processor is used for executing the method of any one of claims 1-6 through calling.
9. A computer program product comprising a computer program and/or instructions, characterized in that the computer program and/or instructions, when executed by a processor, implement the steps of the method of any one of claims 1 to 6.
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