CN117246147A - Stability coordination control method for driving system comprising hub motor - Google Patents

Stability coordination control method for driving system comprising hub motor Download PDF

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Publication number
CN117246147A
CN117246147A CN202311330547.3A CN202311330547A CN117246147A CN 117246147 A CN117246147 A CN 117246147A CN 202311330547 A CN202311330547 A CN 202311330547A CN 117246147 A CN117246147 A CN 117246147A
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China
Prior art keywords
hub motor
wheel
motor controller
vcu
control
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Pending
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CN202311330547.3A
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Chinese (zh)
Inventor
万正宇
周传巨
陈梦玲
李泽彬
孙国正
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Priority to CN202311330547.3A priority Critical patent/CN117246147A/en
Publication of CN117246147A publication Critical patent/CN117246147A/en
Pending legal-status Critical Current

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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
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a stability coordination control method of a driving system with a hub motor, which comprises the steps of obtaining a destabilization degree parameter through calculation of a centroid slip angle and a yaw rate of a vehicle, dividing a vehicle stable state into a stable region, a transition region and a destabilization region according to the relation between the destabilization degree parameter and the vehicle speed, and distributing a driving system control task to a self/hub motor controller/VCU by an ESC (electronic stability control) controller according to the destabilization degree parameter, the vehicle stable state and the tire adhesion force during driving. The method improves the robustness of the whole vehicle stability control under extreme working conditions, fully utilizes the hub motor controller to perform yaw control in a vehicle linear region, improves the steering response characteristic of the automobile, and fully exerts the advancement of the hub electric drive chassis.

Description

Stability coordination control method for driving system comprising hub motor
Technical Field
The invention relates to the technical field of vehicle stability control, in particular to a stability coordination control method of a driving system with an in-wheel motor.
Background
Compared with the traditional fuel vehicle, the overdrive drive-by-wire electric vehicle has different power transmission systems, and the hub motor driving technology has the advantages of higher response speed, better control performance, higher control precision and the like, so that the overdrive drive-by-wire electric vehicle has the potential of electric control and the advantage of intelligence. Based on the advantages, advanced chassis dynamics integrated control is easier to realize.
Based on a hub electric Drive chassis of an-Drive (front centralized+rear hub) in the prior art, the TVCU can independently control yaw stability by utilizing the characteristics of rapid moment response and independent and controllable moment of a motor of a distributed Drive electric automobile. The actuator of the TVCU (in-wheel motor controller) is a left/right rear wheel in-wheel motor, which is the same as part of the actuator of the ESC system, and the TVCU can bring an extra yaw moment to the whole vehicle during control, which can affect the stability of the whole vehicle and even cause instability of the vehicle under part of working conditions. Therefore, there is a need for a stability coordination control method for ESC and vehicle drive system (vcu+tvcu) to ensure robustness of vehicle stability control.
In order to solve the technical problems, the scheme in the first prior art differentially compensates the yaw rate in real time through the rear wheels; the first disadvantage of the prior art is that the influence of the rear wheel hydraulic brake on the driving feeling and comfort is not considered, the steering capacity of the front wheels is limited, and the dynamic response of the vehicle under the limit working condition is not considered. In the scheme II in the prior art, the driving torque of the distributed three motors is independently distributed through the TVCU so as to improve the vehicle operation stability; a disadvantage of the second prior art is that the ESC effect on the vehicle is ignored and the weight of the hydraulic brake on the braking capacity of the whole vehicle is not taken into account.
Disclosure of Invention
The invention aims to provide a stability coordination control method of a driving system containing a hub motor, so as to enhance the robustness of the stability control of the whole vehicle.
