Tongji University

Haobo Sun

Hong Chen

Lin Zhang

Wei Pan

Hanghang Liu

The present disclosure relates to a real-time control method for an additional yaw moment of a distributed drive electric vehicle, including the following steps: acquiring and inputting a real-time motion state of the distributed drive electric vehicle into a vehicle dynamics model, using a yaw rate and a sideslip angle of the distributed drive electric vehicle as tracking targets to suppress actuation energy, and performing optimization calculation on an additional yaw moment to acquire an amount of the additional yaw moment distributed for each tire; and in the optimization calculation process, a linear expression of the sideslip angle with respect to the additional yaw moment and a linear expression of the yaw rate with respect to the additional yaw moment are constructed, so as to perform search calculation on the additional yaw moment.

Real-time control method for additional yaw moment of distributed drive electric vehicle

The present disclosure relates to a multi-constraint optimal distribution method for a torque vectoring of a distributed drive electric vehicle, which includes: obtaining a vehicle real-time motion state, taking a pre-constructed tire rotation dynamics model as a control object of an optimal distribution problem, establishing an objective function for tracking a desired additional yaw moment, tracking a desired tire slip ratio, and suppressing a motor output energy consumption to a minimum value, establishing a corresponding system constraint, solving the optimal distribution problem, and obtaining an optimal distribution solution for a torque vectoring of each tire. Compared with the prior art, the present disclosure can effectively track a desired control target, can also effectively constrain an important state and a control input of the vehicle, and can avoid wrong solutions or no solution caused by an optimization problem.

Growing community of inventors

Shanghai, China

Haobo Sun