CN104828068B - Four-drive hybrid electric vehicle and its Anti-slip regulation control method, device - Google Patents
Four-drive hybrid electric vehicle and its Anti-slip regulation control method, device Download PDFInfo
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- CN104828068B CN104828068B CN201410806014.2A CN201410806014A CN104828068B CN 104828068 B CN104828068 B CN 104828068B CN 201410806014 A CN201410806014 A CN 201410806014A CN 104828068 B CN104828068 B CN 104828068B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- 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
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- Y02T10/00—Road transport of goods or passengers
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- Y02T10/62—Hybrid vehicles
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Abstract
The invention discloses a kind of four-drive hybrid electric vehicle and its Anti-slip regulation control method, device, wherein this method includes：Obtain slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle；Judge whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal；And if judging that wheel is in slipping state according to slippage rate signal, the demand torque of engine and the demand torque of motor are then adjusted, and anti-sliding control is driven to four-drive hybrid electric vehicle according to the demand torque of the engine after regulation and the demand torque of motor.This method is by the way that the demand torque of engine and motor is adjusted in the best opportunity, the engine after regulation and the demand torque of motor are synthesized and arbitrated according to speed, rotation direction sensor angle and ESP the slippage rate signal transmitted simultaneously, the quick phenomenon for eliminating vehicle slip, improve the driveability of vehicle.
Description
Technical field
The present invention relates to Development of HEV Technology field, more particularly to a kind of Anti-slip regulation of four-drive hybrid electric vehicle
Control method, device and a kind of four-drive hybrid electric vehicle with the Anti-slip regulation control device.
Background technology
At present, Anti-slip regulation system is had been equipped with increasing car, from the perspective of vehicle driving safety,
It is very important to suppress acutely trackslipping for driving wheel.In correlation technique, those skilled in the art it is also proposed can be to vapour
Control mode and method during car wheel-slip, for example, a kind of Driving Antiskid Control System of hybrid vehicle and its control
Method (application number：201010113837.9) the anti-slip control of the rear-guard coaxial parallel-connection hybrid vehicle suitable for car is proposed
Method processed, still, the hybrid vehicle of this method (rear) drive before being only applicable to, the 4 wheel driven for having driving force for antero posterior axis are mixed
Dynamic needs improve and optimizate；And for example, a kind of 4 wheel driven lockless antiskid differential mechanism (application number：201310225746.8) propose according to biography
System 4 wheel driven vehicle anti-skid device, still, the mixed dynamic power vehicle of 4 wheel driven can realize anti-sliding control by rational control method, if
Attachment device will then increase the complexity of structure.
Therefore, the problem of how relying on rational control method to realize the anti-sliding control of the mixed dynamic power vehicle of 4 wheel driven is urgently
Solve.
The content of the invention
The purpose of the present invention is intended to one of technical problem at least solving in correlation technique to a certain extent.
Therefore, first purpose of the present invention is the Anti-slip regulation controlling party for proposing a kind of four-drive hybrid electric vehicle
Method.This method by active control engine and motor output torque to realize the control of Anti-slip regulation, can be when optimal
The demand torque of engine and motor is adjusted machine, while transmitted according to speed, rotation direction sensor angle and ESP
Slippage rate signal is synthesized and arbitrated to the engine after regulation and the demand torque of motor, is quickly eliminated vehicle and is beaten
Sliding phenomenon, so as to improve the driveability of vehicle.
Second object of the present invention is the Anti-slip regulation control device for proposing a kind of four-drive hybrid electric vehicle.
Third object of the present invention is to propose a kind of four-drive hybrid electric vehicle.
To achieve these goals, the Anti-slip regulation control of the four-drive hybrid electric vehicle of first aspect present invention embodiment
Method, including：Obtain slippage rate signal, the demand torque of engine and the demand of motor in four-drive hybrid electric vehicle
Moment of torsion；Judge whether the wheel in the four-drive hybrid electric vehicle is in slipping state according to the slippage rate signal；And
If judging that the wheel is in slipping state according to the slippage rate signal, demand torque and the institute of the engine are adjusted
The demand torque of motor is stated, and according to the demand torque of the engine after regulation and the demand torque of motor to described
Four-drive hybrid electric vehicle is driven anti-sliding control.
The Anti-slip regulation control method of four-drive hybrid electric vehicle according to embodiments of the present invention, slippage rate letter can be obtained
Number, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle, and according to slippage rate signal
Judge whether the wheel in four-drive hybrid electric vehicle is in slipping state, if it is, regulation engine demand torque and
The demand torque of motor, and 4 wheel driven is mixed according to the demand torque of the engine after regulation and the demand torque of motor
Close power vehicle and be driven anti-sliding control, i.e., prevented by active control engine and motor output torque with realizing to drive
Sliding control, the demand torque of engine and motor can be adjusted in the best opportunity, while be passed according to speed, steering
The slippage rate signal that sensor angle and ESP are transmitted the engine after regulation and the demand torque of motor are carried out synthesis with it is secondary
Cut out, the phenomenon of vehicle slip is quickly eliminated, so as to improve the driveability of vehicle.
According to one embodiment of present invention, judge that the wheel is in skidding shape according to the slippage rate signal described
While state, the Anti-slip regulation control method also includes：Obtain current drive pattern；The demand of the regulation engine
The demand torque of moment of torsion and the motor includes：The demand torque of the engine is adjusted according to the current drive pattern
With the demand torque of the motor.
Wherein, in an embodiment of the present invention, the drive pattern include four-wheel drive pattern, front wheel drive mode and after
Wheel drive mode.
