CN101758854B - Electronic differential speed control system for electric wheel drive vehicles - Google Patents
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Abstract
本发明涉及电动轮驱动汽车的电子差速控制系统，它包括控制器、各轮毂电机的电机控制器、用于测量方向盘转角的转角传感器、能输出开度值的电子加速踏板、用于测量轮毂电机实际转速的转速传感器；电子加速踏板、转速传感器、转角传感器的信号输出端分别和控制器的信号输入端连接，控制器与各轮毂电机控制器通讯连接；所述控制器包括第一级跟随控制模块和第二级跟随控制模块。本发明可对各驱动电机进行合理的电子差速控制。
The invention relates to an electronic differential speed control system of an electric wheel drive vehicle, which includes a controller, a motor controller of each wheel hub motor, a rotation angle sensor for measuring the steering wheel angle, an electronic accelerator pedal capable of outputting an opening value, and a sensor for measuring the wheel hub The speed sensor of the actual speed of the motor; the signal output terminals of the electronic accelerator pedal, the speed sensor, and the rotation angle sensor are respectively connected to the signal input terminals of the controller, and the controller is connected to the controllers of the hub motors through communication; the controller includes a first-stage follower The control module and the second stage follow the control module. The invention can carry out reasonable electronic differential speed control on each drive motor.
Description
Technical field
The present invention relates to electronlmobil, be specifically related to the steering control system of the steering control system of electronlmobil, particularly electric wheel drive vehicle.
Background technology
Electronlmobil has energy-conservation and advantage environmental protection, is a kind of trend of current automotive technology development.Electric wheel drive vehicle is a kind of later-model electronlmobil.Drive motor directly or through speed reduction gearing is installed on the wheel, constitutes electric drive wheel.The layout of electric drive wheel is very flexible, can be used as two front-wheels of electronlmobil, two trailing wheels or four wheels, and the corresponding electronlmobil that makes becomes f-w-d, back-wheel drive or four-wheel drive car.
Compare with single motor driven electric car with internal-combustion engines vehicle, electric wheel drive vehicle has unique technique characteristics and advantage at aspects such as propulsion source configuration, chassis structures.But in the electric vehicle because motor direct drive wheel; So can realize each electric drive wheel from zero to the stepless change of maximum speed and the differential requirement each electric drive wheel; Thereby omitted the required mechanical type of internal-combustion engines vehicle and handled gearshift, power-transfer clutch, change-speed box, transmission shaft and mechanical differential gear box etc., made drive system and complete vehicle structure simplify, effective space capable of using increases; Messenger chain shortens, and driving efficiency improves.
When motor turning went, the turn radius of the ratio of cornering radius inboard wheel of outboard wheels was big, must utilize the rotating speed of differential gear adjustment medial and lateral drive wheel, made outer side drive wheel rotating speed greater than interior side drive wheel rotating speed.Otherwise, cause the wear on tyres aggravation, turn to difficulty, road adhesion value variation etc. thereby drive wheel can produce slippage.For internal-combustion engines vehicle and single motor driven electric car, need in drive axle, to adopt mechanical differential gear box, the differential requirement of medial and lateral drive wheel when going to realize turning to.Electronlmobil for the electric drive wheel driving; Because the motor speed of each electric drive wheel independent regulation control effectively; So can medial and lateral electric drive wheel rotating speed be satisfied turn to the differential requirement when going through electronic differential control system, thereby can save baroque mechanical differential gear box.The advantage of electronic differential is to simplify chassis structure, improves the electronlmobil performance, but under different driving conditions to a plurality of motors carry out rationally, effectively, accurately, failure-free control is the key issue that needs solution.
Summary of the invention
Technical matters to be solved by this invention is: a kind of electronic differential control system of electric wheel drive vehicle is provided, and this system can carry out rational electronic differential control to each drive motor.
