CN101659255A - Drive anti-slip control system of hybrid electric vehicle and drive anti-slip control method - Google Patents
Drive anti-slip control system of hybrid electric vehicle and drive anti-slip control method Download PDFInfo
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- CN101659255A CN101659255A CN200910092871A CN200910092871A CN101659255A CN 101659255 A CN101659255 A CN 101659255A CN 200910092871 A CN200910092871 A CN 200910092871A CN 200910092871 A CN200910092871 A CN 200910092871A CN 101659255 A CN101659255 A CN 101659255A
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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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Abstract
A drive anti-slip control system used for a hybrid electric vehicle comprises a wheel speed sensor (31), a brake controller (32), an electronic throttle (33), a motor controller (34) and a finished vehicle controller (35), wherein the wheel speed sensor (31) transmits a wheel speed signal to the brake controller (32); the finished vehicle controller (35) transmits a throttle opening reference value signal and a motor torque reference value signal to the brake controller (32); the brake controller (32) transmits a throttle opening command value signal to the electronic throttle (33) to controlthe opening of the electronic throttle (33); and the brake controller (32) transmits a motor torque command value to the motor controller (34) to control the motor torque. According to the slip ratioof a driving wheel, PID control is implemented to a motor target torque, and logic threshold control is implemented to the opening of an engine throttle according to the output torque of a motor and the slip ratio of the driving wheel to cause the slip ratio of the driving wheel to be changed around the optimal value.
Description
Technical field
The present invention relates to a kind ofly be used for the anti-slip regulation of hybrid vehicle and drive anti-skidding control method.
Background technology
Business-like anti-slip regulation TCS (Traction Control System) is produced by the trial-production of Sweden Volvo car company the earliest, and development after this is swift and violent, and technology is very ripe now, becomes the standard configuration of medium-to-high grade manned vehicle.From the angle of vehicle driving safety, it is very important suppressing acutely trackslipping of drive wheel.Fig. 1 shows the typical attachment characteristic of tire.Can see that along with the increase of slippage rate, vertically adhesion value increases earlier and reduces, the side direction adhesion value then reduces always, and along with the increase of sideslip angle, vertically adhesion value reduces gradually.Therefore, when drive wheel takes place seriously to trackslip, the side direction cohesive resistance of tire will reduce greatly, thereby the sideslip angle of tire becomes greatly until reaching limit of adhesion appearance sideslip under same side force, the increase of sideslip angle can reduce vertical cohesive resistance of tire again, and promptly drive wheel trackslips and not only can significantly reduce the side direction cohesive resistance of tire but also can cause adverse effect to vertical cohesive resistance.Above-mentioned conclusion is reflected on the car load: the phenomenon of breakking away appears in axle drive shaft easily when drive wheel trackslips, and the directional balance of vehicle ' reduces, and acceleration capacity descends to some extent.
The anti-slip regulation that is used for traditional vehicle is general to adopt following several means to suppress trackslipping of drive wheel:
1, throttle opening, the adjusting point of ignition of regulating driving engine waits the driving torque of regulating driving engine;
2, the wheel that trackslips is implemented initiatively braking;
3, adopt some special physical constructions, such as anti-skid final drive, diff lock etc.
Under the dual-pressure of the energy and environment, economy better and more the hybrid vehicle of environmental protection realize commercialization fast, year sales volume considerable (a whole world year sales volume was about 500,000 in 2008).Hybrid vehicle generally all comprises motor and storage battery, and motor not only can provide driving torque but also braking torque can be provided.In general the driving engine torque that can provide under the slow speed of revolution condition is less, but motor just can provide bigger driving torque in low engine speed range, thus when low speed hybrid vehicle than the easier drive wheel phenomenon of trackslipping that occurs of conventional truck.The TCS that is used for hybrid vehicle can still also be very different with reference to the TCS system of traditional vehicle, is mainly reflected in driving on the control of braking motor.
Proposed among the U.S. Pat 005450324A a kind ofly not only to comprise the braking anti-lock function but also comprise system and the control method that drives antiskid function.Described system comprises motor, motor speed sensor, battery, pressure sensor, acceleration pedal jaw opening sensor, wheel speed sensors and master cylinder pressure sensor.Realize that by brake-pressure and the motor braking torque of regulating in the brake wheel cylinder braking anti-lock is anti-skidding with driving, but do not relate to the control of driving engine.
A kind of driving skid control system that is used for hybrid vehicle has been proposed among the U.S. Pat 006263267B1, described system comprises driving engine, electric-motor drive unit, change-speed box and controller, when detecting wheel slip, suppress to trackslip, but do not regulate motor torque by the output torque that reduces motor.