In order to solve the technical problems, the invention provides a technical scheme that: a method for controlling the stability of the drive system containing hub motor includes such steps as providing front axle motor, left and right rear hub motors, starting the drive system in normal running state, executing by ESC controller,
acquiring a centroid side deviation angle and a yaw rate of a vehicle, and obtaining a destabilization degree parameter according to the centroid side deviation angle and the yaw rate;
comparing the instability degree parameter with a threshold value set by the instability degree parameter, and if the instability degree parameter is larger than the threshold value set by the instability degree parameter, sending a yaw moment control instruction to a front axle motor, a left rear wheel hub motor, a right rear wheel hub motor and brake wheel cylinders of all wheels; if the destabilization degree parameter is smaller than the destabilization degree parameter setting threshold value, acquiring the tire adhesive force, and judging the tire adhesive force and the tire adhesive force setting threshold value;
if the tire adhesion is greater than the tire adhesion setting threshold, sending a yaw moment control command to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; if the tire adhesion is smaller than the tire adhesion setting threshold value, acquiring a vehicle stable state according to the vehicle speed and the instability degree parameter;
if the vehicle stable state is a stable region, sending a control mode starting instruction of the VCU/in-wheel motor controller to the VCU and in-wheel motor controller; if the vehicle stable state is a transition zone, a wheel hub motor controller control mode starting instruction is sent to a wheel hub motor controller, and if the vehicle stable state is a destabilization zone, a yaw moment control instruction is sent to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; the stable region, the transition region and the unstable region are preset regions.
According to the scheme, the instability degree parameter is expressed as f (beta, r), beta is the eccentric angle of the mass center, r is the yaw rate, f (beta, r) is expressed as follows,
f(β，r)＝qΔβ+(1-q)Δr
wherein, the q takes the value as follows,
above-mentionedIn the two formulas, beta 1 、β 2 The upper limit value of the centroid slip angle and the lower limit value of the centroid slip angle are obtained through test calibration respectively; Δβ and Δr are the centroid slip angle variation and the yaw rate variation, respectively.
According to the scheme, after a control mode starting instruction of the VCU/hub motor controller is sent to the VCU and the hub motor controller, the VCU and the hub motor controller enter a control mode of the VCU/hub motor controller, the VCU performs required torque distribution in the control mode, the VCU controls the front axle motor according to a required torque distribution result, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to the required torque distribution result.
According to the scheme, after a control mode starting instruction of the VCU/hub motor controller is sent to the VCU and the hub motor controller, the VCU and the hub motor controller enter a control mode of the VCU/hub motor controller, the hub motor controller performs demand torque distribution in the control mode, the VCU controls the front axle motor according to a demand torque distribution result, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to the demand torque distribution result.
According to the scheme, after the wheel hub motor controller is sent with the wheel hub motor controller control mode starting instruction, the wheel hub motor controller enters the wheel hub motor controller control mode, the wheel hub motor controller performs demand torque distribution in the mode, and the wheel hub motor controller controls the left rear wheel hub motor and the right rear wheel hub motor according to the demand torque distribution result.
According to the scheme, the yaw moment control command comprises a torque control command and a hydraulic control command, wherein an actuating mechanism corresponding to the torque control command is a front axle motor, a left rear wheel hub motor and a right rear wheel hub motor, and the actuating mechanism corresponding to the hydraulic control command is a brake wheel cylinder of each wheel.
According to the scheme, the preset interval is obtained by calibrating the instability degree parameter and the vehicle speed in the experiment.
An ESC controller for stability coordination control for performing the steps of the above-described stability coordination control method of a drive system including an in-wheel motor.
A stability coordination control system of a driving system comprising an in-wheel motor comprises an ESC controller, a VCU and an in-wheel motor controller; wherein the ESC is used for executing the steps of the method for controlling the stability coordination of the driving system comprising the hub motor; the VCU is used for starting the VCU/in-wheel motor controller control mode after receiving a VCU/in-wheel motor controller control mode starting command; the in-wheel motor controller is used for enabling the VCU/in-wheel motor controller control mode after receiving the VCU/in-wheel motor controller control mode enabling instruction or enabling the in-wheel motor controller control mode after receiving the in-wheel motor controller control mode enabling instruction.
An automobile, a driving system of the automobile comprises a front shaft motor, a left rear wheel hub motor and a right rear wheel hub motor, and the automobile is provided with the stability coordination control system of the driving system containing the wheel hub motor.
