Research On Torque Control Strategy Of Four Wheel Hub Motor Drive Racing Car Basd On FSEC

New energy vehicles as the fastest growing branch of the automotive industry, more and more people are concerned about it. At present, the pure electric vehicles and hybrid cars are the two models in new energy vehicles that developed most rapidly. Pure electric vehicles are favored by industry and consumers, for its excellent acceleration performance and environmental characteristics. Pure electric vehicles, while the consumer market development majestic, pure electric racing is also leading the development of the industry. Any new technologies are also the first to use in the FSEC(Formula Student Electric China)car. Here in the distributed-wheel motor drive system as a new technology, has begun to be used in the Formula Student racing. This article is based on a study about the FSEC four-wheel motor drive system, power distribution problemsThis article is based on my school horizontal issues "Honda saving electric car key technology research" as the basis, and set the existing formula students car of my school as prototype. In this paper, the dynamic distribution of the four wheel hub motor drive system is studied. The output of wheel motor drive vehicle has independent, continuous, controlled and rapid response characteristics. At the same time, four-wheel independent drive system with multiple degrees of freedom of the characteristics of its movement must meet the stability requirements of the vehicle. Firstly, establish a seven-DOF nonlinear vehicle model based the characters above. In this model, this paper established the vehicle kinematic model of the vehicle, the driver preview- Following System based model and the "magic formula" of the tire model. According to the prototype vehicle parameters, vehicle parameters, motor parameters make adaptive adjustments. Through the study of vehicle stability control strategy of this study to sideslip angle and yaw rate of the vehicle as the control target, with four-wheel vehicle as a control variable torque output. That is the longitudinal force of the tire as the control target. In the clear after the control principle, this paper presents a hierarchical controller structure control. Mainly upper body motion controller fuzzy control theory, the angular velocity of the center of mass of the vehicle and the yaw rate and the reference state deviation as input to the vehicle yaw moment and lateral force as output. While the lower four power distribution controller is mainly based on the optimal objective function based controller. The goal of the optimization objective function is to minimize tire utilization. In the upper controller drawn vehicle target lateral force and the target yaw moment after the force, the lower the required controller by assigning the optimal objective function under different four-wheel torque output to achieve.Finally, based on the control strategy above, the control system will be modeled in MATLAB / Simulink, and the simulation verification will be carried out.