The driving skid control system and the method major part of prior art all are used for traditional vehicle, implement to drive on hybrid vehicle when anti-skidding, if can add control to motor, then can improve driving skidproof effect largely.
Summary of the invention
The objective of the invention is to overcome the shortcoming that prior art is not suitable for hybrid vehicle, a kind of anti-slip regulation that is used for hybrid vehicle is provided, and drive anti-skidding control method.
The technical solution used in the present invention is as follows:
Described anti-slip regulation comprises electric machine controller, electronic throttle, wheel speed sensors, entire car controller and brake controller.Wheel speed sensors is connected to brake controller, and sends wheel speed signal to it; Entire car controller is connected to brake controller, and sends the throttle opening reference value signal to it; Brake controller is connected with electronic throttle, and sends throttle opening bid value signal to it, controls its aperture; Brake controller is connected with electric machine controller, and sends the motor torque bid value to it, the size of control motor torque.
Adopt the anti-skidding control method of driving of described anti-slip regulation of the present invention to be: described brake controller receives throttle opening reference value signal and motor torque reference value signal from described entire car controller, and the rotating speed of each wheel that records according to described wheel speed sensors determines the bid value of throttle opening and the bid value of motor torque, and the bid value of throttle opening and the bid value of motor torque are sent to described electronic throttle and electric machine controller respectively.
The function of described brake controller is:
(1) judges according to the wheel speed of four wheels whether drive wheel the phenomenon of trackslipping occurs;
(2) when detecting when trackslipping, the driving torque of regulating driving engine by the aperture of control electronic throttle, and the co-operative control motor drive braking torque so that the slippage rate of drive wheel is stabilized near the optimal value.
Description of drawings
The cohesive resistance typical curve of Fig. 1 tire;
Fig. 2 uses the typical structure of hybrid vehicle of the present invention, among the figure: 21 driving engines, 22 motors, 23 power-transfer clutchs, 24 assembly of drive gear;
The typical structure of Fig. 3 anti-slip regulation of the present invention is among the figure: 31 wheel speed sensors, 32 brake controllers, 33 electronic throttles, 34 electric machine controllers, 35 entire car controllers;
The block diagram of the anti-skidding control method of Fig. 4 driving of the present invention;
The real train test result of Fig. 5 anti-slip regulation of the present invention and method.
The specific embodiment
The present invention will be further described below in conjunction with the drawings and specific embodiments.
Be suitable for hybrid vehicle of the present invention and comprise driving engine and motor.Described motor can provide driving torque can provide braking torque again, and be forerunner or rear-guard type, typical structure is as shown in Figure 2: being connected with motor 22 of wherein said driving engine 21, motor 22 is connected with power-transfer clutch 23, and power-transfer clutch 23 is connected with assembly of drive gear 24.Be that driving engine 21 and motor 22 total output torques are sent to wheel by power-transfer clutch 23 and assembly of drive gear 24.
As shown in Figure 3, anti-slip regulation of the present invention comprises: wheel speed sensors 31, brake controller 32, electronic throttle 33, electric machine controller 34 and entire car controller 35.Wheel speed sensors 31 is connected to brake controller 32, and sends wheel speed signal to brake controller 32; Entire car controller 35 is connected to brake controller 32, and sends throttle opening reference value Throt_tgt signal to brake controller 32; Brake controller 32 is connected with electronic throttle 33, and sends throttle opening bid value Throt_cmd signal, the aperture of control electronic throttle 33 to electronic throttle 33; Brake controller 32 is connected with electric machine controller 34, and sends motor torque bid value Tm_cmd to electric machine controller 34, the size of control motor torque.
Fig. 4 is used for the block diagram of the anti-skidding control method of driving of hybrid vehicle for the present invention.
The purpose that the present invention drives anti-skidding control method is when drive wheel trackslips slippage rate to be controlled near the optimum slippage rate.Described brake controller judges according to the wheel speed of four wheels whether drive wheel the phenomenon of trackslipping occurs, when detecting drive wheel and trackslip, slippage rate according to drive wheel, the aperture and the motor of the electronic throttle 33 of co-operative control driving engine drive the braking torque size, so that the slippage rate of drive wheel changes near optimal value.
The concrete controlled step that the present invention drives anti-skidding control method as shown in Figure 4.
