CN109291803A - The stability control method virtually taken turns based on the full drive electric automobile of four-wheel - Google Patents
The stability control method virtually taken turns based on the full drive electric automobile of four-wheel Download PDFInfo
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- CN109291803A CN109291803A CN201810952188.8A CN201810952188A CN109291803A CN 109291803 A CN109291803 A CN 109291803A CN 201810952188 A CN201810952188 A CN 201810952188A CN 109291803 A CN109291803 A CN 109291803A
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- wheel
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 110
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 230000008901 benefit Effects 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005461 lubrication Methods 0.000 claims description 3
- 230000009885 systemic effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810952188.8A CN109291803B (en) | 2018-08-21 | 2018-08-21 | Stability control method based on four-wheel all-wheel-drive electric vehicle virtual wheel |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810952188.8A CN109291803B (en) | 2018-08-21 | 2018-08-21 | Stability control method based on four-wheel all-wheel-drive electric vehicle virtual wheel |
Publications (2)
Publication Number | Publication Date |
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CN109291803A true CN109291803A (en) | 2019-02-01 |
CN109291803B CN109291803B (en) | 2022-07-12 |
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CN201810952188.8A Active CN109291803B (en) | 2018-08-21 | 2018-08-21 | Stability control method based on four-wheel all-wheel-drive electric vehicle virtual wheel |
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CN (1) | CN109291803B (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154788A (en) * | 2019-04-30 | 2019-08-23 | 南京航空航天大学 | Distribution driving vehicle goes out a kind of control method of vehicle without deflecting roller side coil |
CN110228375A (en) * | 2019-04-30 | 2019-09-13 | 南京航空航天大学 | A kind of distribution driving control method of the vehicle without deflecting roller pivot stud |
CN110588366A (en) * | 2019-09-10 | 2019-12-20 | 东风汽车集团有限公司 | Hub motor distributed time-sharing four-wheel-drive electric automobile chassis configuration, four-wheel-drive electric automobile and control method |
CN110667402A (en) * | 2019-10-17 | 2020-01-10 | 清华大学苏州汽车研究院(吴江) | Electronic differential control method and system for four-wheel drive electric vehicle |
CN110879621A (en) * | 2019-12-05 | 2020-03-13 | 成都圭目机器人有限公司 | Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot |
CN110962626A (en) * | 2019-12-27 | 2020-04-07 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
CN111152834A (en) * | 2020-01-10 | 2020-05-15 | 大连理工大学 | Electric automobile electronic differential control method based on Ackerman steering correction |
CN111674256A (en) * | 2020-06-29 | 2020-09-18 | 徐州徐工铁路装备有限公司 | Port transfer vehicle and traveling control method thereof |
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JPH03118705A (en) * | 1989-09-29 | 1991-05-21 | Toyo Electric Mfg Co Ltd | Electric vehicle control system |
US20030105563A1 (en) * | 2001-11-16 | 2003-06-05 | Kanazawa Institute Of Technology | Electric vehicle steering/drive control method, electric vehicle steering/drive control apparatus, and electric vehicle |
US20050045414A1 (en) * | 2002-07-02 | 2005-03-03 | Honda Giken Kogyo Kabushiki Kaisha | Electric power steering apparatus |
CN1631692A (en) * | 2003-12-23 | 2005-06-29 | 上海燃料电池汽车动力***有限公司 | Electric automobile feedback brake control method |
JP2008189235A (en) * | 2007-02-07 | 2008-08-21 | Nec Toshiba Space Systems Ltd | Method, system and program for controlling attitude change, and program recording medium |
CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
US20120173114A1 (en) * | 2009-09-18 | 2012-07-05 | Honda Motor Co., Ltd. | Control device of inverted pendulum type mobile apparatus |
CN102667227A (en) * | 2009-11-25 | 2012-09-12 | 昕芙旎雅有限公司 | Vibration damping device and vehicle provided therewith |
CN102975631A (en) * | 2012-11-28 | 2013-03-20 | 沈阳工业大学 | Gesture control system for shaft saturated compensation of four-wheel all-wheel-drive electromobile and control method |
CN203157759U (en) * | 2012-11-28 | 2013-08-28 | 沈阳工业大学 | Shaft saturation compensation attitude control system of four-wheel-drive electromobile |
CN104554255A (en) * | 2013-10-22 | 2015-04-29 | 沈阳工业大学 | Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis |
CN205220420U (en) * | 2015-11-09 | 2016-05-11 | 潍柴动力股份有限公司 | Pure electric vehicles actuating system |
CN106208865A (en) * | 2016-08-10 | 2016-12-07 | 天津工业大学 | Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer |
CN106599470A (en) * | 2016-12-15 | 2017-04-26 | 武汉理工大学 | All-wheel steering analytical algorithm for large three-axle semitrailer |
CN107139775A (en) * | 2017-04-26 | 2017-09-08 | 江苏大学 | A kind of electric car direct yaw moment control method based on Non-smooth surface technology |
CN107499378A (en) * | 2017-07-12 | 2017-12-22 | 上海理工大学 | Four-wheel independent steering electric vehicle four-wheel steering front/rear wheel turns to dynamic switching method |
CN107499121A (en) * | 2017-09-13 | 2017-12-22 | 无锡商业职业技术学院 | A kind of four-wheel driving electric vehicle transmission system |
-
2018