The present invention for the above-mentioned solution that is adopted that asks a question of solution is:
The electronic differential control system of electric wheel drive vehicle, it comprise controller, each wheel hub motor electric machine controller, be used for direction of measurement dish corner rotary angle transmitter, can export opening value electronic accelerator pedal, be used to measure the tachogen of wheel hub motor actual speed; The signal output part of electronic accelerator pedal, tachogen, rotary angle transmitter is connected with the signal input part of controller respectively, and controller is connected with each hub motor control device communication;
Said controller comprises that the first order is followed control module and control module is followed in the second stage;
The first order is followed control module and is used for instructing to sending with reference to the wheel hub motor rotating speed of target with reference to the wheel hub electric machine controller according to the opening value of electronic accelerator pedal output; Said is in the wheel hub motor with reference to wheel hub motor;
The second stage follow control module be used for through following formula obtain to other hub motor control device send the wheel hub motor rotating speed of target of controlling instruction:
The absolute value of steering wheel angle is during smaller or equal to σ, n
i *=g
iN
1,
Or
The absolute value of steering wheel angle is during greater than σ,
Wherein: n
1Be the actual speed with reference to wheel hub motor, n
i *Be the rotating speed of target of a wheel hub motor in other wheel hub motor, with reference to wheel hub motor not during outputting power, 1＜g
i≤1.25; During with reference to the wheel hub motor outputting power, g
i=1,
I wheel speed and reference wheel rotation speed n when satisfying the differential requirement
1Ratio with steering wheel angle
The function that changes, σ rotates the dead band angle for the bearing circle of setting.
In the such scheme, said tachogen is arranged in the hub motor control device.
In the such scheme, said hub motor control device by the rotating speed of target that sends according to controller and institute control wheel hub motor actual speed to the control wheel hub motor carry out the hub motor control device that speed closed loop is controlled.
In the such scheme, controller is connected with each hub motor control device communication respectively through the CAN bus.
In the such scheme, the hub motor control device adopts the increment type PID control method that the wheel hub motor rotating speed is carried out closed loop control.
In the such scheme, electronic differential control system also comprises the electronic brake pedal that can export opening value, and the signal output part of electronic brake pedal is connected with the signal input part of controller.
The invention has the advantages that:
1, during vehicular drive, controller is according to each wheel hub motor of steering wheel angle instruction control of chaufeur, thereby makes each wheel hub motor obtain rational electronic differential control.
2, controller can be according to the opening value signal of electronic accelerator pedal output, and each wheel hub motor of the actual speed of each wheel hub motor control.
3, adopt Second-Stage Rotating Speed to follow control, promptly with reference to the wheel hub motor speed first order of the corresponding rotary speed instruction of electronic accelerator pedal opening value is followed control, other each wheel hub motor rotating speed is followed control to the second stage of reference wheel actual speed.This Second-Stage Rotating Speed is followed control and is helped guaranteeing following at rotating speed that each wheel speed satisfies the differential requirement in the control process.
4, if each wheel hub motor is all followed the rotary speed instruction of electronic accelerator pedal by the differential relation; Then can owing to each wheel hub motor rotating speed to rotary speed instruction follow asynchronous; Cause that each wheel hub motor rotating speed not necessarily satisfies the differential requirement in the speed adjustment process; Therefore, the present invention adopts other each wheel hub motor rotating speed to follow the reference wheel actual speed, is easy to realize the rapport of each wheel hub motor rotating speed like this.
5, when the wheel pure rolling, the wheel slip rate is zero, and this can cause the longitudinal force coefficient between wheel and road surface to reduce, thereby the propulsive effort of facing drive wheel reduces with making, causes the dynamic property variation of vehicle '.Therefore, the present invention suitably increases vehicle wheel rotational speed, i.e. 1＜g on wheel pure rolling rotating speed basis
i≤1.25, g
iBe gain factor, it is than the figure of merit that the wheel slip rate is increased by zero, so that the increase of the longitudinal force coefficient between wheel and road surface, thereby the propulsive effort of facing drive wheel increases with making, improves the dynamic property of vehicle '.
6, said hub motor control device by the rotating speed of target that sends according to controller and control wheel hub motor actual speed to the control wheel hub motor hub motor control device that carries out speed closed loop control, can reduce the difference between actual speed and the rotating speed of target.
7, utilize existing C AN bus to carry out communication, simple in structure.
