CN105882634A - High-robustness wheel anti-skid control method, high-robustness wheel anti-skid control system and vehicle - Google Patents

Abstract

The invention provides a high-robustness wheel anti-skid control system. The control system is characterized in that an angular velocity of each wheel is subjected to differential calculation to obtain an angular acceleration; by means of combining the angular acceleration and a driving torque value of each wheel, a driving force applied to each wheel is calculated according to a wheel kinetic equation; by means of combining the driving force with a center acceleration of each wheel and regulatory factors, a constraint torque of each wheel can be obtained by calculation; by comparison of an upper torque output request value and a constraint torque numerical value, wheel driving torque output is controlled, and all wheels are enabled to have excellent anti-skid control effects under any conditions.

Description

High robust vehicle wheel non-slip control method, antiskid control system and vehicle

Technical field

The present invention relates to vehicle traction/brake control art, the wheel in particular to a kind of high robust is prevented Sliding control system and anti-skid control method.

Background technology

The motor vehicle braking system with electronic anti-breaking control function belongs to prior art.Known motor vehicle braking system can Each wheel of vehicle is independently braked by the wish according to driver, such as in order to prevent the anti-lock of wheel lock up from stopping Car system (ABS), in order to reasonable distribution tractive force tractive force distribute control system (TCS), in order to make vehicle enter stable Form of device (body electronics systems stabilisation ESP), in order to eliminate in trackslip (Driving Antiskid Control System ASR) etc. driving wheel Deng, these broadly fall into bottom wheel and control, and need to carry out based on wheel slip (Slip Ratio).But, slip rate Calculate and generally require the information using other wheels.When all of wheel is all in duty (driving/braking), based on cunning The anti-sliding control of shifting rate often effect is bad.

To this end, also have some researchers to abandon the application of slip rate, in the application side of the electric vehicle of distributed driving Face, it is proposed that be based entirely on the anti-sliding control of mechanics, such as Yoichi Hori, Hiroshi Fujimoto, Dejun Yin et al. The methods such as the MFC, MTTE proposed, but these control method heavy dependence vehicle parameters, to resistance suffered by vehicle and vehicle body weight The sensitive of amount, thus constrain the practicality of these methods.

Summary of the invention

The object of the invention aims to solve the problem that how especially can turn or in acclive feelings under any state Under condition so that all of wheel all has the problem of preferable anti-sliding control effect, proposes the vehicle wheel non-slip of a kind of high robust Control system and anti-skid control method.

The above-mentioned purpose of the present invention is realized by the technical characteristic of independent claims, and dependent claims is with alternative or has The mode of profit develops the technical characteristic of independent claims.

For reaching above-mentioned purpose, the vehicle wheel non-slip control method that the present invention proposes, including:

Obtain the angular speed (ω) of each wheel of vehicle, its differential is obtained angular acceleration, in conjunction with the torsion driving each wheel Square value (T_c), utilize wheel power equation to be calculated wheel driving force (F_d)；

Obtain the acceleration (a) of wheel center, in conjunction with above-mentioned driving force (F_d) and regulatory factor (vehicle body acceleration and wheel The ratio of acceleration, referred to as regulatory factor, represent with k), calculate the Restraint torsin (T driving this wheel_l)；

By comparing torque request numerical value (T_r) and Restraint torsin numerical value (T_l), control to drive the moment of torsion output of wheel, real Existing vehicle wheel non-slip.

Improvement according to the present invention, it is also proposed that the vehicle wheel non-slip control system of a kind of high robust, including:

Torque request module, in order to receive the information of top level control device, generates upper strata moment of torsion output value request (T_r)；

Electric machine controller, receives the torque command value (T that torque adjustment module sends_c) drive motor output torque thus drive Motor car wheel rotates；

Wheel driving force computing module, with acquired each angular speed of wheel (ω), obtains angular acceleration to its differential, knot Close the torque value (T driving each wheel_c), utilize wheel power equation to calculate the driving force (F that each wheel is subject to_d)；

Restraint torsin computing module, with acquired each wheel center acceleration (a), in conjunction with calculated driving force (F_d) and regulatory factor (k), calculate Restraint torsin (T_l)；

Torque adjustment module, according to Restraint torsin (T_l), value request (T is exported for upper strata moment of torsion_r) size adjust Joint.