According to one embodiment of present invention, the demand for adjusting the engine according to the current drive pattern is turned round
The demand torque of square and the motor specifically includes：If the current drive pattern is front wheel drive mode, by institute
The current demand moment of torsion for stating engine is adjusted to the demand torque of the engine and the difference of default regulation moment of torsion, and by described in
The current demand moment of torsion of motor is adjusted to the demand torque of the motor and the default regulation moment of torsion sum；Such as
Current drive pattern is rear wheel drive pattern described in fruit, then the current demand moment of torsion of the engine is adjusted into the engine
Demand torque and the default regulation moment of torsion sum, and the current demand moment of torsion of the motor is adjusted to the drive
The difference of the demand torque of dynamic motor and the default regulation moment of torsion；If the current drive pattern is four-wheel drive pattern,
Then determine whether the wheel in slipping state has front-wheel；If it is determined that the wheel in slipping state has
Front-wheel, then determine whether the wheel in slipping state has trailing wheel；If it is determined that described be in slipping state
Wheel there is trailing wheel, then according to the slippage rate signal redefine engine demand torque and motor demand turn round
Square.
According to one embodiment of present invention, if the current drive pattern is four-wheel drive pattern, and described in judgement
Wheel in slipping state is front-wheel, then the demand that the current demand moment of torsion of the engine is adjusted to the engine is turned round
The difference of square and default regulation moment of torsion, and the current demand moment of torsion of the motor is adjusted to the demand of the motor
Moment of torsion and the default regulation moment of torsion sum；If the current drive pattern is four-wheel drive pattern, and judges the place
It is trailing wheel in the wheel of slipping state, then the current demand moment of torsion of the engine is adjusted to the demand torque of the engine
With the default regulation moment of torsion sum, and the current demand moment of torsion of the motor is adjusted to the need of the motor
Seek the difference of moment of torsion and the default regulation moment of torsion.
According to one embodiment of present invention, the demand torque of the engine according to after regulation and the need of motor
Ask moment of torsion to be driven anti-sliding control to the four-drive hybrid electric vehicle to specifically include：By the need of the engine after the regulation
Ask the demand torque of moment of torsion and motor to be synthesized and arbitrated, obtain the demand output torque and motor of engine
Demand output torque, and according to the demand output torque of the engine and the demand output torque control described four of motor
The driving of driving mixed power automobile.
To achieve these goals, the Anti-slip regulation control of the four-drive hybrid electric vehicle of second aspect of the present invention embodiment
Device, including：First acquisition module, the demand for obtaining the engine in slippage rate signal, four-drive hybrid electric vehicle are turned round
The demand torque of square and motor；Judge module, for judging the four-drive hybrid electric vapour according to the slippage rate signal
Whether the wheel in car is in slipping state；Adjustment module, for judging that the wheel is according to the slippage rate signal
During slipping state, the demand torque of the engine and the demand torque of the motor are adjusted；And control module, it is used for
The four-drive hybrid electric vehicle is driven according to the demand torque of the demand torque of the engine after regulation and motor
Dynamic anti-sliding control.
The Anti-slip regulation control device of four-drive hybrid electric vehicle according to embodiments of the present invention, mould can be obtained by first
Block obtains slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle, sentences
Disconnected module judges whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal, if it is, adjusting
The demand torque of module regulation engine and the demand torque of motor are saved, control module is according to the need of the engine after regulation
Ask the demand torque of moment of torsion and motor to be driven anti-sliding control to four-drive hybrid electric vehicle, i.e., sent out by active control
Motivation and motor output torque, can be in the best opportunities to engine and the need of motor to realize the control of Anti-slip regulation
Moment of torsion is asked to be adjusted, while the slippage rate signal transmitted according to speed, rotation direction sensor angle and ESP after regulation to starting
The demand torque of machine and motor is synthesized and arbitrated, and quickly eliminates the phenomenon of vehicle slip, so as to improve vehicle
Driveability.
According to one embodiment of present invention, the Anti-slip regulation control device also includes：Second acquisition module, for
While the judge module judges that the wheel is in slipping state according to the slippage rate signal, current driving mould is obtained
Formula；In an embodiment of the present invention, the adjustment module is specifically used for：The engine is adjusted according to the current drive pattern
Demand torque and the motor demand torque.
Wherein, in an embodiment of the present invention, the drive pattern include four-wheel drive pattern, front wheel drive mode and after
Wheel drive mode.
According to one embodiment of present invention, the adjustment module is specifically used for：If before the current drive pattern is
Wheel drive mode, then the current demand moment of torsion of the engine is adjusted to the demand torque of the engine and default regulation
The difference of moment of torsion, and by the current demand moment of torsion of the motor be adjusted to the demand torque of the motor with it is described default
Regulation moment of torsion sum；If the current drive pattern is rear wheel drive pattern, the current demand of the engine is turned round
Square is adjusted to the demand torque of the engine and the default regulation moment of torsion sum, and by the current need of the motor
Moment of torsion is asked to be adjusted to the demand torque of the motor and the difference of the default regulation moment of torsion；If the current driving mould
Formula is four-wheel drive pattern, then determines whether the wheel in slipping state has front-wheel；If it is determined that described be in
The wheel of slipping state has front-wheel, then determines whether the wheel in slipping state has trailing wheel；If sentence
The disconnected wheel in slipping state has trailing wheel, then the demand torque of engine is redefined according to the slippage rate signal
With the demand torque of motor.
