CN101229781B - Differential control system for two-wheeled driven electric vehicle - Google Patents
Differential control system for two-wheeled driven electric vehicle Download PDFInfo
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- CN101229781B CN101229781B CN2008100205449A CN200810020544A CN101229781B CN 101229781 B CN101229781 B CN 101229781B CN 2008100205449 A CN2008100205449 A CN 2008100205449A CN 200810020544 A CN200810020544 A CN 200810020544A CN 101229781 B CN101229781 B CN 101229781B
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Abstract
The invention relates to a differential speed controlling system of an electric vehicle based on two driving wheels, which comprises a left driving module, a right driving module and a coordinate module which receives external controlling signals and outputs corresponding working signals to control the output power of the left driving module and the right driving module which transmit the torque signals of the two driving wheels to the coordinate module which determines whether to adjust the working signals of the two driving modules according to a principle that the torques of the two driving wheels are the same; the coordinate module adjusts the working signals of the left driving module and the right driving module through a PID controller. The invention is simple in system structure and easy in realization; besides, the invention can prevent the vehicle from sliding, reduce the wear of the tires and guarantee the driving stability of the vehicle. In addition, the invention uses a single-chip, so the precision of signal processing is high, the speed is high, and the torques of the driving wheels can be adjusted in real time without any transmission mechanism or differential gear, thus saving the space and increasing the efficiency of the transmission system.
Description
Technical field
The present invention relates to a kind of control system of electronic two-wheel powered vehicle, be specially a kind of under two inconsistent situations of drive wheel target velocity, the differential control system of the two-wheel powered vehicle of two drive motor horsepower outputs of co-operative control.
Background technology
Along with petroleum-based energy is more and more nervous, it is irresistible that elec. vehicle replaces the trend of fuel combustion vehicle gradually, when elec. vehicle is turning to or when uneven road surface travels, requiring each vehicle wheel rotational speed difference, and will coordinate mutually with wheel disk speed.The tradition fuel-engined vehicle has guaranteed that by the mechanical differential gear box between left and right wheels the both sides wheel can rotate with friction speed, thereby satisfies the kinematic requirement of running car, but has also increased the complexity of shock-proof suspension system simultaneously, has reduced the efficient of system.It is the two-wheel individual drive greatly that current employing wheel hub motor does that elec. vehicle that two-wheel drives has, two overlap between the drive systems without any contact, can cause vehicle turning to or uneven road surface when travelling like this, slippage appears owing to the target velocity of two wheels is inconsistent, quicken Tyte Wear, and cause the instability of vehicle '; Even if under or the situation that the two-wheel target velocity is more or less the same not high, sliding phenomenon do not occur in speed, also can increase the fatigue of wheel shaft, influence the vehicle operation life-span.
Summary of the invention
The problem to be solved in the present invention is: the existing machinery diff has increased the complexity of vehicle damping suspension system, has reduced the efficient of system; Two-wheel drives battery-driven car does not have differential system mostly, and slippage easily takes place, and increases the fatigue of wheel shaft, influences the vehicle operation life-span.
Technical scheme of the present invention is: the differential control system of two-wheeled driven electric vehicle, comprise a left side, right driver module and Coordination module, Coordination module receives external control signal, an output corresponding working signal control left side, the horsepower output of right driver module, a left side, right driver module drives the motor of two drive wheels respectively, and the dtc signal of two drive wheels constantly is transferred to Coordination module, the principle that Coordination module equates according to two driving wheel torques judges whether to adjust the working signal of two driver modules, two driving wheel torques equate to press external control signal output relevant work signal, do not wait then externally and under the control signal working signal are adjusted; Target output left and right driving module horsepower output and that equal external control signal all the time.
Coordination module and left and right driving module are micro controller system, owing to always wish that in control system controlled parameter stability is in the scope of technological requirement, and controlled in practice parameter always has certain difference with setting value, need constantly to adjust, short for the time length that makes adjustment, overshoot is little, number of oscillations is few, adopt proportional-integral-differential control (PID) to regulate strategy, the PID controller is set, adjust the working signal of left and right driving module by the PID controller in Coordination module.Left and right driving device module is provided with electric current, voltage sensor, detects electric current, the voltage of drive wheel motor, and the electric current by motor obtains motor torque signal.Driver module is adjusted pwm signal output by impulse modulation pwm signal drive motor according to the state of working signal and drive wheel motor.
