CN105799549A - Integration control system and method for electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel automobile - Google Patents
Integration control system and method for electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel automobile Download PDFInfo
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- CN105799549A CN105799549A CN201610278791.3A CN201610278791A CN105799549A CN 105799549 A CN105799549 A CN 105799549A CN 201610278791 A CN201610278791 A CN 201610278791A CN 105799549 A CN105799549 A CN 105799549A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an integration control system and method for an electric power steering system (EPS) and direct yaw moment control (DYC) of an electric wheel automobile. The system comprises a steering wheel rotation angle sensor, a steering wheel torque sensor, an accelerator pedal opening degree sensor, a wheel speed sensor, a yaw rate sensor, a lateral acceleration sensor, an integration controller, a DYC controller, an EPS controller, a back axle hub motor controller, a front axle hub motor controller, an assisted motor, an assisted motor controller and a hub motor. The EPS and DYC can be integrated very well, advantages of the EPS are utilized, the advantage of stability control of DYC on the electric wheel automobile is combined, and therefore the defects of the independent EPS are made up, the steering unstability of the automobile on the low-attachment road surface on the limiting condition such as a high-speed large turning angle can be solved very well, the problem that stability control needs to be added during automobile steering is solved, and by means of coordination control, positive effects are produced for the work of a DYC system of the electric wheel automobile.
Description
Technical field
The present invention relates to four In-wheel motor driving electric wheel truck (electric wheel truck) electric boosting steering systems (EPS) and direct yaw moment control (DYC) field, be specifically related to the vehicle equipped with traditional E PS system.
Background technology
In order to solve current energy crisis and serious environmental problem; electric wheel truck field has all been invested in the automobile research and development of various countries; wherein In-wheel motor driving automobile is that hub-type motor is directly installed in automotive wheel to drive running car, for the developing direction that following electric wheel truck drives.Electric wheel truck has the advantage that
1) compared with the electric motor car that central motor drives, eliminating machine driven system, transmission efficiency has the raising of great-leap-forward, and controller directly controls motor speed and torque, the adaptability of operating mode is obviously enhanced to external world, and has the infinitely variable speeds performance of almost Perfect.
2) from the angle of arrangement, automobile chassis obtains and greatly simplifies, it is possible to make the design vehicle structure that Automobile Design teacher is more calm, makes automobile general arrangement more reasonable.
3) due to the low cost of the high efficiency of motor and electric power, electric wheel truck also will more save the energy than orthodox car.And, wheel hub motor is basically identical with the dynamic response of tire, makes In-wheel motor driving automobile be easier to realize regenerative braking, this reduces energy resource consumption.
4) owing to the torque of each wheel can independently control, the response speed of motor own is sufficiently fast again, so the chassis electrical control technology being applied to orthodox car can be applied on In-wheel motor driving automobile more easily, such as electronic stability controls technology, polling power controlling technology etc..
Automobile steering system is that driver is for controlling the system in motor racing direction, it is a basic and important system in automobile, the quality of its performance is directly connected to the control stability of automobile, for ensureing the safety traffic of automobile and improving the working condition of driver and serve key effect.Along with the development of automobile steering system technology, nowadays steering is divided into: mechanically aided turn to, hydraulic power-assist steering system, Electro-Hydraulic Power Steering System, electric boosting steering system (EPS).Wherein EPS directly utilizes motor to provide the steering of power steering, has abandoned the servomechanism of hydraulic power-assist steering system.Compare conventional hydraulic servo steering system, EPS has a lot of prominent advantages, such as environmental protection, energy-conservation, simple in construction and make automobile have steering behaviour etc. better, but still there is weak point:
One, variable ratio control and active steering intervention can not be realized to improve the control stability of system；
Two, EPS still cannot well solve the operation road feel on low attachment coefficient road surface and return performance；
Three, there is destabilization problems equipped with EPS at Vehicular turn in automobile, and particularly the big corner of high speed etc. are in emergency circumstances, it is necessary to add stability and control；
Four, the design philosophy of traditional E PS system does not consider the impact on control stability, and the operation of steering wheel can be directly influenced the stability that vehicle travels by driver.
