MOTION CONTROL ALGORITHM FOR VEHICLE WITH IN-WHEEL MOTOR

摘要

The present invention relates to an in-wheel motor vehicle capable of steering a manned/unmanned vehicle without a separate steering system by using the independent operation control characteristic of each wheel of an in-wheel motor as a manned/unmanned steering control algorithm for an in-wheel motor vehicle capable of turning the vehicle by torque control of an in-wheel motor without a separate steering device is provided. Its method includes: a step of inputting external conditioning environmental conditions such as the current room temperature, an external conditioning load, and a set temperature into a control algorithm; a step of calculating the optimum room temperature as time passes by based on the difference between a target and the initial room temperature of the vehicle when a conditioning system operates and applying the difference into the control algorithm; a step of adjusting the opening angle of BDA and the blast volume of EVA through the control algorithm, determining the ratio of bypassing cold air and heater-passing hot air depending on the opening angle of the BDA, mixing these two, and supplying the mixture into the inside of the vehicle; and a step of, when the room temperature of the vehicle is changed by the control, comparing the room temperature with the calculated optimum room temperature and, if the difference exceeds a certain preset value, compensating the control algorithm by changing the offset value of an algorithm equation.;COPYRIGHT KIPO 2014;[Reference numerals] (AA) Calculate the optimum room temperature; (BB) Adjust the opening angle of BDA and the blast volume of EVA; (S201) Set a target temperature; (S202) Input external conditioning environmental conditions; (S204) Mix air and supply the air into the inside; (S205) Detect a change to the room temperature; (S207) Compare the optimum temperature and the current room temperature; (S208) Compensate the control algorithm