In further embodiment, first determine whether whether wheel acceleration reaches one with the absolute value of the difference of vehicle body acceleration Definite value (sets according to actual conditions), if reaching this definite value, by exporting value request (T than upper layer moment of torsion_r) and Restraint torsin Numerical value (T_l), control to drive the moment of torsion output of wheel, it is achieved vehicle wheel non-slip.

A third aspect of the present invention also proposes a kind of vehicle wheel non-slip control system, including:

Anti-sliding control module, implements anti-sliding control with each wheel center acceleration obtained and each angular speed of wheel, and this is prevented Sliding control module has:

Torque request module, in order to receive the information of top level control device, generates upper strata moment of torsion output value request (T_r)；

Electric machine controller, receives the torque command value (T that torque adjustment module sends_c) drive motor output torque thus drive Motor car wheel rotates；

Wheel driving force computing module, with acquired each angular speed of wheel (ω), obtains angular acceleration to its differential, knot Close the torque value (T driving each wheel_c), utilize wheel power equation to calculate the driving force (F that each wheel is subject to_d)；

Restraint torsin computing module, with acquired each wheel center acceleration (a), in conjunction with calculated driving force (F_d) and regulatory factor (k), calculate Restraint torsin (T_l)；

Torque adjustment module, according to Restraint torsin (T_l), value request (T is exported for upper strata moment of torsion_r) size adjust Joint.

As long as should be appreciated that all combinations of aforementioned concepts and the extra design described in greater detail below are at this A part for the subject matter of the disclosure is can be viewed as in the case of the design of sample is the most conflicting.It addition, required guarantor All combinations of the theme protected are considered as a part for the subject matter of the disclosure.

Foregoing and other aspect, the reality that present invention teach that can be more fully appreciated with from the following description in conjunction with accompanying drawing Execute example and feature.The feature of other additional aspect such as illustrative embodiments of the present invention and/or beneficial effect will be below Description in obvious, or by learning according in the practice of detailed description of the invention that present invention teach that.

Accompanying drawing explanation

Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform group illustrated in each figure One-tenth part can be indicated by the same numeral.For clarity, in each figure, the most each part is the most labeled. Now, by by example embodiment that various aspects of the invention are described in reference to the drawings, wherein:

Fig. 1 is the schematic flow sheet of the vehicle wheel non-slip control method according to certain embodiments of the invention.

Fig. 2 is the principle schematic obtaining each wheel driving force according to certain embodiments of the invention.

Fig. 3 is the principle exemplary plot calculating each wheel Restraint torsin according to certain embodiments of the invention.

Fig. 4 is to calculate the near front wheel Restraint torsin to suppress the principle of wheel-slip/locking according to certain embodiments of the invention Schematic diagram.

Fig. 5 is the principle schematic of the vehicle wheel non-slip control system according to certain embodiments of the invention.

Fig. 6 is to take turns model according to certain embodiments of the invention to one to implement the control example of the anti-sliding control shown in earlier figures 1 Principle schematic.

Fig. 7 a, 7b are the effect contrast figures after utilizing the vehicle wheel non-slip of certain embodiments of the invention to control, wherein Fig. 7 a table Show that the simulation result not applying aforementioned anti-sliding control, Fig. 7 b illustrate the simulation result after applying aforementioned anti-sliding control.

Detailed description of the invention

In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and coordinate institute's accompanying drawings to be described as follows.

Each side the most with reference to the accompanying drawings to describe the present invention, the embodiment illustrated shown in the drawings of many. Embodiment of the disclosure and must not be intended to include all aspects of the invention.Should be appreciated that multiple design presented hereinbefore and reality Execute example, and those designs of describing in more detail below and embodiment can in many ways in any one comes real Execute, this is because design disclosed in this invention and embodiment are not limited to any embodiment.It addition, disclosed by the invention one A little aspects can be used alone, or otherwise any appropriately combined uses with disclosed by the invention.