The present invention is adapted at using on the electric wheel drive vehicles such as the driving of four electric drive wheels, two electronic f-w-ds, two powered rear wheels drivings.
The present invention make electric wheel drive vehicle under different driving conditions to a plurality of motor speeds carry out rationally, effectively, the failure-free co-operative control; Realization turns to the electronic differential of medial and lateral drive wheel when going, and avoids the circulating of power phenomenon during craspedodrome between forward and backward drive wheel.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1
Fig. 2 is the control flow chart of the embodiment of the invention
The specific embodiment
The embodiment of the invention 1 as shown in Figure 1; It is the electronic differential control system of four electric wheel drive vehicles, and it comprises: four hub motor control devices of controller (or claim electronic differential controller), four wheel hub motors, be used for direction of measurement dish corner rotary angle transmitter, be used to measure the wheel hub motor actual speed tachogen, can export the electronic accelerator pedal of opening value and can export the electronic brake pedal of opening value; The signal output part of rotary angle transmitter, electronic accelerator pedal, electronic brake pedal is connected with the signal input part of controller, and controller is connected with the communication of four hub motor control devices respectively through the CAN bus.Said tachogen is integrated in the hub motor control device.The information output of controller is connected with onboard instruments.
Principal and subordinate's control structure that present embodiment 1 adopts based on the CAN bus; Four hub motor control devices of lower floor are controlled four wheel hub motors respectively as slave controller, and the controller on upper strata is monitored and co-operative control the work of four hub motor control devices of lower floor as car load level master controller.Four hub motor control devices of lower floor link to each other with the CAN bus through CAN node separately; Upper strata electricity the differential controller link to each other main in this way electronic differential controller and carry out CAN communication transinformation from the wheel hub electric machine controller with the CAN bus through its in-to-in CAN communication module.The angular signal direction of passage dish rotary angle transmitter of bearing circle reaches the electronic differential controller; The aperture electric signal of electronic accelerator pedal and electronic brake pedal directly reaches the electronic differential controller, and the operating voltage of four wheel hub motors, electric current and tach signal are uploaded to the electronic differential controller by hub motor control device separately through the CAN node.The electronic differential controller instructs through reaching each hub motor control device under the CAN bus to the variable voltage control of each wheel hub motor.Onboard instruments links to each other with the electronic differential controller, is used to show four wheel hub motor rotating speeds, the voltage and current signal of electronic differential controller reception, and by the definite GES of wheel hub motor rotating speed.
In the present embodiment 1, it is the DSP of TMS320F2812 that the electronic differential controller adopts model.The program of moving on the main control chip adopts the C language based on the present invention and after compiling, downloads in the main control chip.Hub motor control device main control chip adopts the Infieon of Infineon micro controller system XC846; Driving circuit adopts the three-phase H type bridge inverter main circuit of 12 field effect transisters (MOSFET) formation, and is provided with the tachogen of the Hall element signal measurement wheel hub motor actual speed of utilizing wheel hub motor.CAN chip for driving model in the CAN bus is PCA82C250, and the CAN controller model that matches with the hub motor control device is P82C150.Steering wheel angle sensor adopts the contactless angular-motion transducer based on anisotropic-magnetoresistance effect, is installed on the Steering gear.Electronic accelerator pedal and electronic brake pedal adopt the potentiometer type electronic pedal of band micro-switch.The electronic pedal opening value is corresponding to the potentiometer resistance value.Micro-switch is used to send the affirmation pedal and steps on signal.
In addition, the wheel hub motor that cooperates with present embodiment adopts permanent-magnet brushless DC electric machine, rated voltage 48V, and rating horsepower 500W, four chaptrel hub motors are installed in respectively in four wheels.Wheel hub motor mouth and wheel directly are connected, and the wheel hub motor rotating speed equals vehicle wheel rotational speed.The driving condition combination of four chaptrel hub motors has three kinds: the equal outputting power of four chaptrel hub motors drives; Only the wheel hub motor outputting power of left and right front-wheel drives; Only the wheel hub motor outputting power of left and right trailing wheel drives.Onboard instruments adopts the virtual instrument that is shown by liquid crystal display, is used to show the speed of a motor vehicle, each wheel hub motor rotating speed, voltage and current.Hydraulic brake system adopts hydraulic brake that general car uses, braking pressure regulating valve, abs braking controller, relevant chiasma type double circuit hydraulic braking pipeline and hydraulic brake master.The electric wheel drive vehicle car body is miniature two-seater four-wheeled, and complete vehicle curb weight is about 335kg.