According to one embodiment of present invention, the adjustment module also particularly useful for：If the current drive pattern is
Four-wheel drive pattern, and judge the wheel in slipping state as front-wheel, then by the current demand moment of torsion of the engine
The demand torque of the engine and the difference of default regulation moment of torsion are adjusted to, and by the current demand moment of torsion of the motor
It is adjusted to the demand torque of the motor and the default regulation moment of torsion sum；If the current drive pattern is four
Wheel drive mode, and judge that the wheel in slipping state as trailing wheel, is then adjusted the current demand moment of torsion of the engine
The demand torque for the engine and the default regulation moment of torsion sum are saved, and the current demand of the motor is turned round
Square is adjusted to the demand torque of the motor and the difference of the default regulation moment of torsion.
According to one embodiment of present invention, the control module is specifically used for：By the need of the engine after the regulation
Ask the demand torque of moment of torsion and motor to be synthesized and arbitrated, obtain the demand output torque and motor of engine
Demand output torque, and according to the demand output torque of the engine and the demand output torque control described four of motor
The driving of driving mixed power automobile.
To achieve these goals, the four-drive hybrid electric vehicle of third aspect present invention embodiment, including the present invention the
The Anti-slip regulation control device of two aspect embodiments.
Four-drive hybrid electric vehicle according to embodiments of the present invention, it can be obtained by first in Anti-slip regulation control device
Module obtains slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle,
Judge module judges whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal, if it is,
The demand torque of adjustment module regulation engine and the demand torque of motor, control module is according to the engine after regulation
The demand torque of demand torque and motor is driven anti-sliding control to four-drive hybrid electric vehicle, that is, passes through active control
Engine and motor output torque, can be in the best opportunities to engine and motor to realize the control of Anti-slip regulation
Demand torque is adjusted, while the slippage rate signal transmitted according to speed, rotation direction sensor angle and ESP is to the hair after regulation
The demand torque of motivation and motor is synthesized and arbitrated, and quickly eliminates the phenomenon of vehicle slip, so as to improve car
Driveability.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein,
Fig. 1 is the flow of the Anti-slip regulation control method of four-drive hybrid electric vehicle according to an embodiment of the invention
Figure；
Fig. 2 is the exemplary plot of drive system in four-drive hybrid electric vehicle according to an embodiment of the invention；
Fig. 3 is the flow of the Anti-slip regulation control method of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention
Figure；
Fig. 4 is that the structure of the Anti-slip regulation control device of four-drive hybrid electric vehicle according to an embodiment of the invention is shown
It is intended to；And
Fig. 5 is the structure of the Anti-slip regulation control device of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention
Schematic diagram.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize specific logical function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
At present, current orthodox car realizes Anti-slip regulation control function using electronic stability controlling system (ESP),
ESP can also realize the match control with hybrid vehicle, and orthodox car has the auxiliary such as center differential dress during anti-skidding
Put, and be engine single power source, therefore ESP easily realizes anti-sliding control by dropping to turn round；In electronics four-drive hybrid electric vapour
Che Zhong, because antero posterior axis has power source, and the servicing units such as center differential are eliminated, therefore, traditional ESP controlling parties
The control process of method is relative complex；And due to ESP control hierarchy highests, if ESP is not arbitrated with entire car controller HCU, is straight
Connect and drop torsion is carried out to engine and motor, may result in torque gradient reduces the failure such as excessive, can if arbitrated with HCU
Cause to intervene the several step-lengths of Controlled drug-release, wrong thing optimal regulation opportunity.
Therefore, the present invention proposes the Anti-slip regulation control method of four-drive hybrid electric vehicle a kind of, device and had
The four-drive hybrid electric vehicle of the Anti-slip regulation control device, its mainly by entire car controller HCU active controls engine and
The output torque of motor is to realize the control of Anti-slip regulation.Specifically, below with reference to the accompanying drawings describe to be implemented according to the present invention
Anti-slip regulation control method, device and the 4 wheel driven with the Anti-slip regulation control device of the four-drive hybrid electric vehicle of example mix
Close power vehicle.
Fig. 1 is the flow of the Anti-slip regulation control method of four-drive hybrid electric vehicle according to an embodiment of the invention
Figure.It should be noted that the Anti-slip regulation control method of the embodiment of the present invention is applicable in four-drive hybrid electric vehicle, this hair
The Anti-slip regulation control method of bright embodiment is said with what the application of four-drive hybrid electric vehicle structure as shown in Figure 2 was carried out
It is bright, it will be understood to those skilled in the art that the Anti-slip regulation control method of the embodiment of the present invention is equally applicable to other 4 wheel drivens
Structure.Wherein, as shown in Fig. 2 the drive system of four-drive hybrid electric vehicle includes predecessor portions and rear-guard part, predecessor portions
Can be by engine, BSG (Belt Starter Generator, belt drive motor generator integrated apparatus), fluid drive
Device assembly and differential mechanism composition, wherein, BSG can realize the start and stop of engine by V belt translation；Rear-guard part can be driven by rear axle
Dynamic motor, single reduction gear (Zr1 and Zr2) and differential mechanism composition, wherein, the torque of rear axle motor can pass through single reduction gear
It is transferred to rear axle wheel respectively with main reducing gear.
As shown in figure 1, the Anti-slip regulation control method of the four-drive hybrid electric vehicle can include：
S101, obtain slippage rate signal, the demand torque of engine in four-drive hybrid electric vehicle and motor
Demand torque.
S102, judges whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal.
Specifically, it can judge whether have in four-drive hybrid electric vehicle in skidding according to the slippage rate signal got
The wheel of state, in other words, judge which wheel is to be in slipping state in four-drive hybrid electric vehicle according to slippage rate signal.