According to certain embodiments of the present invention, the vehicle wheel non-slip control method of a kind of high robust, obtain each wheel angle speed Degree (ω), and utilize the torque value (T driving each wheel_c), the driving force of each wheel is calculated according to wheel power equation F_d, utilize this driving force, in conjunction with acquired wheel center acceleration (a), be calculated Restraint torsin (T_l), on comparing Layer moment of torsion output value request (T_r) and Restraint torsin numerical value (T_l), control to drive the moment of torsion output of wheel.

Based on this control strategy, utilize the upper strata torque request value being easier to measure, and based on actually detected and computing The Restraint torsin value obtained compares, if there is skid, grab loosely, the situation of locking, such as aforementioned expression, then wheel Speed and vehicle body velocities gap are relatively big, thus cause upper strata torque request value absolute value more than constraint torque absolute value, now I Implement to control to intervene, control to adjust the moment of torsion output driving wheel, i.e. adjust the exhausted of motor and/or brake torque output valve To value, thus realize the purpose of anti-sliding control.

The anti-sliding control flow process of one specific embodiment of the present invention is as it is shown in figure 1, below in conjunction with Fig. 1, Fig. 2, Fig. 3 institute Show, more specifically describe the enforcement of this anti-sliding control.

Shown in Fig. 1, Fig. 2, Fig. 3, the vehicle wheel non-slip control method of high robust comprises the steps:

Obtain the angular speed (ω) of each wheel of vehicle, its differential is obtained angular acceleration, in conjunction with the torsion driving each wheel Square value (T_c), utilize wheel power equation to be calculated wheel driving force (F_d)；

Obtain the acceleration (a) of wheel center, in conjunction with above-mentioned driving force (F_d) and regulatory factor (k), calculate and drive this car Restraint torsin (the T of wheel_l)；

By exporting value request (T than upper layer moment of torsion_r) and Restraint torsin numerical value (T_l), control to drive the moment of torsion of wheel Output, it is achieved vehicle wheel non-slip.

In this example, first by wheel angular acceleration and the torque value driving this wheel, calculate the driving force of this wheel；Again This wheel center acceleration is utilized to calculate Restraint torsin with above-mentioned driving force, when torque request value absolute value is exhausted more than Restraint torsin During to value, adjust the absolute value of the moment of torsion putting on wheel, i.e. control to adjust motor and/or brake torque output valve.

The anti-skid control method that the present invention proposes has high-adaptability and robustness, for two-wheel drive/braking, four wheel drivings Dynamic/braking, eight wheel drive/braking distributed driving/braking vehicle and each wheel have the centralized driving/system of brake Dynamic vehicle still has good anti-sliding control effect, suffered by, wheel-slip, vehicle load, vehicle the most cross-country at vehicle Under any states such as resistance, wheel turning angle change, all of wheel can be made to have preferable anti-sliding control effect Really.

In conjunction with driving force F suffered by the determination wheel shown in Fig. 2_dExample, in the case of ignoring Suspension Deformation, due to wheel Kinetics relation, it is possible to use this is taken turns angular velocity omega and drives the torque value T of this wheel_c, calculate driving force suffered by this wheel.

Fig. 3 show a concrete sample calculation of Restraint torsin, and view shown in Fig. 4 is car body top view, just overlooks In upright projection to ground.

In Fig. 2 and Fig. 3, being explained as follows (i=1,2,3,4) of each parameter:

T_ci: drive the moment of torsion of wheel

T_li: the Restraint torsin of wheel

a_i: each wheel center is along the accekeration of wheel direction of advance

F_di: the driving force of each wheel

ω_i: the angular speed of each wheel

R: wheel effective radius

In Fig. 4, being explained as follows of view and each parameter:

1, coordinate system is explained: coordinate system is fixed on vehicle body

X: represent the longitudinal direction of vehicle

Y: represent the lateral of vehicle

2, some implication is explained

G: vehicle centroid point

P1: left side front-wheel central point

P2: right side front wheel central point

P3: left side rear wheel central point

P4: right side rear wheel central point

3, in figure, angle implication is explained

δ_i: (i=1,2,3,4) wheel turning angle

4, acceleration symbol implication is explained

a_xi: acceleration component in X direction at (i=1,2,3,4) each wheel center

a_yi(i=1,2,3,4) acceleration component in X direction at each wheel center

Shown in Fig. 2, Fig. 3, it is assumed that:

1)a_iIt it is each wheel center accekeration along wheel direction of advance；

2) except wheel turning angle, this example does not uses any data in geometrical relationship.Mechanical relationship employs four Individual wheel center point accekeration in X direction.