As shown in Figure 2, said controller comprises that the first order is followed control module and control module is followed in the second stage;
The first order is followed control module and is instructed to sending with reference to the wheel hub motor rotating speed of target with reference to the wheel hub electric machine controller according to the opening value of electronic accelerator pedal output; Said is in four wheel hub motors with reference to wheel hub motor;
With reference to wheel hub motor rotating speed of target n
1 *Be directly proportional with the opening value (from the changing value of initial condition to current state) of electronic accelerator pedal output.
The second stage follow control module through following formula obtain to other hub motor control device send the wheel hub motor rotating speed of target of controlling instruction:
The absolute value of steering wheel angle is during smaller or equal to σ, n
i *=g
iN
1,
Or
The absolute value of steering wheel angle is during greater than σ,
Wherein: n
1Be the actual speed with reference to wheel hub motor, n
i *(i=2,3,4) are the rotating speed of target of a wheel hub motor in other wheel hub motor, with reference to wheel hub motor not during outputting power, and 1＜g
i≤1.25; During with reference to the wheel hub motor outputting power, g
i=1,
I wheel speed and reference wheel rotation speed n when satisfying the differential requirement
1Ratio with steering wheel angle
The function that changes, σ rotates dead band angle (being set at 3 ° like σ) for the bearing circle of setting according to steering gar cleanrance.
Said hub motor control device by the rotating speed of target that sends according to the electronic differential controller and institute control wheel hub motor actual speed to the control wheel hub motor carry out the hub motor control device that speed closed loop is controlled.
The hub motor control device adopts the increment type PID control method that the wheel hub motor rotating speed is carried out closed loop control.
When having the vehicular drive of the embodiment of the invention 1; Wheel hub motor is with electric motor state work; The electronic differential controller is according to steering wheel angle instruction, the instruction of electronic accelerator pedal aperture and the instruction of electronic brake pedal aperture of chaufeur; And four wheel hub motor mode of operation feedback informations (operating voltage of wheel hub motor, electric current and rotating speed); Confirm four wheel hub motors rotating speed of target separately through the electronic differential control algorithm; Calculate the rotating speed of target of each wheel hub motor and the difference of corresponding actual speed, utilize pid control algorithm to confirm the PWM variable voltage control instruction of each hub motor control device, each hub motor control device is regulated corresponding wheel hub rotating speed of motor through PWM variable voltage control mode.During car brakeing, the wheel hub motor idle running is not worked or with the work of electrical generator state.If the idle running of glancing impact wheel hub motor is not worked, then electric drive wheel is flower wheel, need not carry out electronic differential control, only needs by the abs braking controller hydraulic brake to be carried out ABS hydraulic braking control.If the glancing impact wheel hub motor carries out regenerative brake with the work of electrical generator state; Then the electronic differential mode of the electronic differential mode during each wheel hub motor regenerative brake when driving is similar; To guarantee the motor coordination of each wheel of glancing impact; The intensity of ABS hydraulic braking can weaken simultaneously, gets final product the recovery section braking energy like this to prolong continual mileage, and the wearing and tearing that also can reduce drg are to increase the service life.
