CN109291803B - 基于四轮全驱电动汽车虚拟轮的稳定性控制方法 - Google Patents
基于四轮全驱电动汽车虚拟轮的稳定性控制方法 Download PDFInfo
- Publication number
- CN109291803B CN109291803B CN201810952188.8A CN201810952188A CN109291803B CN 109291803 B CN109291803 B CN 109291803B CN 201810952188 A CN201810952188 A CN 201810952188A CN 109291803 B CN109291803 B CN 109291803B
- Authority
- CN
- China
- Prior art keywords
- wheel
- control system
- front wheel
- virtual
- detection unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 42
- 238000001514 detection method Methods 0.000 claims abstract description 113
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000004364 calculation method Methods 0.000 claims abstract description 20
- 238000006243 chemical reaction Methods 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000012935 Averaging Methods 0.000 claims description 4
- 239000002131 composite material Substances 0.000 claims description 3
- YBJHBAHKTGYVGT-ZKWXMUAHSA-N (+)-Biotin Chemical compound N1C(=O)N[C@@H]2[C@H](CCCCC(=O)O)SC[C@@H]21 YBJHBAHKTGYVGT-ZKWXMUAHSA-N 0.000 claims 1
- FEPMHVLSLDOMQC-UHFFFAOYSA-N virginiamycin-S1 Natural products CC1OC(=O)C(C=2C=CC=CC=2)NC(=O)C2CC(=O)CCN2C(=O)C(CC=2C=CC=CC=2)N(C)C(=O)C2CCCN2C(=O)C(CC)NC(=O)C1NC(=O)C1=NC=CC=C1O FEPMHVLSLDOMQC-UHFFFAOYSA-N 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- 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 (zh) | 2018-08-21 | 2018-08-21 | 基于四轮全驱电动汽车虚拟轮的稳定性控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810952188.8A CN109291803B (zh) | 2018-08-21 | 2018-08-21 | 基于四轮全驱电动汽车虚拟轮的稳定性控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109291803A CN109291803A (zh) | 2019-02-01 |
CN109291803B true CN109291803B (zh) | 2022-07-12 |
Family
ID=65165235
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810952188.8A Active CN109291803B (zh) | 2018-08-21 | 2018-08-21 | 基于四轮全驱电动汽车虚拟轮的稳定性控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109291803B (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110154788B (zh) * | 2019-04-30 | 2023-06-09 | 南京航空航天大学 | 分布式驱动车辆无转向轮侧方位出车的一种控制方法 |
CN110228375B (zh) * | 2019-04-30 | 2023-03-21 | 南京航空航天大学 | 分布式驱动车辆无转向轮原地转向的一种控制方法 |
CN110588366A (zh) * | 2019-09-10 | 2019-12-20 | 东风汽车集团有限公司 | 一种轮毂电机分布式分时四驱电动汽车底盘构型、四驱电动汽车和控制方法 |
CN110667402B (zh) * | 2019-10-17 | 2023-04-07 | 清华大学苏州汽车研究院(吴江) | 四轮驱动电动汽车电子差速控制方法及*** |
CN110879621B (zh) * | 2019-12-05 | 2022-11-29 | 成都圭目机器人有限公司 | 一种应用于四转四驱轮式机器人的平衡转矩的速度闭环控制方法 |
CN110962626B (zh) * | 2019-12-27 | 2022-07-22 | 吉林大学 | 一种多轴轮毂电机驱动车辆的自适应电子差速控制方法 |
CN111152834B (zh) * | 2020-01-10 | 2021-05-11 | 大连理工大学 | 一种基于阿克曼转向修正的电动汽车电子差速控制方法 |
CN111674256B (zh) * | 2020-06-29 | 2024-05-10 | 徐州徐工港口机械有限公司 | 港口转运车辆及其走行控制方法 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0759124B2 (ja) * | 1989-09-29 | 1995-06-21 | 東洋電機製造株式会社 | 電気車制御方式 |
JP3747316B2 (ja) * | 2001-11-16 | 2006-02-22 | 学校法人金沢工業大学 | 電気移動車両の操舵・駆動制御方法ならびに電気移動車両の操舵・駆動制御装置および電気移動車両 |