The beneficial effects of the invention are as follows: the method comprises the steps of obtaining a centroid slip angle and a yaw rate of a vehicle, calculating to obtain a destabilization degree parameter, dividing a vehicle stable state into a stable region, a transition region and a destabilization region according to the relation between the destabilization degree parameter and the vehicle speed, and distributing a driving system control task by an ESC (electronic stability control) controller according to the destabilization degree parameter, the vehicle stable state and the tire adhesion force during driving. The method utilizes the ESC controller to monitor and take over the driving system in real time, strengthens the robustness of the whole vehicle stability control under extreme working conditions, and simultaneously utilizes the yaw control of the hub motor controller in a linear region (a stable region and a transition region), thereby improving the steering response characteristic of the automobile and fully playing the advancement of the hub electric driving chassis.
Drawings
Fig. 1 is a flowchart of a method for controlling the stability coordination of a driving system including an in-wheel motor according to a first embodiment of the present invention;
FIG. 2 is a graph showing the relationship between the weight coefficient q and |β| according to the first embodiment of the present invention;
FIG. 3 is a schematic view showing a vehicle steady state division according to a first embodiment of the present invention;
fig. 4 is a schematic view of determining the adhesion of a tire according to the first embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Embodiment one:
referring to fig. 1, a method for controlling stability coordination of a driving system including a hub motor, the driving system including a front axle motor, a left rear hub motor, and a right rear hub motor, the method being started in a normal driving state of a whole vehicle and being executed by an ESC controller, includes the steps of,
acquiring a centroid side deviation angle and a yaw rate of a vehicle, and obtaining a destabilization degree parameter according to the centroid side deviation angle and the yaw rate;
comparing the instability degree parameter with a threshold value set by the instability degree parameter, and if the instability degree parameter is larger than the threshold value set by the instability degree parameter, sending a yaw moment control instruction to the front axle motor, the left rear wheel hub motor, the right rear wheel hub motor and each wheel brake cylinder (the generation of the yaw moment control instruction is the same as that of a conventional ESC control method in the prior art, and details are not repeated here); if the destabilization degree parameter is smaller than the destabilization degree parameter setting threshold value, acquiring the tire adhesive force, and judging the tire adhesive force and the tire adhesive force setting threshold value;
if the tire adhesion is greater than the tire adhesion setting threshold, sending a yaw moment control command to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; if the tire adhesion is smaller than the tire adhesion setting threshold, the vehicle stability is obtained according to the vehicle speed and the instability degree parameter (the tire adhesion judgment mode is shown in fig. 4, and the horizontal axis and the vertical axis in fig. 4 respectively represent the adhesion of the tire in the transverse direction and the longitudinal direction, and are the most suitableThe large circle represents the maximum adhesion that the tire can reach, the smaller circle in red represents the set threshold value for the tire adhesion, w xi The axial distance of the transverse axis, w, for the longitudinal force of the wheel to reach the limit of the tire attachment circle boundary yi The axial distance of the longitudinal axis to reach the limit of the tire attachment circle for the lateral force of the wheel); f (w) i ) To calculate the function of the weight coefficient size, f (w i ) The following are provided:
where z is the given tire force stability range, as indicated by the smaller red circles in fig. 4. When f (w) i )>At 0, the wheel is considered to have reached the traction limit.
If the vehicle stable state is a stable region, sending a control mode starting instruction of the VCU/in-wheel motor controller to the VCU and in-wheel motor controller; if the vehicle stable state is a transition zone, a wheel hub motor controller control mode starting instruction is sent to a wheel hub motor controller, and if the vehicle stable state is a destabilization zone, a yaw moment control instruction is sent to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; wherein the stable region, the transition region and the unstable region are obtained by calibrating the unstable degree parameter and the vehicle speed in the test in advance (see figure 3, V in the figure x Vehicle speed).
Further, referring to fig. 2, the destabilization degree parameter is expressed as f (β, r), β is a centroid decenter angle, r is a yaw rate [ the centroid decenter angle and yaw rate of the vehicle have a significant influence on the stability of the operation of the vehicle, so that the magnitude of the centroid decenter angle and the yaw rate of the vehicle need to be strictly controlled to prevent the vehicle from being destabilized during the running of the vehicle, and the coupling influence exists between the centroid decenter angle and the yaw rate has a coupling influence, so that the magnitude of the centroid decenter angle and the yaw rate need to be weighted and jointly controlled when calculating the destabilization degree parameter f (β, r), and f (β, r) is specifically expressed as follows,
f(β，r)＝qΔβ+(1-q)Δr
referring to fig. 2, the weighting coefficient q is valued in such a way that,
in the two formulas, beta 1 、β 2 The upper limit value of the centroid slip angle and the lower limit value of the centroid slip angle are obtained through test calibration respectively; Δβ and Δr are the centroid slip angle variation and the yaw rate variation, respectively.