It is a kind of difference utilizing left and right sides wheel longitudinal force that direct yaw moment (DYC) controls, namely automobile single wheel is increased and drive or braking moment Δ T, opposite side reduces Δ T, produce yaw moment, the method improving vehicle handling stability, to improve mobility in Vehicular turn process and the stability run at high speed, and DYC controls to be proved to when close to limit of adhesion still has and control effect preferably.
The present invention is based on above analysis, in conjunction with studying now, in order to improve the weak point of EPS, system is controlled for object of study with electric wheel truck, EPS and DYC, share from information fusion, single system function optimization, subsystem are coordinated to control three aspects and are proposed the control method for coordinating of the two, the chassis integration of the two is coordinated control study mainly for single system function optimization and subsystem coordination two aspects of control.
Summary of the invention
Existing traditional E PS is fine in improving Automobile operation stability, but still cannot well solve the manipulation road feel on low attachment coefficient road surface and return performance, the design philosophy of traditional E PS system does not consider the impact on control stability, and the operation of steering wheel can be directly influenced the stability that vehicle travels by driver, so at Vehicular turn, particularly the big corner of high speed etc. are in emergency circumstances, need to add the problems such as stability control, the present invention can produce yaw moment in conjunction with DYC, and it is proved to when close to limit of adhesion still have the advantages such as good control effect, on electric wheel truck, EPS and DYC is carried out integrating control.
For achieving the above object, the concrete technical scheme of the present invention is as follows: this system includes steering wheel angle sensor, steering wheel torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, lateral acceleration sensor, integrated manipulator, DYC controller, EPS controller, rear axle hub motor control device, front axle hub motor control device, assist motor, assist motor controller, wheel hub motor.
The described parameter in integrated manipulator is the various vehicle parameters of real-time vehicle, and receive the live signal of steering wheel angle sensor, steering wheel torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, lateral acceleration sensor generation, the driving cycle of vehicle is judged by the vehicle working condition algorithm that integrated manipulator is built-in, vehicle working condition information is sent to EPS controller, and slip angle estimation equistability is judged that information is sent to DYC controller by the judgement of stability algorithm built-in by integrated manipulator；The same with traditional EPS, described steering wheel angle sensor, steering wheel torque sensor, wheel speed sensors are by steering wheel angle signal, level of torque, direction signal and real-time wheel speed signal flow to EPS controller, and receive the additional information transmitted by integrated manipulator, EPS controller according to variable assist characteristic curve, calculates expectation electric current after receiving above-mentioned signal, by closed loop feedback control, target current is flowed to assist motor controller；Described DYC controller receives the intact stability information that integrated manipulator transmits, calculate now vehicle and need great yaw moment, utilize corresponding torque allocation algorithm, and by its coordinated allocation to rear axle hub motor control device, front axle hub motor control device；Described rear axle hub motor control device, front axle hub motor control device receive the torque distribution information sent by DYC controller, driving and the braking of wheel hub motor is controlled by controlling the mode of current of electric size, and the size of current of four wheel hub motors is fed back to integrated manipulator, four In-wheel motor driving electric wheel trucks produce different torques by four-wheel, complete the Handling stability control of electric wheel truck car load.
The present invention is based under the premise not affecting EPS work, it is provided that a kind of EPS and DYC integrated control method, comprises the following steps:
The first step, signals collecting, steering wheel angle sensor, steering wheel torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, lateral acceleration sensor is responsible for the various signals of Real-time Collection vehicle, integrated manipulator receives signal, utilize its built-in control algolithm analyze the real time running operating mode of vehicle and vehicle carries out judgement of stability, and the driving cycle information of vehicle is sent to EPS controller, judgement of stability information is sent to DYC controller.
Second step, EPS controller receives the angular signal of steering wheel angle sensor, the additional information that the level of torque of steering wheel torque sensor and direction signal, the wheel speed signal of wheel speed sensors, integrated manipulator transmit, calculate the expectation electric current needed for assist motor controller, by PWM control, carry target current to assist motor, and carry out closed loop feedback control.
3rd step, DYC controller receives the judgement of stability information transmitted by integrated manipulator, control based on DYC stability, calculate the yaw moment needed for now electric wheel truck, and utilize corresponding torque allocation algorithm, by its coordinated allocation to rear axle hub motor control device and front axle hub motor control device, rear axle and front axle hub motor control device, receive the torque distribution information sent by DYC controller, driving and the braking of wheel hub motor is controlled by controlling the mode of current of electric size, and the size of current of four wheel hub motors is fed back to integrated manipulator, electric wheel truck produces different torques by four-wheel, complete the Handling stability control of electric wheel truck car load.