The present invention has adopted the electronic differential driving method, drive wheel is equipped with independently driver module, Coordination module equates to be target with the driving torque of two drive wheels, adjust the horsepower output of two driver modules, by the controlling and driving torque two-wheel traction is equated, thereby make the possibility of vehicle generation slippage reduce to minimum.
The present invention is particularly useful for adopting wheel hub motor to make the vehicle that two-wheel drives.
System architecture of the present invention is simple, be easy to realize, prevent that slippage from appearring in vehicle, reduce Tyte Wear, guarantee the stability of vehicle ', with micro controller system process information precision height, speed is fast, can adjust driving wheel torque in real time, no longer needs transmission device and differential gear, save the space, improved the efficient of driving system.
Description of drawings
Fig. 1 is a systematic schematic diagram of the present invention.
Fig. 2 is system works flow process figure of the present invention.
Fig. 3 is the schematic diagram of PID control among the present invention.
Fig. 4 implements block diagram for a physical circuit of system of the present invention.
Fig. 5 is the matched curve figure of two driving wheel torque differences of system embodiment of the present invention.
The specific embodiment
As Fig. 1 is principle of the invention figure, comprise left and right driving module and Coordination module, Coordination module receives external control signal, the left and right driving module drives the motor of two drive wheels respectively, and give Coordination module with the continuous feedback transmission of the dtc signal of two drive wheels, Coordination module is according to the horsepower output of the dtc signal output corresponding working signal control left and right driving module of external control signal and drive wheel.
Fig. 2 is the workflow diagram of system of the present invention, Coordination module and the initialization of left and right driving module elder generation, and Coordination module receives external control signal, as throttle, brake signal etc., give left and right driving module output corresponding working signal, as voltage signal, the horsepower output of indication driver module; A left side, right driver module receives the working signal of Coordination module, pass through electric current simultaneously, the electric current of voltage sensor senses drive wheel motor, voltage, driver module is judged whether overcurrent or under-voltage of motor according to the current/voltage of working signal and motor, export suitable substance P WM signal drive motor then, because driving wheel torque T is directly proportional with phase current I by motor, T=kI, wherein k is a proportionality coefficient, the magnetic-field intensity of it and motor, factors such as hub radius are relevant, the peak current that passes through on the current sensor is exactly the phase current of motor internal, obtain the driving wheel torque signal thus, a left side, right driver module sends to Coordination module with the dtc signal of two drive wheels, Coordination module judges whether the torque of two drive wheels equates, equate to continue to press external control signal output relevant work signal, when dtc signal unequal, the driver module horsepower output of big torque must be reduced, the increasing of little torque, make it equal, guarantee that simultaneously the horsepower output sum is the target output of external control signal, increase and decrease amount size is calculated by the PID accommodometer, Coordination module provides adjusted working signal, driver module is adjusted horsepower output according to new working signal again, and to Coordination module feedback driving wheel torque signal; Target output left and right driving module horsepower output and that equal external control signal all the time, total system constantly equate to be that target is adjusted with the driving torque of two drive wheels.
Always wish that in control system controlled parameter stability is in the scope of technological requirement, and controlled in practice parameter always has certain difference with setting value, need constantly to adjust, short for the time length that makes adjustment, overshoot is little, number of oscillations is few, adopts proportional-integral-differential control (PID) to regulate strategy.As Fig. 3, external control signal is transferred to Coordination module with expected value, and Coordination module is sent working signal to driver module, and driver module drive motor, the parameter of electric machine feed back to Coordination module again, helps the adjusting work signal.The adjustment target of native system is that the torque of two drive wheels equates, and the horsepower output sum is the target output of external control signal, driver module horsepower output=motor torque * motor speed, the PID controller is regulated working signal according to following formula:
U(n)＝U(n-1)+Kp(En-E(n-1)+KiEn+Kd(En-2E(n-1)+E(n-2)))
Wherein, Un needs output valve for this, and U (n-1) is output valve last time; En is this sensor input value, and E (n-1), E (n-2) are the input value of last time and last time; Kp is a proportionality coefficient, and Ki is an integral coefficient, and Kd is a differential coefficient.The parameter that PID regulates is selected and need be regulated the effect that could obtain the best according to different vehicle actual field, and the quality of they and car load, horsepower output, the speed of a motor vehicle etc. all have relation.Specifically can set a proportionality coefficient earlier, differential, integral coefficient all are zero, in the actual steering process, measure the torque differences conversion, the target of adjusting is that the two-wheel torque differences is zero, strengthen proportionality coefficient if the adjustment process time is oversize, if amplitude too greatly then reduce proportionality coefficient near object point, until choosing a suitable value; Set integral coefficient then,, then strengthen integral coefficient,, then reduce integral coefficient if recover slow after departing from zero point if the cycle that fluctuation occurs is long; Find suitable differential coefficient at last, if this moment, the frequency of concussion was too fast, then reduce differential coefficient, if deviation value is big and fluctuation is slow, then should increase differential coefficient, for system of the present invention, the size of differential coefficient is little to systematic influence, also can get zero, promptly constitute a PI closed-loop regulating system.