JP3849979B2 (ja) * | 2002-07-02 | 2006-11-22 | 本田技研工業株式会社 | 電動パワーステアリング装置 |
CN1321016C (zh) * | 2003-12-23 | 2007-06-13 | 上海燃料电池汽车动力***有限公司 | 一种电动汽车回馈制动控制方法 |
JP4463287B2 (ja) * | 2007-02-07 | 2010-05-19 | Nec東芝スペースシステム株式会社 | 姿勢変更制御方法、姿勢変更制御システム、姿勢変更制御プログラムおよびプログラム記録媒体 |
JP5355700B2 (ja) * | 2009-09-18 | 2013-11-27 | 本田技研工業株式会社 | 倒立振子型移動体の制御装置 |
CN101716952B (zh) * | 2009-09-22 | 2012-05-23 | 浙江工业大学 | 电动汽车用电子差速转向控制*** |
KR20120114214A (ko) * | 2009-11-25 | 2012-10-16 | 신포니아 테크놀로지 가부시끼가이샤 | 제진 장치 및 이것을 구비한 차량 |
CN102975631B (zh) * | 2012-11-28 | 2017-10-10 | 沈阳工业大学 | 四轮全驱电动汽车轴饱和补偿姿态控制***及控制方法 |
CN203157759U (zh) * | 2012-11-28 | 2013-08-28 | 沈阳工业大学 | 四轮全驱电动汽车轴饱和补偿姿态控制*** |
CN104554255A (zh) * | 2013-10-22 | 2015-04-29 | 沈阳工业大学 | 四轮全驱电动汽车底盘主动安全集成控制***动态解耦方法 |
CN205220420U (zh) * | 2015-11-09 | 2016-05-11 | 潍柴动力股份有限公司 | 纯电动汽车驱动*** |
CN106208865B (zh) * | 2016-08-10 | 2018-09-18 | 天津工业大学 | 基于负载观测器的多永磁同步电机虚拟总轴控制方法 |
CN106599470A (zh) * | 2016-12-15 | 2017-04-26 | 武汉理工大学 | 一种大型三轴半挂车全轮转向解析算法 |
CN107139775A (zh) * | 2017-04-26 | 2017-09-08 | 江苏大学 | 一种基于非光滑技术的电动车直接横摆力矩控制方法 |
CN107499378B (zh) * | 2017-07-12 | 2019-05-24 | 上海理工大学 | 四轮独立转向电动车辆四轮转向-前/后轮转向动态切换方法 |
CN107499121A (zh) * | 2017-09-13 | 2017-12-22 | 无锡商业职业技术学院 | 一种四轮驱动电动汽车传动*** |
-
2018
- 2018-08-21 CN CN201810952188.8A patent/CN109291803B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN109291803A (zh) | 2019-02-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109291803B (zh) | 基于四轮全驱电动汽车虚拟轮的稳定性控制方法 | |
CN107472082B (zh) | 四驱电动汽车的驱动力矩分配方法、***及电动汽车 | |
CN104175902B (zh) | 电动轮汽车轮毂电机转矩分配***的转矩分配控制方法 | |
CN107953801B (zh) | 一种全轮毂电机驱动车辆的驱动力控制方法 | |
CN110481338B (zh) | 一种轮毂电机车辆失效控制方法及整车控制器 | |
CN112644457B (zh) | 一种分布式驱动车辆转向稳定性控制***及其控制方法 | |
CN105691381B (zh) | 一种四轮独立驱动电动汽车稳定性控制方法及*** | |
CN105015363B (zh) | 一种基于分层协调的分布式驱动汽车控制***及方法 | |
CN108859862B (zh) | 一种分布式驱动越野车辆的自适应驱动控制*** | |
CN108340967B (zh) | 多轮独立驱动电动车辆转向时的横摆稳定性的控制方法 | |
CN111152661A (zh) | 一种四轮分布式驱动客车电驱动***失效控制方法 | |
CN109606133A (zh) | 基于双层控制的分布式驱动电动汽车转矩矢量控制方法 | |
JP2004104991A (ja) | 回生制動を持つ車両の独立制動及び操縦性の制御方法及びシステム | |
US20070295545A1 (en) | Differential Steering and Traction Control For Electrically Propelled Mower | |
CN108248601A (zh) | 一种基于四轮独立驱动电动车的转向稳定性控制***及方法 | |
CN114407673B (zh) | 一种基于滑移率的电动四驱车的扭矩控制方法 | |
CN110962626B (zh) | 一种多轴轮毂电机驱动车辆的自适应电子差速控制方法 | |
CN104554255A (zh) | 四轮全驱电动汽车底盘主动安全集成控制***动态解耦方法 | |
CN110239363B (zh) | 电动汽车动态稳定*** | |
CN109398361A (zh) | 一种用于四轮独立驱动车辆的操纵稳定性控制方法 | |
CN105667341A (zh) | 一种用于多轴分布式机电驱动车辆的牵引力控制*** | |
CN101844583B (zh) | 一种车辆双重转向控制方法 | |
CN114408019B (zh) | 分布式驱动差动转向汽车纵横向力协调控制方法 | |
CN111731267A (zh) | 一种装备非充气弹性车轮的分布式电动汽车稳定性控制***及方法 | |
CN112590770B (zh) | 轮毂电机驱动车辆转向稳定性控制方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
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 |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
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 |