Further, the detailed process of described 3rd step is:
One, when electric wheel truck is under unstability operating mode, DYC controller is for electric wheel truck integrating control process under at a high speed big corner operating mode, first electric wheel truck is with certain initial velocity straight-line travelling, steering wheel angular signal is detected by integrated manipulator all the time, when steering wheel angle judges | θ | > θ1(θ1For big corner lower limit decision content, it is assumed that θ1=90 °) time, integrated manipulator judges that electric wheel truck is carrying out big corner and turning to, and continues detection wheel speed size, as V > V2Time, then it is judged as that electric wheel truck is in big corner emergency work condition at a high speed, starts DYC and EPS integrating control in big corner situation at a high speed, and whether detect yaw velocity ω now less than ω1, if it is not, then proceed DYC and EPS integrating control at a high speed big corner situation, until reaching desired to stablize yaw velocity.As V < V2Time, integrated manipulator judges that electric wheel truck turns to as the big corner of middle low speed, starts DYC and EPS and coordinates to control, and whether detects yaw velocity ω less than ω1, coordinate to control if it is not, then proceed DYC and EPS, until reaching desired to stablize yaw velocity.When steering wheel judges | θ | < θ1Time, then start conventional DYC and EPS integrating control.
Two, when electric wheel truck in normal conditions, electric wheel truck is at first with certain initial velocity straight-line travelling, and steering wheel angular signal is detected by integrated manipulator all the time, as | θ | < θ0Time, for instance system design makes θ0=5 °, namely steering wheel rotation system within 5 ° is defaulted as electric wheel truck and does not carry out turning to operation, and electric wheel truck carries out normal DYC control.As | θ | > θ0, and maintaining regular hour t, then integrated manipulator judges that electric wheel truck is carrying out turning to operation, and first electric wheel truck utilizes coefficient of road adhesion estimating algorithm, estimates coefficient of road adhesion f, it is judged that whether f is less than fr(wherein frHigher limit is judged, it is assumed that f for low attachment coefficientr=0.3), as f < frTime, integrated manipulator judges to carry out turning to operation on electric wheel truck low attachment road surface, the wheel speed V then recorded according to wheel speed sensors, it is determined that whether V is less than V1(wherein V1Higher limit is judged, it is assumed that V for low speed1=20km/h), as V < V1Time, integrated manipulator judges that electric wheel truck carries out low speed rotation to operation on low attachment road surface, then system will utilize DYC control, control driving and the braking moment of four wheel hub motors, automobile is made to produce certain additional yaw moment Δ T, assist motor is assisted to complete to turn to operation with the form of power steering square, as V > V1Time, utilize DYC and EPS integrating control to be driven anti-sliding control to improve dynamic property and the stability of automobile.If f is > frTime, integrated manipulator is judged to not carry out turning to operation under low attachment road surface, then detect the driving cycle of four-wheel wheel hub motor electric wheel truck, and the actual yaw velocity namely measured is with whether estimation yaw velocity expected value exceedes a certain threshold value ω1, judge whether vehicle is unstability situation.As ω > ω1Time, it was shown that now there is unstability operating mode in electric wheel truck, utilizes DYC to control to start driving with EPS integrating control and turns to integrating control, improves the operational stability of electric wheel truck.As ω < ω1Time, electric wheel truck is stable turning, at this moment again electric wheel truck wheel speed is judged, when judging wheel speed V and V2(V2For high speed lower limit, it is assumed that V2=60km/h) size, as V > V2Time, integrated system judges that electric wheel truck turns to as high stability, and the form offer part controlling to produce additional yaw moment by DYC turns to damping torque；As V < V2Time, integrated manipulator judges that electric wheel truck is as low-speed stable sexual deviation, and the form controlling to produce additional yaw moment by DYC provides part power steering square.