Fig. 4 is that a physical circuit of system of the present invention is implemented block diagram, and Coordination module and left and right driving module are single-chip microprocessor MCU, and Coordination module receives outside speed control crank signal and brake signal, and communication links to each other with the left and right driving module; The left and right driving module drives the motor of two drive wheels respectively, and detects the current and voltage signals of motor, is used to obtain dtc signal, is transferred to Coordination module; Total system is carried out differential control to driving wheel of vehicle.The concrete parameter of some of present embodiment is:
| Rated |
36V |
| Rating horsepower | 350W×2 |
| No load speed | 350RPM |
| Wheel footpath size | 18inch |
| Maximum torque | 45N.m |
| Maximum speed | 30km/h |
| Hard-over | 45° |
| Complete vehicle quality | 150kg |
| Wheel base | 1.6m |
| The left and right wheels distance | 0.6m |
| PID regulates parameter | Kp＝0.7，Ki＝0.1，Kd＝0 |
Wherein, MCU is the CY8C24423 of Cypress company.
Be equipped with the controller of this differential system, when system under maximum speed, when carrying out turning driving with hard-over, do not find that tire has any sliding phenomenon.The matched curve figure of the two-wheeled torque differences of actual measurement as shown in Figure 5, as can be seen from the figure, in the moment that turns to suddenly, it is maximum that the two-wheel torque differences reaches, but owing to the time is very short, can not cause the slippage of vehicle, in a single day Coordination module has detected torque differences, promptly begins to bring into play the quick adjustment effect by the PID controller, rapidly torque differences is controlled in the very little amplitude in 0.2 second time, keep the stability of vehicle body, reached operating needs well.
Claims (5)
1. the differential control system of two-wheeled driven electric vehicle, it is characterized in that comprising a Coordination module and a left side, right driver module, Coordination module receives external control signal, an output corresponding working signal control left side, the horsepower output of right driver module, a left side, right driver module drives the motor of two drive wheels respectively, and the dtc signal of two drive wheels constantly is transferred to Coordination module, the principle that Coordination module equates according to two driving wheel torques judges whether to adjust the working signal of two driver modules, two driving wheel torques equate to press external control signal output relevant work signal, do not wait then externally and under the control signal working signal are adjusted; Target output left and right driving module horsepower output and that equal external control signal all the time; Coordination module and left and right driving module are micro controller system, Coordination module is provided with the PID controller, by the working signal of PID controller adjustment left and right driving module, driver module horsepower output=motor torque * motor speed, the PID controller is regulated working signal according to following formula:
U(n)＝U(n-1)+Kp(En-E(n-1)+KiEn+Kd(En-2E(n-1)+E(n-2)))
Wherein, Un needs output valve for this, and U (n-1) is output valve last time; En is this sensor input value, and E (n-1), E (n-2) are the input value of last time and last time; Kp is a proportionality coefficient, and Ki is an integral coefficient, and Kd is a differential coefficient.
2. the differential control system of two-wheeled driven electric vehicle according to claim 1 is characterized in that left and right driving device module is provided with electric current, voltage sensor, detects electric current, the voltage of drive wheel motor, and the electric current by motor obtains motor torque signal.
3. the differential control system of two-wheeled driven electric vehicle according to claim 1 and 2 is characterized in that driver module passes through impulse modulation pwm signal drive motor, adjusts pwm signal output according to the state of working signal and drive wheel motor.
4. the differential control system of two-wheeled driven electric vehicle according to claim 1 and 2 is characterized in that being applied to adopt wheel hub motor to make the vehicle that two-wheel drives.