At first, calculate the slippage rate S of precursor vehicle according to the wheel speed signal of wheel speed sensors 31 transmissions:
s＝(ω
f-ω
r)/ω
f
And the slippage rate S of rear-guard vehicle:
s＝(ω
r-ω
f)/ω
r
In the above-mentioned formula: S is a slippage rate, ω
fBe the front-wheel wheel speed, ω
rIt is rear wheel rotation speed.
The decision condition that trackslips is:
1, s＞A1; A1 is a threshold value, and span is [0.08,0.2];
2,
A2 is a threshold value, and span is [0.05,0.15], and B2 is a threshold value, and span is [15rad/s2,80rad/s2], and ω is the rotating speed of drive wheel.
As long as satisfy any one in above-mentioned trackslip decision condition 1 and 2, judge that promptly the phenomenon of trackslipping has appearred in drive wheel.
When judging that trackslipping appears in drive wheel, according to the slippage rate of drive wheel, calculate the motor torque bid value, utilize the PID controller to determine that motor drives braking torque command value Tm_cmd:
Tm_cmd＝PID(s
d-s)
Wherein s is a slippage rate, s
dBe the target slippage rate, scope is [0.08,0.25].Preferred pid parameter is:
P＝450，I＝5，D＝40
Electric machine controller 32 is sent to electric machine controller 34 with described motor torque bid value.
When judging that trackslipping appears in drive wheel, order the aperture of electronic throttles 33 to descend rapidly by brake controller 32, preferred range is [30%, 60%].After this enter the electronic throttle 33 apertures increase and decrease state of logic threshold control.Jumping to the condition that electronic throttle 33 apertures reduce state from electronic throttle 33 aperture increase states is: the motor torque bid value is a braking torque, and Tm_cmd＞C1, s＞D1, wherein C1 is a threshold value, relevant with the drive performance of motor, D1 also is a threshold value, and preferred range is [0.15,0.3]; Reducing the condition that state jumps to the throttle gate enlarging state from described throttle opening is: drive torque bid value Tm_cmd＞C2 and s＜D2, and wherein C2 is a threshold value, and is also relevant with motor characteristic, and D2 also is a threshold value, and preferred range is [0.1,0.2].In throttle opening increase state, throttle opening is monotone increasing in time, advances the speed to be preferably [5% per second, 10% per second]; Reduce in the state at throttle opening, throttle opening is monotone decreasing in time, reduces speed and is preferably [5% per second, 15% per second].
Fig. 5 shows the battery of tests result of described control method.Wheel speed sensors 31 is sent to brake controller 32 with wheel speed signal, the anti-skidding control method of described driving is calculated the slippage rate of drive wheel according to four wheel speeds, locate to judge that at 623.5 seconds trackslipping has appearred in drive wheel, therefore the anti-skidding control method of described driving drops to 35% by the aperture of brake controller 32 order electronic throttles 33, calculate the motor torque bid value simultaneously, brake controller 32 is sent to electric machine controller with described motor torque bid value.As can be seen, described anti-slip regulation and control method can judge correctly whether drive wheel trackslips from real train test result shown in Figure 5, can slippage rate be limited near the optimum slippage rate on fast and stable ground when drive wheel occurring and trackslip phenomenon.
Claims (6)
1. anti-slip regulation that is used for hybrid vehicle, it is characterized in that described anti-slip regulation comprises wheel speed sensors (31), brake controller (32), electronic throttle (33), electric machine controller (34) and entire car controller (35); Wheel speed sensors (31) is connected to brake controller (32), sends wheel speed signal to brake controller (32); Entire car controller (35) is connected to brake controller (32), sends throttle opening reference value signal and motor torque reference value signal to brake controller (32); Brake controller (32) is connected with electronic throttle (33), sends throttle opening bid value signal, the aperture of control electronic throttle (33) to electronic throttle (33); Brake controller (32) is connected with electric machine controller (34), sends the motor torque bid value to electric machine controller (34), the size of control motor torque.
2. anti-skidding control method of driving that adopts the described anti-slip regulation of claim 1, it is characterized in that, described brake controller (32) receives throttle opening reference value signal and motor torque reference value signal from described entire car controller (35), and the rotating speed of each wheel that records according to described wheel speed sensors (31) judges whether drive wheel the phenomenon of trackslipping occurs, when detecting drive wheel and trackslip, slippage rate according to drive wheel, determine the bid value of throttle opening and the bid value of motor torque, and the bid value of throttle opening and the bid value of motor torque be sent to described electronic throttle (33) and electric machine controller (34) respectively, the aperture and the motor of the electronic throttle of co-operative control driving engine (33) drive the braking torque size, so that the slippage rate of drive wheel changes near optimal value.