Further, after a control mode starting instruction of the VCU/hub motor controller is sent to the VCU and the hub motor controller, the VCU and the hub motor controller enter a control mode of the VCU/hub motor controller, the VCU performs required torque distribution in the control mode, the VCU controls the front axle motor according to a required torque distribution result, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to the required torque distribution result.
Further, after sending an in-wheel motor controller control mode starting instruction to the in-wheel motor controller, the in-wheel motor controller enters an in-wheel motor controller control mode, in the mode, the in-wheel motor controller distributes required torque, and the in-wheel motor controller controls the left rear in-wheel motor and the right rear in-wheel motor according to the required torque distribution result.
Further, the yaw moment control command comprises a torque control command and a hydraulic control command, wherein an actuating mechanism corresponding to the torque control command is a front axle motor, a left rear wheel hub motor and a right rear wheel hub motor, and the actuating mechanism corresponding to the hydraulic control command is a brake wheel cylinder of each wheel.
Technical effects produced by the embodiment include improvement of driving comfort and safety; in the aspect of driving comfort, the steering response characteristic of the automobile in a linear region is improved, and the advancement of the electric drive chassis of the hub is fully exerted; in the aspect of safety, the robustness of vehicle stability control is improved, and false triggering of functions is prevented.
Embodiment two:
the difference between the first embodiment and the second embodiment is that after the VCU/in-wheel motor controller control mode enabling command is sent to the VCU and in-wheel motor controller, the VCU and in-wheel motor controller enter a VCU/in-wheel motor controller control mode, in the control mode, the in-wheel motor controller performs demand torque distribution, the VCU controls the front axle motor according to the demand torque distribution result, and the in-wheel motor controller controls the left rear in-wheel motor and the right rear in-wheel motor according to the demand torque distribution result.
Embodiment III:
an ESC controller for stability coordination control for performing the steps of the stability coordination control method of the drive system including an in-wheel motor of embodiment one or embodiment two.
Embodiment III:
a stability coordination control system of a driving system comprising an in-wheel motor comprises an ESC controller, a VCU and an in-wheel motor controller; wherein the ESC is used for executing the step of the method for controlling the stability coordination of the driving system including the in-wheel motor according to the first or second embodiment; the VCU is used for starting the VCU/in-wheel motor controller control mode after receiving a VCU/in-wheel motor controller control mode starting command; the in-wheel motor controller is used for enabling the VCU/in-wheel motor controller control mode after receiving the VCU/in-wheel motor controller control mode enabling instruction or enabling the in-wheel motor controller control mode after receiving the in-wheel motor controller control mode enabling instruction.
Embodiment four:
an automobile, a driving system of the automobile comprises a front shaft motor, a left rear hub motor and a right rear hub motor, and the automobile is provided with the stability coordination control system of the driving system containing the hub motors according to the third embodiment.
Fifth embodiment:
a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for coordinated control of stability of a drive system including an in-wheel motor of embodiment one or embodiment two.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. A stability coordination control method of a driving system comprising an in-wheel motor is characterized by comprising the following steps of: the driving system comprises a front axle motor, a left rear wheel hub motor and a right rear wheel hub motor, the method is started in a normal running state of the whole vehicle and is executed by an ESC controller, comprises the following steps,
acquiring a centroid side deviation angle and a yaw rate of a vehicle, and obtaining a destabilization degree parameter according to the centroid side deviation angle and the yaw rate;
comparing the instability degree parameter with a threshold value set by the instability degree parameter, and if the instability degree parameter is larger than the threshold value set by the instability degree parameter, sending a yaw moment control instruction to a front axle motor, a left rear wheel hub motor, a right rear wheel hub motor and brake wheel cylinders of all wheels; if the destabilization degree parameter is smaller than the destabilization degree parameter setting threshold value, acquiring the tire adhesive force, and judging the tire adhesive force and the tire adhesive force setting threshold value;
if the tire adhesion is greater than the tire adhesion setting threshold, sending a yaw moment control command to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; if the tire adhesion is smaller than the tire adhesion setting threshold value, acquiring a vehicle stable state according to the vehicle speed and the instability degree parameter;
if the vehicle stable state is a stable region, sending a control mode starting instruction of the VCU/in-wheel motor controller to the VCU and in-wheel motor controller; if the vehicle stable state is a transition zone, a wheel hub motor controller control mode starting instruction is sent to a wheel hub motor controller, and if the vehicle stable state is a destabilization zone, a yaw moment control instruction is sent to a front axle motor, a left wheel hub motor, a right rear wheel hub motor and wheel braking cylinders of all wheels; the stable region, the transition region and the unstable region are preset regions.
2. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: the destabilization degree parameter is expressed as f (β, r), β is the centroid decentration angle, r is the yaw rate, f (β, r) is specifically expressed as follows,
f(β，r)＝qΔβ+(1-q)Δr
wherein, the q takes the value as follows,
in the two formulas, beta 1 、β 2 The upper limit value of the centroid slip angle and the lower limit value of the centroid slip angle are obtained through test calibration respectively; Δβ and Δr are the centroid slip angle variation and the yaw rate variation, respectively.
3. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: after sending a control mode starting instruction of the VCU/hub motor controller to the VCU and the hub motor controller, the VCU and the hub motor controller enter a control mode of the VCU/hub motor controller, the VCU performs required torque distribution in the control mode, the VCU controls the front axle motor according to a required torque distribution result, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to the required torque distribution result.
4. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: after sending a control mode starting instruction of the VCU/hub motor controller to the VCU/hub motor controller, the VCU/hub motor controller enters a control mode of the VCU/hub motor controller, the hub motor controller performs required torque distribution in the control mode, the VCU controls the front axle motor according to a required torque distribution result, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to a required torque distribution result.
5. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: after sending an enabling instruction of a control mode of the hub motor controller to the hub motor controller, the hub motor controller enters the control mode of the hub motor controller, in the mode, the hub motor controller distributes required torque, and the hub motor controller controls the left rear hub motor and the right rear hub motor according to the required torque distribution result.
6. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: the yaw moment control command comprises a torque control command and a hydraulic control command, wherein the torque control command corresponds to the actuating mechanism and is a front axle motor, a left rear wheel hub motor and a right rear wheel hub motor, and the hydraulic control command corresponds to the actuating mechanism and is a brake cylinder of each wheel.
7. The method for coordinated control of stability of a drive system including an in-wheel motor according to claim 1, characterized by: the preset interval is obtained by calibrating the instability degree parameter and the vehicle speed in the experiment.
8. An ESC controller for stability coordination control, characterized by: the ESC controller is configured to perform the steps of the method for coordinated control of stability of a drive system including an in-wheel motor according to any one of claims 1 to 7.
9. A stability coordination control system of a driving system comprising an in-wheel motor is characterized in that: the system comprises an ESC controller, a VCU and a hub motor controller; wherein the ESC is adapted to perform the steps of the method for coordinated control of stability of a drive system comprising an in-wheel motor of any one of claims 1-7; the VCU is used for starting the VCU/in-wheel motor controller control mode after receiving a VCU/in-wheel motor controller control mode starting command; the in-wheel motor controller is used for enabling the VCU/in-wheel motor controller control mode after receiving the VCU/in-wheel motor controller control mode enabling instruction or enabling the in-wheel motor controller control mode after receiving the in-wheel motor controller control mode enabling instruction.
10. An automobile, characterized in that: the driving system of the automobile comprises a front axle motor, a left rear wheel hub motor and a right rear wheel hub motor, and the automobile is provided with the stability coordination control system of the driving system containing the wheel hub motor according to claim 9.
CN202311330547.3A 2023-10-13 2023-10-13 Stability coordination control method for driving system comprising hub motor Pending CN117246147A (en)

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CN202311330547.3A CN117246147A (en) 2023-10-13 2023-10-13 Stability coordination control method for driving system comprising hub motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311330547.3A CN117246147A (en) 2023-10-13 2023-10-13 Stability coordination control method for driving system comprising hub motor

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