S103, if judging that wheel is in slipping state according to slippage rate signal, adjust engine demand torque and
The demand torque of motor, and 4 wheel driven is mixed according to the demand torque of the engine after regulation and the demand torque of motor
Close power vehicle and be driven anti-sliding control.
Further, in one embodiment of the invention, judging that wheel is in slipping state according to slippage rate signal
While, the Anti-slip regulation control method may also include：Obtain current drive pattern.In an embodiment of the present invention, regulation hair
The demand torque of motivation and the demand torque of motor can be realized by following steps：Started according to the regulation of current drive pattern
The demand torque of machine and the demand torque of motor.Specifically, judging that wheel is in slipping state according to slippage rate signal
While, it can judge which wheel is in driving condition by current drive pattern, and start in the wheel in driving condition
After skidding, to be adjusted on the basis of the demand torque of the demand torque of engine and motor.In embodiments of the invention
In, disturbed for the ease of controlling and preventing, during vehicle slip, it is 0 that can make the motor output torque in BSG, passes through hair
Motivation and motor are adjusted and meet dynamic property demand.
Wherein, in an embodiment of the present invention, drive pattern may include four-wheel drive pattern, front wheel drive mode and trailing wheel
Drive pattern etc..It will be turned round below by following several situations come specific introduce according to the demand of current drive pattern regulation engine
The specific implementation process of the demand torque of square and motor：
(1) if current drive pattern is front wheel drive mode, the current demand moment of torsion of engine is adjusted to start
The difference of the demand torque of machine and default regulation moment of torsion, and the current demand moment of torsion of motor is adjusted to the need of motor
Ask moment of torsion and default regulation moment of torsion sum.Wherein, the default regulation moment of torsion in the present invention is appreciated that it is a scalar quantity, marks
The datum quantity of definite value can be set according to engine (motor) torque drop (increase) gradient scope, and gradient scope is by engine or electricity
Machine producer provides, such as 5~15Nm/10ms, and demarcation is adjusted in the range of during real steering vectors, finally determines ideal
Value.
Specifically, when current drive pattern is front wheel drive mode, it may be determined that now vehicle only has front axle and driving torsion be present
Square, the initial value that can make the demand torque of motor is 0, and the current demand moment of torsion of engine is adjusted into the demand of engine
The difference of moment of torsion and default regulation moment of torsion, and by the current demand moment of torsion of motor be adjusted to the demand torque of motor with
Default regulation moment of torsion sum, you can be interpreted as the driving torque of a front axle part being transferred to rear axle, to prevent front-wheel from skidding.
(2) if current drive pattern is rear wheel drive pattern, the current demand moment of torsion of engine is adjusted to start
The demand torque of machine adjusts moment of torsion sum with default, and the current demand moment of torsion of motor is adjusted to the need of motor
Seek the difference of moment of torsion and default regulation moment of torsion.Specifically, when current drive pattern is rear wheel drive pattern, it may be determined that now vehicle
Only there is driving torque in rear axle, and the initial value that can make the demand torque of engine is 0, and the current demand moment of torsion of engine is adjusted
The demand torque for engine and default regulation moment of torsion sum are saved, and the current demand moment of torsion of motor is adjusted to drive
The difference of the demand torque of motor and default regulation moment of torsion, you can be interpreted as before the driving torque of a rear axle part is transferred to
Axle, to prevent rear wheels slip.
(3) if current drive pattern is four-wheel drive pattern, whether the wheel in slipping state is determined whether
With front-wheel；If it is determined that the wheel in slipping state has front-wheel, then determine whether that the wheel in slipping state is
It is no that there is trailing wheel；If it is determined that the wheel in slipping state has trailing wheel, then engine is redefined according to slippage rate signal
Demand torque and motor demand torque.Specifically, when current drive pattern is four-wheel drive pattern, need to further sentence
Whether there is front-wheel in the disconnected wheel in slipping state, if so, then determining whether to be in the wheel of slipping state and being
It is no that also there is trailing wheel, if so, then can determine that the four-wheel in now vehicle has skidded, can be passed according to the ESP system in vehicle
The slippage rate passed determines that now road surface can be provided the maximum of adhesive force, and operator demand's moment of torsion is limited using the value
System, and operator demand's moment of torsion is decomposed into front and back wheel, and according to speed than with transmission efficiency, calculate the demand of new engine
The demand torque of moment of torsion and motor.
More specifically, when it is determined that now the four-wheel in vehicle has skidded, can be according to the antero posterior axis moment of torsion point before skidding
With ratio, the operator demand's moment of torsion regained is distributed into front and back wheel, wherein, before bias ratio row are equal to before skidding
Moment of torsion at moment of torsion divided by trailing wheel at wheel, moment of torsion is equal to skidding front engine target torque and transmission gear speed ratio, main at front-wheel
Decelerator speed than and transmission efficiency product, moment of torsion is equal to skidding front motor target torque and single-stage speed reducing speed ratio and transmission at trailing wheel
The product of efficiency, afterwards, by moment of torsion at the front-wheel redefined divided by transmission efficiency, main reducing gear and transmission gear speed ratio, i.e.,
For engine demand moment of torsion, moment of torsion divided by single-stage speed reducing speed ratio and the demand torque of transmission efficiency, as motor at trailing wheel.
(4) in an embodiment of the present invention, if current drive pattern is four-wheel drive pattern, and judge to be in skidding shape
The wheel of state is front-wheel, then the current demand moment of torsion of engine is adjusted to the demand torque of engine and default regulation moment of torsion
Difference, and the current demand moment of torsion of motor is adjusted to the demand torque of motor and default regulation moment of torsion sum.