5. the differential control system of two-wheeled driven electric vehicle according to claim 3 is characterized in that being applied to adopt wheel hub motor to make the vehicle that two-wheel drives.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100205449A CN101229781B (en) | 2008-02-04 | 2008-02-04 | Differential control system for two-wheeled driven electric vehicle |
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| CN2008100205449A CN101229781B (en) | 2008-02-04 | 2008-02-04 | Differential control system for two-wheeled driven electric vehicle |
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| CN101229781B true CN101229781B (en) | 2010-09-01 |
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| CN2008100205449A Expired - Fee Related CN101229781B (en) | 2008-02-04 | 2008-02-04 | Differential control system for two-wheeled driven electric vehicle |
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Families Citing this family (15)
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| CN101746415B (en) * | 2008-12-18 | 2011-06-01 | 匡斌 | Electronic differential control system of electric vehicle |
| CN101954859B (en) * | 2010-03-26 | 2013-02-20 | 枣庄学院 | Electronic differential system based on relative slip ratio control |
| CN102390224A (en) * | 2011-10-11 | 2012-03-28 | 魏海兵 | Differential mechanism of hub motor driven vehicle |
| CN102602303B (en) * | 2012-03-27 | 2014-03-12 | 潍柴动力股份有限公司 | Track control method and device of dual-motor vehicle |
| CN102602304A (en) * | 2012-04-06 | 2012-07-25 | 南京南汽专用车有限公司 | Hub motor hybrid driving control system and hub motor hybrid driving control method |
| CN104748971A (en) * | 2013-12-27 | 2015-07-01 | 陕西汉德车桥有限公司 | Automobile drive axle differential assembly durability test bench and test method |
| CN105563449B (en) * | 2014-10-13 | 2017-10-24 | 航天科工智能机器人有限责任公司 | A kind of mobile robot road follower method |
| CN106394244A (en) * | 2015-07-29 | 2017-02-15 | 无锡美驱科技有限公司 | Wireless control system of electric vehicle drive device |
| CN106598041A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Double-wheel differential chassis control device with wheel diameter correction function, and control method thereof |
| CN105946625B (en) * | 2016-04-28 | 2018-06-08 | 范永建 | A kind of mechanical cooperative control system of two-motors excitation low speed walking mechanism |
| CN107264276B (en) * | 2017-06-20 | 2020-08-21 | 北京智尊保汽车科技有限公司 | Two-wheel differential control stepless balance calibration method |
| CN108776740B (en) * | 2018-06-11 | 2020-06-16 | 浙江国自机器人技术有限公司 | Speed change curvature synchronization method and system for double-drive vehicle and related components |
| CN109632024B (en) * | 2018-12-17 | 2020-10-16 | 杭州晶锐仪器仪表有限公司 | Ultrasonic control method combining amplitude and pulse width modulation |
| CN110285803A (en) * | 2019-06-26 | 2019-09-27 | 北京海益同展信息科技有限公司 | Chassis localization method, device, equipment and computer readable storage medium |
| CN110901416B (en) * | 2019-12-25 | 2021-06-04 | 傲基科技股份有限公司 | Compensation system and compensation method based on double-motor rotating speed difference |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5253728A (en) * | 1991-08-26 | 1993-10-19 | Fuji Jukogyo Kabushiki Kaisha | Steering control method for a motor vehicle with a differential |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5253728A (en) * | 1991-08-26 | 1993-10-19 | Fuji Jukogyo Kabushiki Kaisha | Steering control method for a motor vehicle with a differential |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2000-134723A 2000.05.12 |
| JP特开2007-331559A 2007.12.27 |
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Assignee: Nanjing Lishui Electronics Research Institue Co., Ltd. Assignor: Xu Xiaokang Contract record no.: 2012320000610 Denomination of invention: Differential control system for two-wheeled driven electric vehicle Granted publication date: 20100901 License type: Exclusive License Open date: 20080730 Record date: 20120518 |
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Application publication date: 20080730 Assignee: Nanjing Lishui Electronics Research Institue Co., Ltd. Assignor: Xu Xiaokang Contract record no.: 2012320000610 Denomination of invention: Differential control system for two-wheeled driven electric vehicle Granted publication date: 20100901 License type: Exclusive License Record date: 20120518 |
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