The differential operating needs of medial and lateral drive wheel when present embodiment 1 consideration Vehicular turn goes, the permissible variation when also the additional consideration vehicle is kept straight between each drive wheel rotating speed.Electronic differential control system control flow branch turns to two branches of going and keep straight on, and idiographic flow is following.Electronic differential control system starts self check before the vehicle launch; Whether inspection electronic differential controller, each hub motor control device, CAN bus, each wheel hub motor, each sensor and onboard instruments be in proper working order; If detect abnormal condition, then show failure message and warning.If detect normally, then whether electronic differential control system detected electrons brake pedal is stepped on, and promptly whether detected electrons brake pedal aperture is zero, if electronic brake pedal is stepped on, its aperture is non-vanishing, and then each wheel hub motor does not power on or carries out regenerative brake.If electronic brake pedal is not stepped on, its aperture is zero, and then whether the detected electrons acceleration pedal is stepped on, and promptly whether detected electrons acceleration pedal aperture is zero, if electronic accelerator pedal is not stepped on, its aperture is zero, and then each wheel hub motor does not power on.If electronic accelerator pedal is stepped on, its aperture is non-vanishing, then detects the steering wheel angle absolute value and whether rotates dead band angle σ greater than bearing circle, if the steering wheel angle absolute value smaller or equal to the corner dead zone range, thinks that then vehicle is in the craspedodrome state.If the steering wheel angle absolute value is greater than the corner dead zone range, think then that vehicle is in to turn to motoring condition.
Present embodiment 1 is a reference wheel with the near front wheel, turns to when going or keeping straight on, and the rotating speed of other three-wheel should be coordinated with the rotating speed of reference wheel the near front wheel mutually.The electronic accelerator pedal opening value is corresponding with the speed of a motor vehicle instruction of chaufeur; The speed of a motor vehicle instruction of chaufeur is corresponding with the rotary speed instruction of reference wheel the near front wheel; So the electronic accelerator pedal opening value is corresponding with the rotary speed instruction of reference wheel the near front wheel; Promptly zero opening value is corresponding with zero rotary speed instruction, and the maximum opening value is corresponding with the maximum speed instruction, and opening value is linear corresponding with rotary speed instruction.Hypothetical reference wheel the near front wheel is rotating speed of target n with the cooresponding rotary speed instruction value of electronic accelerator pedal opening value
1 *, and the radius of four wheels equates.When vehicle is in when turning to motoring condition, the rotating speed that other three wheel reference the near front wheels are confirmed with the differential relation is rotating speed of target n
2 *, n
3 *, n
4 *, promptly left front wheel hub motor rotating speed of target is n
1 *, other three wheel hub motor rotating speed of target are respectively n
2 *, n
3 *, n
4 *When vehicle was in the craspedodrome state, other three wheels were with the actual speed n of reference wheel the near front wheel
1Be rotating speed of target, i.e. n
2 *=n
3 *=n
4 *=n
1, can make the rotating speed of four wheels be easy to harmonious like this.
Measure the actual speed n of each wheel hub motor
i(i=1,2,3,4) are according to wheel hub motor rotating speed of target n
i *With actual speed n
iDifference n
i *-n
i, utilize the increment type PID control method that each wheel hub motor rotating speed is carried out closed loop control.Utilize the increment type PID control algorithm to confirm the PWM variable voltage control instruction of each hub motor control device, i.e. Δ PWM
i=PWM
i(k)-PWM
i(k-1)=K
pΔ e (k)+K
iE (k)+K
d[Δ e (k)-Δ e (k-1)] is in the formula: e (k)=n
i *(k)-n
i(k), Δ e (k)=e (k)-e (k-1), k represent k constantly, K
p, K
i, K
dBe respectively ratio, integration, differential coefficient, the value of these three coefficients is adjusted definite through real train test repeatedly.For reducing governing time, if the control of PID closed-loop drive makes | n
i *-n
i|/n
i *≤ε, ε are smaller value, then think the deviation of wheel hub motor actual speed and respective objects rotating speed in allowed band, thereby finish speed regulation process.