The invention have the benefit that the present invention can be good at controlling to integrate by EPS and DYC, both make use of the plurality of advantages in EPS steering, combine again DYC and control the advantage at electric wheel truck vehicle stabilization control, thus making up the deficiency of independent EPS, can improve on low attachment road surface very well, what the vehicle in limiting condition corner situation as big in high speed existed turns to de-stabilise problem, need when solving motor turning to add the problem that stability controls, and by coordinating control, the work of electric wheel truck DYC system is produced actively impact simultaneously.
Accompanying drawing explanation
Fig. 1 is that EPS and DYC integrated control system framework is built；
Fig. 2 is EPS and DYC system integration control block diagram；
Fig. 3 is EPS and DYC hierarchy system structure chart；
Fig. 4 is EPS and DYC muti-layer control tactics structure chart；
Fig. 5 is the nominal situation control strategy flow chart of EPS and DYC integrated control system；
Fig. 6 is control strategy flow chart in EPS and DYC integrated control system big corner situation at a high speed.
In figure: 1-steering wheel angle sensor；2-steering wheel torque sensor；3-accelerator pedal jaw opening sensor；4-wheel speed sensors；5-yaw-rate sensor；6-lateral acceleration sensor；7-integrated manipulator；8-DYC controller；9-EPS controller；10-rear axle hub motor control device；11-front axle hub motor control device；12-assist motor；13-assist motor controller；14-wheel hub motor.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
The present invention is based on the electric wheel truck basis being mounted with EPS, control system with DYC and carry out integrating control, both make use of the plurality of advantages in EPS steering, combine again DYC and control the advantage at electric wheel truck vehicle stabilization control, thus compensate for the deficiency of independent EPS, electric wheel truck can be improved very well on low attachment road surface, what in limiting condition corner situation as big in high speed, vehicle existed turns to de-stabilise problem, need when solving motor turning to add the problem that stability controls, and by coordinating control, the work of electric wheel truck DYC system is produced actively impact simultaneously.Fig. 1 is that EPS and DYC integrated control system framework is built, this system sensor part includes steering wheel angle sensor 1, steering wheel torque sensor 2, accelerator pedal jaw opening sensor 3, four wheel speed sensors 4, yaw-rate sensor 5 and lateral acceleration sensor 6；Controller part includes integrated manipulator 7, DYC controller 8, EPS controller 9, rear axle hub motor control device 10, front axle hub motor control device 11 and assist motor controller 13；Executor's part includes assist motor 12 and four wheel hub motors 14.In vehicle operation, the driving of vehicle, according to the steering wheel angle of driver, pedal operation and car status information, is controlled with brake force by DYC system by four wheel hub motors 14；EPS operates and car status information according to the steering wheel torque of driver, by assist motor, assist torque is controlled；Integrated manipulator 7 monitors the operation of driver and the kinestate of vehicle in real time in whole process, and DYC and EPS are worked coordinates control when necessary.
Fig. 2 is DYC and EPS integrating control block diagram, steering wheel angle sensor 1, steering wheel torque sensor 2, accelerator pedal jaw opening sensor 3, wheel speed sensors 4, yaw-rate sensor 5, lateral acceleration sensor 6 is responsible for the various signals of Real-time Collection vehicle, integrated manipulator 7 receives signal, its built-in control algolithm is utilized to analyze the real time running operating mode of vehicle and vehicle is carried out judgement of stability, and additional information is sent to EPS controller 9, judgement of stability information is sent to DYC controller 8.EPS controller 9 receives the angular signal of the wheel speed signal of vehicle wheel speed sensor 4, steering wheel angle sensor 1, the additional information that the level of torque of steering wheel torque sensor 2 and direction signal and integrated manipulator 7 transmit, calculate the expectation electric current needed for assist motor 12, utilize PWM control, carry target current to assist motor 12, and carry out closed loop feedback control.DYC controller 8 receives the judgement of stability information transmitted by integrated manipulator 7, control based on DYC stability, calculate the yaw moment needed for now electric wheel truck, and utilize corresponding torque allocation algorithm, and by its coordinated allocation to rear axle and front axle hub motor control device 10, 11, hub motor control device 10, 11 receive the torque distribution information sent by DYC controller 8, driving and the braking of wheel hub motor is controlled by controlling the mode of current of electric size, and the size of current of wheel hub motor 14 is fed back to integrated manipulator 7, electric wheel truck produces different torques by four-wheel, complete the Handling stability control of electric wheel truck car load.