3. the anti-skidding control method of driving according to claim 2 is characterized in that the anti-skidding control method of described driving comprises following steps:
The first step: the slippage rate that calculates drive wheel;
Second step: judge whether drive wheel trackslips;
The 3rd step:, determine the bid value Tm_cmd of motor torque and the bid value of engine air throttle aperture if drive wheel trackslips.
4. the anti-skidding control method of driving according to claim 3 is characterized in that in described second step decision condition that drive wheel trackslips following for satisfying (1) or (2):
(1) s＞A1; A1 is a threshold value;
(2)
A2 is a threshold value, and B2 is a threshold value, and S is a slippage rate, and ω is the rotating speed of drive wheel.
5. the anti-skidding control method of driving according to claim 3 is characterized in that the definite method of motor torque bid value Tm_cmd in described the 3rd step is:
Tm_cmd＝PID(s
d-s)，
In the formula: s is a slippage rate, s
dIt is the target slippage rate.
6. the anti-skidding control method of driving according to claim 3, the definite method that it is characterized in that engine air throttle aperture bid value in described the 3rd step is: at first throttle opening is dropped rapidly to a certain value, after this enters the throttle opening increase and decrease state of logic threshold control; Jumping to the condition that throttle opening reduces state from throttle opening increase state is: lock torque bid value Tm_cmd＞C1 and s＞D1, and wherein C1, D1 are threshold value; Reducing the condition that state jumps to the throttle gate enlarging state from described throttle opening is: drive torque bid value Tm_cmd＞C2 and s＜D2, wherein C2, D2 are threshold value.
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| CN200910092871A CN101659255B (en) | 2009-09-09 | 2009-09-09 | Drive anti-slip control system of hybrid electric vehicle and drive anti-slip control method |
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| CN200910092871A CN101659255B (en) | 2009-09-09 | 2009-09-09 | Drive anti-slip control system of hybrid electric vehicle and drive anti-slip control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661000A (en) * | 2013-08-30 | 2014-03-26 | 航天重型工程装备有限公司 | Anti-sliding method of multi-shaft electric drive vehicle |
| CN104712449A (en) * | 2015-02-06 | 2015-06-17 | 西华大学 | Four-wheel antiskid system for undergraduate formula racing car |
| CN104828068A (en) * | 2014-12-19 | 2015-08-12 | 北汽福田汽车股份有限公司 | Four-wheel drive hybrid electric vehicle, drive anti-slip control method and device |
| CN104198200B (en) * | 2014-08-08 | 2016-11-23 | 江苏大学 | The method of testing of tractor slippage rate |
| CN106627580A (en) * | 2015-11-02 | 2017-05-10 | 比亚迪股份有限公司 | Four-wheel-drive hybrid automobile as well as control system and method thereof |
| CN107215244A (en) * | 2017-06-29 | 2017-09-29 | 合肥巨动力系统有限公司 | The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3772815B2 (en) * | 2002-09-20 | 2006-05-10 | トヨタ自動車株式会社 | Vehicle slip control apparatus and control method therefor |
| CN101088819B (en) * | 2006-06-14 | 2012-03-28 | 比亚迪股份有限公司 | Antiskid control system and method for mixed power automobile |
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2009
- 2009-09-09 CN CN200910092871A patent/CN101659255B/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661000A (en) * | 2013-08-30 | 2014-03-26 | 航天重型工程装备有限公司 | Anti-sliding method of multi-shaft electric drive vehicle |
| CN103661000B (en) * | 2013-08-30 | 2016-01-13 | 航天重型工程装备有限公司 | A kind of anti-skidding method of multiaxis electric drive car |
| CN104198200B (en) * | 2014-08-08 | 2016-11-23 | 江苏大学 | The method of testing of tractor slippage rate |
| CN104828068A (en) * | 2014-12-19 | 2015-08-12 | 北汽福田汽车股份有限公司 | Four-wheel drive hybrid electric vehicle, drive anti-slip control method and device |
| CN104712449A (en) * | 2015-02-06 | 2015-06-17 | 西华大学 | Four-wheel antiskid system for undergraduate formula racing car |
| CN106627580A (en) * | 2015-11-02 | 2017-05-10 | 比亚迪股份有限公司 | Four-wheel-drive hybrid automobile as well as control system and method thereof |
| CN107215244A (en) * | 2017-06-29 | 2017-09-29 | 合肥巨动力系统有限公司 | The electric drive system for electric vehicles torque control system and method on a kind of low attached road surface |
| 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 |
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