That is, the driving torque of a front axle part is transferred to rear axle, to prevent front-wheel from skidding.
(5) in an embodiment of the present invention, if current drive pattern is four-wheel drive pattern, and judge to be in skidding shape
The wheel of state is trailing wheel, then the current demand moment of torsion of engine is adjusted to the demand torque of engine and default regulation moment of torsion
Sum, and the current demand moment of torsion of motor is adjusted to the demand torque of motor and the difference of default regulation moment of torsion.
That is, the driving torque of a rear axle part is transferred to front axle, to prevent rear wheels slip.
Specifically, in an embodiment of the present invention, turned round in the demand torque of regulation engine and the demand of motor
After square, four-drive hybrid electric vehicle is carried out according to the demand torque of the demand torque of the engine after regulation and motor
Anti-slip regulation control specific implementation process can be：The demand of the demand torque of engine after regulation and motor can be turned round
Square is synthesized and arbitrated, and obtains the demand output torque of engine and the demand output torque of motor, and according to starting
The driving of the demand output torque of machine and the demand output torque control four-drive hybrid electric vehicle of motor.
It should be appreciated that to ensure stabilizing power of the trailing wheel of vehicle in high speed and big steering, in the implementation of the present invention
In example, the demand torque of motor is considered as speed and steering wheel angle factor, for example, when speed and steering wheel angle are excessive
When, the demand torque of motor can be multiplied by the coefficient less than 1, wherein, the coefficient can be demarcated.
The Anti-slip regulation control method of four-drive hybrid electric vehicle according to embodiments of the present invention, slippage rate letter can be obtained
Number, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle, and according to slippage rate signal
Judge whether the wheel in four-drive hybrid electric vehicle is in slipping state, if it is, regulation engine demand torque and
The demand torque of motor, and 4 wheel driven is mixed according to the demand torque of the engine after regulation and the demand torque of motor
Close power vehicle and be driven anti-sliding control, i.e., prevented by active control engine and motor output torque with realizing to drive
Sliding control, the demand torque of engine and motor can be adjusted in the best opportunity, while be passed according to speed, steering
The slippage rate signal that sensor angle and ESP are transmitted the engine after regulation and the demand torque of motor are carried out synthesis with it is secondary
Cut out, the phenomenon of vehicle slip is quickly eliminated, so as to improve the driveability of vehicle.
In order that the present invention can be more clearly understood by obtaining those skilled in the art, will be exemplified below.
For example, as shown in figure 3, first, slippage rate signal, speed, steering wheel angle, drive pattern can be obtained, hair
Motivation E demand torque Ter and motor TM demand torque Tmr, and BSG Motor torques (S301).Afterwards, can pass through
Slippage rate signal judges which wheel is in slipping state in vehicle, and judges which wheel is in driving shape by drive pattern
State, and after wheel starts skidding, on the basis of engine E demand torque Ter and motor TM demand torque Tmr
It is adjusted.It should be noted that being disturbed for the ease of controlling and preventing, BSG motor output torques are made during vehicle slip
For 0, it is adjusted by engine E and motor TM and meets dynamic property demand.Wherein, can determine whether current drive pattern is
No is four-wheel drive pattern (S302), if it is, determining whether front-wheel skids (S303), if it is, further
Judge whether trailing wheel also skids (S304), now four-wheel has skidded if it is, can determine that vehicle, can be transmitted according to ESP
Slippage rate, it is determined that now road surface can be provided the maximum of adhesive force, operator demand's moment of torsion is limited using this value, and
Operator demand's moment of torsion is decomposed into front and back wheel, according to speed than with transmission efficiency, calculate new Ter and Tmr (S305).If
Judge current drive pattern for four-wheel drive pattern, but judge that now front-wheel skids and trailing wheel is non-slip, then can be by engine
Current demand torque T e is adjusted to the demand torque Ter and default regulation torque T v of engine difference, i.e. Te=Ter-Tv, and
The current demand torque T m of motor is adjusted to the demand torque Tmr of motor and default regulation torque T v sums,
That is Tm=Tmr+Tv (S306).If it is determined that current drive pattern be four-wheel drive pattern, but judgement now front-wheel it is non-slip and
Rear wheels slip, then the demand torque Ter and default regulation that the current demand torque T e of engine can be adjusted to engine are turned round
Square Tv sums, i.e. Te=Ter+Tv, and the current demand torque T m of motor is adjusted to the demand torque Tmr of motor
And default regulation torque T v difference, i.e. Tm=Tmr-Tv (S307).When judging current drive pattern not for four-wheel drive pattern
Sum, can determine whether be currently front wheel drive mode (S308), driving torsion be present if it is, can determine that now and only have front axle
Square, the current demand torque T e of engine can be adjusted to the demand torque Ter and default regulation torque T v of engine difference,
That is Te=Ter-Tv, and by the current demand torque T m of motor be adjusted to the demand torque Tmr of motor with it is default
Adjust torque T v sums, i.e. Tm=Tmr+Tv, wherein initial Tmr is 0 (S309).When judging current drive pattern also not for front-wheel
During drive pattern, it can determine whether current drive pattern is rear wheel drive pattern (S310), if it is, can working as engine
Preceding demand torque Te is adjusted to the demand torque Ter and default regulation torque T v sums, i.e. Te=Ter+Tv of engine, and incites somebody to action
The current demand torque T m of motor is adjusted to the demand torque Tmr and default regulation torque T v of motor difference, i.e.,
Tm=Tmr-Tv (S311).Finally, the demand torque Te of the engine after regulation and motor demand torque Tm can be entered
Synthesis go with arbitrating, and send the demand torque Te of engine and the need of motor after saving to engine E and motor M
Ask torque T m, and the demand torque using the Te as now engine E, the demand torque using the Tm as now motor M,
Wherein, Tm is considered as speed and steering wheel angle factor, it is ensured that stabilizing power of the trailing wheel in high speed and big steering, works as speed
(S312) can be demarcated with steering wheel angle Tm should be multiplied by less than 1 when excessive coefficient, the coefficient, is circulated successively, by starting
The demand torque of machine and motor is adjusted to realize the control of Anti-slip regulation.