Fig. 3 is EPS and DYC hierarchy system structure chart, and this control system have employed layering-Supervised Control structure.In this system, DYC and EPS two overlaps the ingredients such as the original sensor of subsystem, controller, executor and all retains, and by adding upper strata integrated manipulator 7, the work of two cover systems is coordinated control.On the upper strata of system structure, integrated manipulator 7 shares the car status information obtained by sensor, judges the need of coordination control, and makes coordination control command；Coordinate control command and be sent to the subsystem controller in middle level, obtain revised executor's control command；The executor of lower floor is responsible for performing the control command that middle level is made.A feature in this hierarchy system structure is, it is coordinated control command (additional information) and is served only for revising the work of EPS, and does not directly affect ESP system work.
Fig. 4 is EPS and DYC muti-layer control tactics structure chart, this figure is divided into operator and work identification layer and coordinates key-course two-layer logical structure, in operator and operating mode's switch layer, vehicle status parameters by the signal of sensor and estimation, according to vehicle-state and operator, it would be desirable to the operating mode coordinating to control is divided into driver's maloperation and driver's normal operating.Coordinate, in key-course, to coordinate control respectively for two class operating modes.For driver's maloperation, it is necessary to coordinate control plane from subsystem and coordinate；For driver's normal operating, it is possible to the function of EPS is optimized.
Fig. 5 is the nominal situation control strategy flow chart of EPS and DYC integrated control system, and electric wheel truck is at first with certain initial velocity straight-line travelling, and steering wheel angular signal is detected by system all the time, as | θ | < θ0Time, for instance integrated manipulator 7 design makes θ0=5 °, namely steering wheel rotation system within 5 ° is defaulted as electric wheel truck and does not carry out turning to operation, and electric wheel truck carries out normal DYC control.As | θ | > θ0, and maintaining regular hour t, then system judges that electric wheel truck is carrying out turning to operation, and first electric wheel truck utilizes coefficient of road adhesion estimating algorithm, estimates coefficient of road adhesion f, it is judged that whether f is less than fr(wherein frHigher limit is judged, it is assumed that f for low attachment coefficientr=0.3), as f < frTime, integrated manipulator 7 judges to carry out turning to operation on electric wheel truck low attachment road surface, the wheel speed V then recorded according to wheel speed sensors 4, it is determined that whether V is less than V1(wherein V1Higher limit is judged, it is assumed that V for low speed1=20km/h), as V < V1Time, system judges that electric wheel truck carries out low speed rotation to operation on low attachment road surface, then integrated manipulator 7 will utilize DYC control, control driving and the braking moment of four wheel hub motors 14, automobile is made to produce certain additional yaw moment Δ T, assist EPS motor to complete to turn to operation with the form of power steering square, work as V V1Time, utilize DYC and EPS integrating control to be driven anti-sliding control to improve dynamic property and the stability of automobile.If f is > frTime, system is judged to not carry out turning to operation under low attachment road surface, then detect the driving cycle of electric wheel truck, and the actual yaw velocity namely measured is with whether estimation yaw velocity expected value exceedes a certain threshold value ω1, judge that vehicle is unstability situation.As ω > ω1Time, it was shown that now there is unstability operating mode in electric wheel truck, utilizes DYC to control to start driving with EPS integrating control and turns to integrating control, improves the operational stability of electric wheel truck.As ω < ω1Time, electric wheel truck is stable turning, at this moment again electric wheel truck wheel speed is judged, it is determined that wheel speed V and V2(V2For high speed lower limit, it is assumed that V2=60km/h) size, as V > V2Time, integrated system judges that electric wheel truck turns to as high stability, and the form offer part controlling to produce additional yaw moment by DYC turns to damping torque；As V < V2Time, integrated system judges that electric wheel truck is as low-speed stable sexual deviation, and the form controlling to produce additional yaw moment by DYC provides part power steering square.
