Abstract:Abstract:The yaw rate response of vehicles is affected by the steering system, suspension system, braking system, and drive system. Traditional vehicles mainly use steering inputs for active control. With the development of chassis by wire, technologies such as ESC, rear wheel steering, and torque vectoring gradually participate in the active control. Compared to ESC, which generates yaw moment by braking force, torque vector can generate yaw moment without reducing total driving force, without causing braking effects on the vehicle. By generating active yaw moment through rear axle dual motor torque vector control (TVC) to improve vehicle response. TVC adopts a combination of feedforward and feedback control, uses two degree of freedom model , the target steady-state gain K and yaw rate-velocity correction factor K1 to establish the target yaw rate; The vehicle model inverse function is used to calculate the yaw moment feedforward value, and PID is used to calculate the yaw moment feedback value. The total yaw moment is converted to obtain the longitudinal force adjustment amount of the left and right wheels; The adjustment amount and the driving force component are superposed to obtain the total longitudinal force of the left and right wheels; When the driving force of the left or right wheel is too large, it may be subject to restrictions such as slip ratio and motor torque. To ensure that the yaw torque deviation is within the required range, it is necessary to adjust the longitudinal force of the left or right wheel according to the restrictions. Through simulation verification, TVC can improve the vehicle yaw response somewhat.