It is corresponding with the Anti-slip regulation control method for the four-drive hybrid electric vehicle that above-mentioned several embodiments provide, the present invention
A kind of embodiment the Anti-slip regulation control device of four-drive hybrid electric vehicle a kind of is also provided, because the embodiment of the present invention provides
Four-drive hybrid electric vehicle the Anti-slip regulation control device four-drive hybrid electric vehicle that is provided with above-mentioned several embodiments
Anti-slip regulation control method is corresponding, therefore the embodiment of the Anti-slip regulation control method in foregoing four-drive hybrid electric vehicle
The Anti-slip regulation control device of the four-drive hybrid electric vehicle of the present embodiment offer is provided, it is no longer detailed in the present embodiment
Description.Fig. 4 is the structural representation of the Anti-slip regulation control device of four-drive hybrid electric vehicle according to an embodiment of the invention
Figure.As shown in figure 4, the Anti-slip regulation control device of the four-drive hybrid electric vehicle can include：First acquisition module 10, judge
Module 20, adjustment module 30 and control module 40.
Specifically, the first acquisition module 10 can be used for obtaining the engine in slippage rate signal, four-drive hybrid electric vehicle
Demand torque and motor demand torque.
Judge module 20 can be used for judging according to slippage rate signal whether the wheel in four-drive hybrid electric vehicle is in and beat
Sliding state.
Adjustment module 30 can be used for when judging that wheel is in slipping state according to slippage rate signal, adjust the need of engine
Seek the demand torque of moment of torsion and motor.
Further, in one embodiment of the invention, as shown in figure 5, the Anti-slip regulation control device may also include
Second acquisition module 50.Second acquisition module 50 can be used for judging that wheel is in skidding according to slippage rate signal in judge module 20
While state, current drive pattern is obtained.In an embodiment of the present invention, adjustment module 30 can be specifically used for：According to current
The demand torque of drive pattern regulation engine and the demand torque of motor.Wherein, in an embodiment of the present invention, drive
Pattern may include four-wheel drive pattern, front wheel drive mode and rear wheel drive pattern etc..
Specifically, in an embodiment of the present invention, adjustment module 30 can be specifically used for：Before if current drive pattern is
Wheel drive mode, then by the current demand moment of torsion of engine be adjusted to the demand torque of engine and default regulation moment of torsion it
Difference, and the current demand moment of torsion of motor is adjusted to the demand torque of motor and default regulation moment of torsion sum；
If current drive pattern is rear wheel drive pattern, the current demand moment of torsion of engine is adjusted to engine
Demand torque adjusts moment of torsion sum with default, and the current demand moment of torsion of motor is adjusted to the demand torsion of motor
The difference of square and default regulation moment of torsion；
If current drive pattern is four-wheel drive pattern, determine whether the wheel in slipping state has
Front-wheel；
If it is determined that the wheel in slipping state has front-wheel, then whether the wheel in slipping state is determined whether
With trailing wheel；
If it is determined that the wheel in slipping state has trailing wheel, then the need of engine are redefined according to slippage rate signal
Seek the demand torque of moment of torsion and motor.
In an embodiment of the present invention, adjustment module 30 can also be specifically used for：If current drive pattern is four-wheel drive
Pattern, and judge that the current demand moment of torsion of engine as front-wheel, is then adjusted to the need of engine by the wheel in slipping state
The difference of moment of torsion and default regulation moment of torsion is sought, and the current demand moment of torsion of motor is adjusted to the demand torque of motor
With default regulation moment of torsion sum；If current drive pattern is four-wheel drive pattern, and judges the wheel in slipping state
For trailing wheel, then the current demand moment of torsion of engine is adjusted to the demand torque of engine and default regulation moment of torsion sum, and
The current demand moment of torsion of motor is adjusted to the demand torque of motor and the difference of default regulation moment of torsion.
Control module 40 can be used for according to the demand torque of the engine after regulation and the demand torque of motor to four
Driving mixed power automobile is driven anti-sliding control.Specifically, in an embodiment of the present invention, control module 40 will can be adjusted
The demand torque of engine afterwards and the demand torque of motor are synthesized and arbitrated, and the demand output for obtaining engine is turned round
The demand output torque of square and motor, and according to the demand output torque of engine and the demand output torque of motor
Control the driving of four-drive hybrid electric vehicle.
The Anti-slip regulation control device of four-drive hybrid electric vehicle according to embodiments of the present invention, mould can be obtained by first
Block obtains slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle, sentences
Disconnected module judges whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal, if it is, adjusting
The demand torque of module regulation engine and the demand torque of motor are saved, control module is according to the need of the engine after regulation
Ask the demand torque of moment of torsion and motor to be driven anti-sliding control to four-drive hybrid electric vehicle, i.e., sent out by active control
Motivation and motor output torque, can be in the best opportunities to engine and the need of motor to realize the control of Anti-slip regulation
Moment of torsion is asked to be adjusted, while the slippage rate signal transmitted according to speed, rotation direction sensor angle and ESP after regulation to starting
The demand torque of machine and motor is synthesized and arbitrated, and quickly eliminates the phenomenon of vehicle slip, so as to improve vehicle
Driveability.