- 2018-08-21 CN CN201810952188.8A patent/CN109291803B/en active Active
Patent Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH03118705A (en) * | 1989-09-29 | 1991-05-21 | Toyo Electric Mfg Co Ltd | Electric vehicle control system |
US20030105563A1 (en) * | 2001-11-16 | 2003-06-05 | Kanazawa Institute Of Technology | Electric vehicle steering/drive control method, electric vehicle steering/drive control apparatus, and electric vehicle |
US20050045414A1 (en) * | 2002-07-02 | 2005-03-03 | Honda Giken Kogyo Kabushiki Kaisha | Electric power steering apparatus |
CN1631692A (en) * | 2003-12-23 | 2005-06-29 | 上海燃料电池汽车动力***有限公司 | Electric automobile feedback brake control method |
JP2008189235A (en) * | 2007-02-07 | 2008-08-21 | Nec Toshiba Space Systems Ltd | Method, system and program for controlling attitude change, and program recording medium |
US20120173114A1 (en) * | 2009-09-18 | 2012-07-05 | Honda Motor Co., Ltd. | Control device of inverted pendulum type mobile apparatus |
CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
CN102667227A (en) * | 2009-11-25 | 2012-09-12 | 昕芙旎雅有限公司 | Vibration damping device and vehicle provided therewith |
CN102975631A (en) * | 2012-11-28 | 2013-03-20 | 沈阳工业大学 | Gesture control system for shaft saturated compensation of four-wheel all-wheel-drive electromobile and control method |
CN203157759U (en) * | 2012-11-28 | 2013-08-28 | 沈阳工业大学 | Shaft saturation compensation attitude control system of four-wheel-drive electromobile |
CN104554255A (en) * | 2013-10-22 | 2015-04-29 | 沈阳工业大学 | Dynamic decoupling method for active safety integrated control system of four-wheel drive electric automobile chassis |
CN205220420U (en) * | 2015-11-09 | 2016-05-11 | 潍柴动力股份有限公司 | Pure electric vehicles actuating system |
CN106208865A (en) * | 2016-08-10 | 2016-12-07 | 天津工业大学 | Many permagnetic synchronous motors Virtual-shaft control method based on Load Torque Observer |
CN106599470A (en) * | 2016-12-15 | 2017-04-26 | 武汉理工大学 | All-wheel steering analytical algorithm for large three-axle semitrailer |
CN107139775A (en) * | 2017-04-26 | 2017-09-08 | 江苏大学 | A kind of electric car direct yaw moment control method based on Non-smooth surface technology |
CN107499378A (en) * | 2017-07-12 | 2017-12-22 | 上海理工大学 | Four-wheel independent steering electric vehicle four-wheel steering front/rear wheel turns to dynamic switching method |
CN107499121A (en) * | 2017-09-13 | 2017-12-22 | 无锡商业职业技术学院 | A kind of four-wheel driving electric vehicle transmission system |
Non-Patent Citations (4)
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丁惜瀛等: "《Predictive Model of BOF Based on LM-BP Neural Network Combining with Learning Rate》", 《2009 SECOND INTERNATIONAL SYMPOSIUM ON KNOWLEDGE ACQUISITION AND MODELING》 * |
丁惜瀛等: "《基于转矩分配的电动汽车横摆稳定性控制》", 《中国知网工程科技Ⅱ辑》 * |
孙大许等: "《双电机四轮驱动电动汽车自适应驱动防滑控制的研究》", 《汽车工程》 * |
李琳等: "《电动汽车操纵稳定性控制方法》", 《中国知网工程科技Ⅱ辑》 * |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154788A (en) * | 2019-04-30 | 2019-08-23 | 南京航空航天大学 | Distribution driving vehicle goes out a kind of control method of vehicle without deflecting roller side coil |
CN110228375A (en) * | 2019-04-30 | 2019-09-13 | 南京航空航天大学 | A kind of distribution driving control method of the vehicle without deflecting roller pivot stud |
CN110588366A (en) * | 2019-09-10 | 2019-12-20 | 东风汽车集团有限公司 | Hub motor distributed time-sharing four-wheel-drive electric automobile chassis configuration, four-wheel-drive electric automobile and control method |
CN110667402A (en) * | 2019-10-17 | 2020-01-10 | 清华大学苏州汽车研究院(吴江) | Electronic differential control method and system for four-wheel drive electric vehicle |
CN110879621A (en) * | 2019-12-05 | 2020-03-13 | 成都圭目机器人有限公司 | Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot |
CN110879621B (en) * | 2019-12-05 | 2022-11-29 | 成都圭目机器人有限公司 | Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot |
CN110962626A (en) * | 2019-12-27 | 2020-04-07 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
CN110962626B (en) * | 2019-12-27 | 2022-07-22 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
CN111152834A (en) * | 2020-01-10 | 2020-05-15 | 大连理工大学 | Electric automobile electronic differential control method based on Ackerman steering correction |
CN111152834B (en) * | 2020-01-10 | 2021-05-11 | 大连理工大学 | Electric automobile electronic differential control method based on Ackerman steering correction |
CN111674256A (en) * | 2020-06-29 | 2020-09-18 | 徐州徐工铁路装备有限公司 | Port transfer vehicle and traveling control method thereof |
CN111674256B (en) * | 2020-06-29 | 2024-05-10 | 徐州徐工港口机械有限公司 | Port transfer vehicle and running control method thereof |
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CN109291803B (en) | 2022-07-12 |
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Effective date of registration: 20240308 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY Country or region before: China |
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Effective date of registration: 20240418 Address after: Room 709, 7th Floor, Building 1, No. 10 Financial Avenue, Ningxi Street, Zengcheng District, Guangzhou City, Guangdong Province, 511300 Patentee after: Guangzhou Fuchuan Machinery Equipment Co.,Ltd. Country or region after: China Address before: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee before: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Country or region before: China |