Research On Torque Distribution Of Distributed Drive Vehicle Under Steering And Straight Driving Conditions

With the progress of science and technology,new energy and intelligence have become the theme of the automotive industry in the new era.As the technology of new energy vehicles continues to mature,electric vehicles can also be used as the carrier of intelligent vehicles,so they have attracted the attention of all countries in the world.Compared with traditional vehicles,distributed drive electric vehicles have larger vehicle layout space and easier vehicle control,but at the same time,it also increases the degree of freedom and complexity of electric vehicle control in torque distribution,which puts forward higher requirements for vehicle torque distribution algorithm,especially the torque distribution in steering.In this paper,the torque distribution strategy of distributed drive electric vehicle under different driving conditions is studied.In this paper,two degree of freedom and seven degree of freedom vehicle dynamics models are established,which provide an analysis model for distributed drive electric vehicle torque distribution under different conditions.Then,based on the driver’s intention,a Markov prediction model is established to identify the vehicle working conditions in straight driving and optimize the steering algorithm.When steering,the torque distribution takes the lateral stability as the control objective,adopts the model prediction algorithm,and uses the Markov prediction model to optimize the algorithm,and formulates the control strategy of yaw stability under the condition of variable acceleration when the distributed drive electric vehicle steering.In straight driving,taking power performance and economy as control objectives,the Markov model is used to identify the driving conditions,and the torque distribution strategies of distributed drive electric vehicles under constant speed straight driving conditions and acceleration(deceleration)straight driving conditions are formulated respectively.This paper adopts MATLAB/Simulink and Car Sim joint simulate to verify the torque distribution strategy under different working conditions.Taking the driving simulator made by Hi Rain Technologies as the object,the software environment is built by using carmaker software and veristand software to carry out hardware in the loop experiments to verify the effectiveness of the simulation results(1)Under the steering condition,the torque distribution strategy based on model prediction makes the yaw rate tracking error and side slip angle error of the distributed four-wheel drive electric vehicle within a reasonable range,improves the torque distribution of the four wheels,and improves the operation stability of the whole vehicle during steering.(2)Under the condition of acceleration(deceleration)straight driving,the change trend of the output torque of the front and rear wheel drive motor and the change trend of the torque distribution coefficient of the front and rear wheels are consistent with the change trend of the vehicle acceleration.The total output torque of the rear wheel is always greater than that of the front wheel.The adhesion ratio is reduced by 5.7 %...