In order to realize above-described embodiment, the invention also provides a kind of four-drive hybrid electric vehicle, including any of the above-described
The Anti-slip regulation control device of embodiment.
Four-drive hybrid electric vehicle according to embodiments of the present invention, it can be obtained by first in Anti-slip regulation control device
Module obtains slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle,
Judge module judges whether the wheel in four-drive hybrid electric vehicle is in slipping state according to slippage rate signal, if it is,
The demand torque of adjustment module regulation engine and the demand torque of motor, control module is according to the engine after regulation
The demand torque of demand torque and motor is driven anti-sliding control to four-drive hybrid electric vehicle, that is, passes through active control
Engine and motor output torque, can be in the best opportunities to engine and motor to realize the control of Anti-slip regulation
Demand torque is adjusted, while the slippage rate signal transmitted according to speed, rotation direction sensor angle and ESP is to the hair after regulation
The demand torque of motivation and motor is synthesized and arbitrated, and quickly eliminates the phenomenon of vehicle slip, so as to improve car
Driveability.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, have suitable combinational logic gate circuit application specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (11)
1. the Anti-slip regulation control method of a kind of four-drive hybrid electric vehicle, it is characterised in that comprise the following steps：
Obtain slippage rate signal, the demand torque of engine and the demand torque of motor in four-drive hybrid electric vehicle；
Judge whether the wheel in the four-drive hybrid electric vehicle is in slipping state according to the slippage rate signal；And
While judging that the wheel is in slipping state according to the slippage rate signal, current drive pattern, and root are obtained
The demand torque of the engine and the demand torque of the motor are adjusted according to the current drive pattern, and according to regulation
The demand torque of engine afterwards and the demand torque of motor are driven anti-slip control to the four-drive hybrid electric vehicle
System；
Wherein, the drive pattern includes front wheel drive mode, described to adjust the engine according to the current drive pattern
Demand torque and the demand torque of the motor specifically include：
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the difference of default regulation moment of torsion,
And the current demand moment of torsion of the motor is adjusted to the demand torque of the motor and the default regulation torsion
Square sum.
2. Anti-slip regulation control method as claimed in claim 1, it is characterised in that the drive pattern also includes four-wheel drive
Pattern and rear wheel drive pattern.
3. Anti-slip regulation control method as claimed in claim 2, it is characterised in that described to be adjusted according to the current drive pattern
The demand torque of the demand torque and the motor that save the engine also specifically includes：
If the current drive pattern is rear wheel drive pattern, the current demand moment of torsion of the engine is adjusted to described
The demand torque of engine and the default regulation moment of torsion sum, and the current demand moment of torsion of the motor is adjusted to
The difference of the demand torque of the motor and the default regulation moment of torsion；
If the current drive pattern is four-wheel drive pattern, determine whether the wheel in slipping state has
Front-wheel；
If it is determined that the wheel in slipping state has front-wheel, then the wheel for being in slipping state is determined whether
Whether there is trailing wheel；
If it is determined that the wheel in slipping state has trailing wheel, then engine is redefined according to the slippage rate signal
Demand torque and motor demand torque.
4. Anti-slip regulation control method as claimed in claim 3, it is characterised in that
If the current drive pattern is four-wheel drive pattern, and judges the wheel in slipping state as front-wheel, then
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the difference of default regulation moment of torsion, and will
The current demand moment of torsion of the motor be adjusted to the demand torque of the motor and the default regulation moment of torsion it
With；
If the current drive pattern is four-wheel drive pattern, and judges the wheel in slipping state as trailing wheel, then
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the default regulation moment of torsion sum,
And the current demand moment of torsion of the motor is adjusted to the demand torque of the motor and the default regulation torsion
The difference of square.
5. Anti-slip regulation control method as claimed in claim 1, it is characterised in that the need of the engine according to after regulation
Ask the demand torque of moment of torsion and motor to be driven anti-sliding control to the four-drive hybrid electric vehicle to specifically include：
The demand torque of the demand torque of engine after the regulation and motor is synthesized and arbitrated, is started
The demand output torque of machine and the demand output torque of motor, and according to the demand output torque of the engine and driving
The demand output torque of motor controls the driving of the four-drive hybrid electric vehicle.
A kind of 6. Anti-slip regulation control device of four-drive hybrid electric vehicle, it is characterised in that including：
First acquisition module, for obtaining demand torque and the drive of the engine in slippage rate signal, four-drive hybrid electric vehicle
The demand torque of dynamic motor；
Judge module, beaten for judging whether the wheel in the four-drive hybrid electric vehicle is according to the slippage rate signal
Sliding state；
Second acquisition module, for judging that the wheel is in slipping state according to the slippage rate signal in the judge module
While, obtain current drive pattern；
Adjustment module, for the demand torque for adjusting according to the current drive pattern engine and the motor
Demand torque；
Control module, the 4 wheel driven is mixed for the demand torque according to the engine after regulation and the demand torque of motor
Close power vehicle and be driven anti-sliding control；
Wherein, the drive pattern includes front wheel drive mode, and the adjustment module is specifically used for：
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the difference of default regulation moment of torsion,
And the current demand moment of torsion of the motor is adjusted to the demand torque of the motor and the default regulation torsion
Square sum.