Drive power F of each wheel_diBe calculated as follows:

$F_{d1}=\frac{T_{c1}-J_w{\mathrm{\ω}}_1}{r}$

$F_{d2}=\frac{T_{c2}-J_w{\mathrm{\ω}}_2}{r}$

$F_{d3}=\frac{T_{c3}-J_w{\mathrm{\ω}}_3}{r}$

$F_{d4}=\frac{T_{c4}-J_w{\mathrm{\ω}}_4}{r}$

Restraint torsin value T of each wheel_liBe calculated as follows:

$T_{l1}={\mathrm{rF}}_{d1}+\frac{J_w(a_{x1}{\mathrm{cos\δ}}_1+a_{y1}{\mathrm{sin\δ}}_1)}{kr}$

$T_{l2}={\mathrm{rF}}_{d2}+\frac{J_w(a_{x2}{\mathrm{cos\δ}}_2+a_{y2}{\mathrm{sin\δ}}_2)}{kr}$

$T_{l3}={\mathrm{rF}}_{d3}+\frac{J_w{a}_{x3}}{kr}$

$T_{l4}={\mathrm{rF}}_{d4}+\frac{J_w{a}_{x4}}{kr}$

In the case of or locking non-slip at wheel, the absolute value of Restraint torsin value should be less than or equal to torque request value Absolute value.If the absolute value of Restraint torsin is significantly greater than the absolute value of torque request value, then can distinguish wheel will or Have occurred that skidding or locking phenomenon.Therefore, now controller should adjust motor and/or brake torque output valve T_r, Thus realize anti-skidding purpose.

Fig. 5 is the principle schematic of the vehicle wheel non-slip control system according to certain embodiments of the invention, as it can be seen, a kind of Vehicle wheel non-slip control system, including:

Torque request module, in order to receive the information of top level control device, generates upper strata moment of torsion output value request (T_r)；

Electric machine controller, receives the torque command value (T that torque adjustment module sends_c) drive motor output torque thus drive Motor car wheel rotates；

Wheel driving force computing module, with acquired each angular speed of wheel (ω), obtains angular acceleration to its differential, knot Close the torque value (T driving each wheel_c), utilize wheel power equation to calculate the driving force (F that each wheel is subject to_d)；

Restraint torsin computing module, with acquired each wheel center acceleration (a), in conjunction with calculated driving force (F_d) and regulatory factor (k), calculate Restraint torsin (T_l)；

Torque adjustment module, according to Restraint torsin (T_l), value request (T is exported for upper strata moment of torsion_r) size adjust Joint.

In conjunction with the example shown in Fig. 1, Fig. 2, Fig. 3, in certain embodiments, aforementioned each wheel driving force F_dCalculating, each Wheel Restraint torsin T_lCalculating, upper strata torque request value and the comparison of Restraint torsin value all with foregoing teachings describe exemplary Mode realizes.

Preferably, aforementioned adjustment moment of torsion adjusted value T_lControl method be saturation degree method for limiting.In some other examples In son, it is also possible to use other control algolithms to carry out the calculating of moment of torsion adjusted value, such as fuzzy control/optimum control/sliding formwork Control algolithm etc..

In a further embodiment, described torque adjustment module is turned round more than constraint in response to the absolute value of torque request value The absolute value of square, controls output moment of torsion adjusted value T_lSize so that torque adjustment module is according to this moment of torsion adjusted value T_lControl to adjust Whole upper strata moment of torsion output value request T_r。

In certain embodiments, alternatively, it is also possible to control further to turn round according to battery, motor and other vehicle-states Square size.

In conjunction with the example shown in Fig. 4, Fig. 5, Fig. 6 illustrate the anti-sliding control utilizing the present invention take turns one model implement aforementioned The principle schematic of the control example of the anti-sliding control shown in Fig. 1.