Fig. 6 is control strategy flow chart under EPS and DYC integrated control system big corner operating mode at a high speed, first electric wheel truck is with certain initial velocity straight-line travelling, steering wheel angular signal is detected by integrated manipulator 7 all the time, as steering wheel angle signal determining | θ | > θ1(θ1For big corner lower limit decision content, it is assumed that θ1=90 °) time, integrated manipulator 7 judges that electric wheel truck is carrying out big corner and turning to, and continues detection wheel speed size, as V > V2Time, then judge that electric wheel truck is in big corner emergency work condition at a high speed, start DYC and EPS integrating control in big corner situation at a high speed, and whether detect yaw velocity ω now less than ω1, if it is not, then proceed DYC and EPS integrating control at a high speed big corner situation, until reaching desired to stablize yaw velocity.As V < V2Time, integrated manipulator 7 judges that electric wheel truck turns to as the big corner of middle low speed, starts DYC and EPS and coordinates to control, and whether detects yaw velocity ω less than ω1, coordinate to control if it is not, then proceed DYC and EPS, until reaching desired to stablize yaw velocity.When steering wheel judges | θ | < θ1Time, then start normal DYC and EPS integrating control.
Claims (3)
1. one kind is used for electric wheel truck EPS and DYC integrated control system, it is characterized in that: include steering wheel angle sensor (1), steering wheel torque sensor (2), accelerator pedal jaw opening sensor (3), wheel speed sensors (4), yaw-rate sensor (5), lateral acceleration sensor (6), integrated manipulator (7), DYC controller (8), EPS controller (9), rear axle hub motor control device (10), front axle hub motor control device (11), assist motor (12), assist motor controller (13), wheel hub motor (14)；
The various vehicle parameters that parameter is real-time vehicle in described integrated manipulator (7), and receive steering wheel angle sensor (1), steering wheel torque sensor (2), accelerator pedal jaw opening sensor (3), wheel speed sensors (4), yaw-rate sensor (5), the live signal that lateral acceleration sensor (6) produces, the driving cycle of vehicle is judged by the vehicle working condition algorithm that integrated manipulator (7) is built-in, vehicle working condition information is sent to EPS controller (9), slip angle estimation equistability is judged that information is sent to DYC controller (8) by the judgement of stability algorithm built-in by integrated manipulator (7)；Described steering wheel angle sensor (1), steering wheel torque sensor (2), wheel speed sensors (4) are by steering wheel angle signal, level of torque, direction signal and real-time wheel speed signal flow to EPS controller (9), and receive the additional information transmitted by integrated manipulator (7), after EPS controller (9) receives above-mentioned signal, according to variable assist characteristic curve, draw expectation electric current, by closed loop feedback control, target current is flowed to assist motor controller (13)；Described DYC controller (8) receives the intact stability information that integrated manipulator (7) transmits, show that now vehicle needs great yaw moment, utilize torque allocation algorithm, and by its coordinated allocation to rear axle hub motor control device (10), front axle hub motor control device (11)；Described rear axle hub motor control device (10), front axle hub motor control device (11) receive the torque distribution information sent by DYC controller, driving and the braking of wheel hub motor is controlled by controlling the mode of current of electric size, and the size of current of four wheel hub motors is fed back to integrated manipulator (7), four In-wheel motor driving electric wheel trucks produce different torques by four-wheel, complete the Handling stability control of electric wheel truck car load.
2. the method for electric wheel truck EPS with DYC integrated control system, it is characterised in that: comprise the following steps:
Step one: signals collecting, steering wheel angle sensor (1), steering wheel torque sensor (2), accelerator pedal jaw opening sensor (3), wheel speed sensors (4), yaw-rate sensor (5), lateral acceleration sensor (6) is responsible for the various signals of Real-time Collection vehicle, integrated manipulator (7) receives signal, its built-in control algolithm is utilized to analyze the real time running operating mode of vehicle and vehicle is carried out judgement of stability, and the driving cycle information of vehicle is sent to EPS controller (9), judgement of stability information is sent to DYC controller (8)；
Step 2: EPS controller (9) receives the angular signal of steering wheel angle sensor (1), the additional information that the level of torque of steering wheel torque sensor (2) and direction signal, the wheel speed signal of wheel speed sensors (4), integrated manipulator (7) transmit, calculate the expectation electric current needed for assist motor controller (13), by PWM control, carry target current to assist motor (12), and carry out closed loop feedback control；
Step 3: DYC controller (8) receives the judgement of stability information transmitted by integrated manipulator (7), control based on DYC stability, calculate the yaw moment needed for now electric wheel truck, and utilize corresponding torque allocation algorithm, by its coordinated allocation to rear axle hub motor control device (10) and front axle hub motor control device (11), rear axle hub motor control device (10), front axle hub motor control device (11) receives the torque distribution information sent by DYC controller (8), driving and the braking of wheel hub motor (14) is controlled by controlling the mode of current of electric size, and the size of current of four wheel hub motors (14) is fed back to integrated manipulator (7), electric wheel truck produces different torques by four-wheel, complete the Handling stability control of electric wheel truck car load.