7. Anti-slip regulation control device as claimed in claim 6, it is characterised in that the drive pattern also includes four-wheel drive
Pattern and rear wheel drive pattern.
8. Anti-slip regulation control device as claimed in claim 7, it is characterised in that the adjustment module also particularly useful for：
If the current drive pattern is rear wheel drive pattern, the current demand moment of torsion of the engine is adjusted to described
The demand torque of engine and the default regulation moment of torsion sum, and the current demand moment of torsion of the motor is adjusted to
The difference of the demand torque of the motor and the default regulation moment of torsion；
If the current drive pattern is four-wheel drive pattern, determine whether the wheel in slipping state has
Front-wheel；
If it is determined that the wheel in slipping state has front-wheel, then the wheel for being in slipping state is determined whether
Whether there is trailing wheel；
If it is determined that the wheel in slipping state has trailing wheel, then engine is redefined according to the slippage rate signal
Demand torque and motor demand torque.
9. Anti-slip regulation control device as claimed in claim 8, it is characterised in that the adjustment module also particularly useful for：
If the current drive pattern is four-wheel drive pattern, and judges the wheel in slipping state as front-wheel, then
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the difference of default regulation moment of torsion, and will
The current demand moment of torsion of the motor be adjusted to the demand torque of the motor and the default regulation moment of torsion it
With；
If the current drive pattern is four-wheel drive pattern, and judges the wheel in slipping state as trailing wheel, then
The current demand moment of torsion of the engine is adjusted to the demand torque of the engine and the default regulation moment of torsion sum,
And the current demand moment of torsion of the motor is adjusted to the demand torque of the motor and the default regulation torsion
The difference of square.
10. Anti-slip regulation control device as claimed in claim 6, it is characterised in that the control module is specifically used for：
The demand torque of the demand torque of engine after the regulation and motor is synthesized and arbitrated, is started
The demand output torque of machine and the demand output torque of motor, and according to the demand output torque of the engine and driving
The demand output torque of motor controls the driving of the four-drive hybrid electric vehicle.
A kind of 11. four-drive hybrid electric vehicle, it is characterised in that including：Such as the driving any one of claim 6-10
Anti-skidding control device.
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| CN106627580B (en) * | 2015-11-02 | 2019-02-26 | 比亚迪股份有限公司 | Four-drive hybrid electric vehicle and its control system and method |
| CN106740820B (en) * | 2015-11-24 | 2019-04-23 | 广州汽车集团股份有限公司 | A kind of anti-slip control method and device of four-wheel-drive hybrid power system |
| CN106143486B (en) * | 2016-07-29 | 2019-08-02 | 重庆长安汽车股份有限公司 | A kind of four-wheel drive cars anti-skid control method |
| CN108248455B (en) * | 2016-12-29 | 2020-07-10 | 比亚迪股份有限公司 | Driving antiskid control method and device for four-wheel-drive electric automobile |
| CN106828504B (en) * | 2017-02-22 | 2019-06-04 | 重庆长安汽车股份有限公司 | A kind of control method of the four-wheel drive system for automobile |
| CN109606369B (en) * | 2017-09-30 | 2021-01-19 | 比亚迪股份有限公司 | Vehicle running control method and device and four-wheel drive type vehicle |
| CN110271531B (en) * | 2018-03-14 | 2021-06-29 | 广州汽车集团股份有限公司 | Automobile four-wheel drive control method, device and system |
| CN108490764A (en) * | 2018-03-19 | 2018-09-04 | 西华大学 | A kind of method of two-wheel balance car Anti-slip regulation system |
| CN110435628B (en) * | 2018-05-04 | 2021-01-08 | 长城汽车股份有限公司 | Automobile four-wheel drive control system and method |
| CN110733354B (en) * | 2018-07-18 | 2021-07-06 | 长城汽车股份有限公司 | Electric automobile torque control method and device and vehicle |
| CN111746295B (en) * | 2019-03-29 | 2022-03-11 | 北京新能源汽车股份有限公司 | Distributed drive control method and device for electric automobile |
| CN112758080B (en) * | 2020-06-12 | 2022-07-05 | 长城汽车股份有限公司 | Method, device, controller and storage medium for controlling interference torque of vehicle |
| CN111746300B (en) * | 2020-06-19 | 2021-11-12 | 智新控制系统有限公司 | Anti-skid control method for driving centralized driving electric automobile and storage medium |
| CN113895235B (en) * | 2021-11-15 | 2023-08-15 | 奇瑞新能源汽车股份有限公司 | Control method and device for four-wheel drive vehicle, new energy automobile and storage medium |
| CN115157998A (en) * | 2022-06-29 | 2022-10-11 | 中国第一汽车股份有限公司 | Hybrid system of vehicle, vehicle and control method of vehicle |
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| US7774108B2 (en) * | 2000-11-14 | 2010-08-10 | Honda Giken Kogyo Kabushiki Kaisha | Front and rear wheel drive vehicle |
| KR20040098252A (en) * | 2003-05-14 | 2004-11-20 | 현대자동차주식회사 | Four wheel drive apparatus using motor and method thereof |
| JP3921218B2 (en) * | 2004-11-25 | 2007-05-30 | 本田技研工業株式会社 | Control device for hybrid vehicle |
| CN101659255B (en) * | 2009-09-09 | 2012-10-03 | 中国科学院电工研究所 | Drive anti-slip control system of hybrid electric vehicle and drive anti-slip control method |
| KR20140053701A (en) * | 2012-10-26 | 2014-05-08 | 현대자동차주식회사 | System for controlling of e-4wd hybrid electricity vehicle and method thereof |
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