Should be appreciated that the anti-skid control method described by above content, strategy and control system, can apply and start Vehicle, the vehicle of motor-driven that machine drives and apply on mixed dynamic power car, it is achieved the purpose of anti-sliding control.

In some instances, aforesaid anti-skid control method, strategy and control system, it is particularly possible to apply and using not On the vehicles such as the electric automobile of distributed driving structure containing differential mechanism, balance car, it is possible under any state so that all Wheel all there is preferable anti-sliding control effect.

Fig. 7 a, 7b illustrate the effect contrast figure after utilizing the vehicle wheel non-slip of certain embodiments of the invention to control, Qi Zhongtu 7a represents that the simulation result not applying aforementioned anti-sliding control, Fig. 7 b illustrate the simulation result after applying aforementioned anti-sliding control.Knot Close and shown in Fig. 6, control example, its simulating scenes: wheel entered low friction road surface from about 3 seconds, it can be seen that uncontrolled situation Under, wheel substantially skids, and implements in the example controlled, and wheel only has slight skidding.

Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to the present invention Art field has usually intellectual, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Cause This, protection scope of the present invention is when being as the criterion depending on those as defined in claim.

Claims (6)

1. the vehicle wheel non-slip control method of a high robust, it is characterised in that the method includes:

Obtain the angular speed (ω) of each wheel of vehicle, its differential is obtained angular acceleration, in conjunction with the torque value driving each wheel (T_c), utilize wheel power equation to be calculated wheel driving force (F_d)；

Obtain the acceleration (a) of wheel center, in conjunction with above-mentioned driving force (F_d) and regulatory factor (k), calculate the pact driving this wheel Bundle moment of torsion (T_l)；

By exporting value request (T than upper layer moment of torsion_r) and Restraint torsin numerical value (T_l), control to drive the moment of torsion output of wheel, Realize vehicle wheel non-slip.

The vehicle wheel non-slip control method of high robust the most according to claim 1, it is characterised in that in response to torque request Numerical value and the difference of this Restraint torsin numerical value, control based on the one in switch control rule, fuzzy control, optimum control, sliding formwork control Algorithm processed obtains final torque command value.

3. a vehicle wheel non-slip control system, it is characterised in that including:

Torque request module, in order to receive the information of top level control device, generates upper strata moment of torsion output value request (T_r)；

Electric machine controller, receives the torque command value (T that torque adjustment module sends_c) drive motor output torque thus drive car Wheel rotates；

Wheel driving force computing module, with acquired each angular speed of wheel (ω), obtains angular acceleration to its differential, in conjunction with driving Torque value (the T of dynamic each wheel_c), utilize wheel power equation to calculate the driving force (F that each wheel is subject to_d)；

Restraint torsin computing module, with acquired each wheel center acceleration (a), in conjunction with calculated driving force (F_d) and Regulatory factor (k), calculates Restraint torsin (T_l)；

Torque adjustment module, according to Restraint torsin (T_l), value request (T is exported for upper strata moment of torsion_r) size be adjusted.

4. a vehicle wheel non-slip control system, it is characterised in that including:

Anti-sliding control module, implements anti-sliding control, this anti-slip control with each wheel center acceleration obtained and each angular speed of wheel Molding block has:

Torque request module, in order to receive the information of top level control device, generates upper strata moment of torsion output value request (T_r)；

Electric machine controller, receives the torque command value (T that torque adjustment module sends_c) drive motor output torque thus drive car Wheel rotates；

Wheel driving force computing module, with acquired each angular speed of wheel (ω), obtains angular acceleration to its differential, in conjunction with driving Torque value (the T of dynamic each wheel_c), utilize wheel power equation to calculate the driving force (F that each wheel is subject to_d)；

Restraint torsin computing module, with acquired each wheel center acceleration (a), in conjunction with calculated driving force (F_d) and Regulatory factor (k), calculates Restraint torsin (T_l)；

Torque adjustment module, according to Restraint torsin (T_l), value request (T is exported for upper strata moment of torsion_r) size be adjusted.

5. the vehicle of the vehicle wheel non-slip control system included in aforementioned claim 3-4 described in any one.

Vehicle the most according to claim 5, it is characterised in that this vehicle uses motor to drive.