3. a kind of method for electric wheel truck EPS Yu DYC integrated control system according to claim 2, it is characterised in that: step 3 can be divided into again following steps:
Step 3.1: when electric wheel truck is under unstability operating mode, DYC controller (8) is for electric wheel truck integrating control process under at a high speed big corner operating mode, first electric wheel truck is with certain initial velocity straight-line travelling, steering wheel angular signal is detected by integrated manipulator (7) all the time, if θ1For big corner lower limit decision content, when steering wheel angle judges | θ | > θ1Time, integrated manipulator (7) judges that electric wheel truck is carrying out big corner and turning to, and continues detection wheel speed size, if V2For high speed lower limit, as V > V2Time, then it is judged as that electric wheel truck is in big corner emergency work condition at a high speed, starts DYC and EPS integrating control in big corner situation at a high speed, and whether detect yaw velocity ω now less than a certain threshold value ω1, if it is not, then proceed DYC and EPS integrating control at a high speed big corner situation, until reaching desired to stablize yaw velocity；As V < V2Time, integrated manipulator (7) judges that electric wheel truck turns to as the big corner of middle low speed, starts DYC and EPS and coordinates to control, and whether detects yaw velocity ω less than ω1, coordinate to control if it is not, then proceed DYC and EPS, until reaching desired to stablize yaw velocity；When steering wheel judges | θ | < θ1Time, then start conventional DYC and EPS integrating control；
Step 3.2: when electric wheel truck in normal conditions, electric wheel truck is at first with certain initial velocity straight-line travelling, and steering wheel angular signal is detected by integrated manipulator (7) all the time, as | θ | < θ0Time, system design makes θ0=5 °, namely steering wheel rotation system within 5 ° is defaulted as electric wheel truck and does not carry out turning to operation, and electric wheel truck carries out normal DYC control；As | θ | > θ0, and maintaining regular hour t, then integrated manipulator (7) judges that electric wheel truck is carrying out turning to operation, and first electric wheel truck utilizes coefficient of road adhesion estimating algorithm, estimates coefficient of road adhesion f, it is judged that whether f is less than fr, wherein frHigher limit is judged, as f < f for low attachment coefficientrTime, integrated manipulator (7) judges to carry out turning to operation on electric wheel truck low attachment road surface, the wheel speed V then recorded according to wheel speed sensors (4), if V1Higher limit is judged, it is determined that whether V is less than V for low speed1, as V < V1Time, integrated manipulator (7) judges that electric wheel truck carries out low speed rotation to operation on low attachment road surface, then system will utilize DYC control, control driving and the braking moment of four wheel hub motors, automobile is made to produce certain additional yaw moment Δ T, assist motor (12) is assisted to complete to turn to operation with the form of power steering square, as V > V1Time, utilize DYC and EPS integrating control to be driven anti-sliding control to improve dynamic property and the stability of automobile；If f is > frTime, integrated manipulator (7) is judged to not carry out turning to operation under low attachment road surface, then detecting the driving cycle of four-wheel wheel hub motor electric wheel truck, the actual yaw velocity namely measured is with whether estimation yaw velocity expected value exceedes a certain threshold value ω1, judge whether vehicle is unstability situation；As ω > ω1Time, it was shown that now there is unstability operating mode in electric wheel truck, utilizes DYC to control to start driving with EPS integrating control and turns to integrating control, improves the operational stability of electric wheel truck；As ω < ω1Time, electric wheel truck is stable turning, at this moment again electric wheel truck wheel speed is judged, when judging wheel speed V and V2Size, as V > V2Time, integrated system judges that electric wheel truck turns to as high stability, and the form offer part controlling to produce additional yaw moment by DYC turns to damping torque；As V < V2Time, integrated manipulator (7) judges that electric wheel truck is as low-speed stable sexual deviation, and the form controlling to produce additional yaw moment by DYC provides part power steering square.
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