Vehicular turn during with four the wheel pure rolling kinematics model that goes is the basis; Confirm to turn to the rotation speed relation of four wheels when going, consider the wheel kinetic model simultaneously, suitably increase the drive wheel rotating speed; Null value when making the drive wheel slippage rate by pure rolling becomes than the figure of merit; Turn to when going the medial and lateral vehicle wheel rotational speed poor to realize promptly satisfying, guarantee double requirements (motor coordination, power is abundant) again than large driving force.Know other three-wheel rotation speed n when satisfying the differential requirement by the Vehicular turn kinematics model analysis of going
2, n
3, n
4With the reference wheel rotation speed n
1Ratio be only and vehicle wheelbase, main pin axis and road surface intersection point be to the distance of central plan of the wheel and road surface intersection, medial and lateral front wheel steering angle α, the relevant amount of β, owing to the former two is a definite value, the latter two are variate, so a pair of α, one group of n of β correspondence
2/ n
1, n
3/ n
1, n
4/ n
1, again because steering wheel angle
So corresponding a pair of α, β are a certain steering wheel angle
Corresponding one group of n
2/ n
1, n
3/ n
1, n
4/ n
1When four equal no powers of wheel hub motor, when outer force urges vehicle slided, four wheels were all made pure rolling, measured different directions dish corner
The time each wheel speed n
1', n
2', n
3', n
4', just can be somebody's turn to do
Satisfy the n of differential requirement during value
2'/n
1', n
3'/n
1', n
4'/n
1' such one group of ratio.When actual execution electronic differential is controlled, according to measured steering wheel angle
Inquiry
With n
2'/n
1', n
3'/n
1', n
4'/n
1' interpolation table, and measured reference wheel rotation speed n
1, can confirm the pure rolling rotating speed of target of other three-wheel, promptly
Wherein
I wheel speed and reference wheel rotation speed n when the differential requirement is satisfied in expression
1Ratio with steering wheel angle
The function that changes, present embodiment
Form with interpolation table can be expressed as:
, each value is measured through real train test and is confirmed in the interpolation table.This kind confirmed
(i=2 through test; 3,4) method can avoid measuring difficult medial and lateral front wheel steering angle α, β and the vehicle structure parameter of accurately measuring.Known that by the wheel kinetic model when wheel not during the outputting power pure rolling, the wheel slip rate is zero, this can cause the longitudinal force coefficient between wheel and road surface to reduce, thereby reduces in the face of the propulsive effort of drive wheel with making, causes the dynamic property variation of vehicle '.Therefore, when reference wheel not during outputting power, can on wheel pure rolling rotating speed basis, suitably increase vehicle wheel rotational speed, promptly
I=2,3,4,1＜g
i≤1.25, g
iBe gain factor, it is than the figure of merit that the wheel slip rate is increased by zero, so that the increase of the longitudinal force coefficient between wheel and road surface, thereby the propulsive effort of facing drive wheel increases with making, improves the dynamic property of vehicle '.When the reference wheel outputting power drives, n
1Be the drive wheel rotating speed under certain slippage rate, n
1In implied g
iSo, desirable g
i=1.Through considering vehicle movement and dynam requirement simultaneously, confirm to turn to each vehicle wheel rotational speed when going as stated above, the differential that can satisfy four-wheel simultaneously requires and the dynamic property requirement.
During electronic differential control, adopt Second-Stage Rotating Speed to follow control, promptly the reference wheel rotating speed is followed control to the first order of the corresponding rotary speed instruction of electronic accelerator pedal opening value, and other three wheel speed is followed control to the second stage of reference wheel actual speed.This Second-Stage Rotating Speed is followed control and is helped guaranteeing following at rotating speed that the four-wheel rotating speed satisfies the differential requirement in the control process.Because if four wheels are all followed the rotary speed instruction of electronic accelerator pedal by the differential relation, then can owing to the four-wheel rotating speed to rotary speed instruction follow asynchronous, cause that the four-wheel rotating speed not necessarily satisfies the differential requirement in the speed adjustment process.If other three wheel speed is followed the reference wheel actual speed, then be easy to realize the rapport of four-wheel rotating speed.
Rotating speed should be coordinated to reduce abnormal tyre wearing and tearing and in-fighting to avoid the circulating of power phenomenon between forward and backward drive wheel.The method that forward and backward drive wheel rotating speed is coordinated is similar with the rotating speed coordination approach that turns to medial and lateral drive wheel when going.
Also implement electronic differential control in the steering procedure during regenerative brake, to guarantee four-wheel motor coordination in the braking procedure.During regenerative brake, four wheel hub motors are with the work of electrical generator state, and the electronic differential mode of the rotating speed mode of each wheel hub motor during with driving is similar.If regenerative brake is not enough to the braking force that provides vehicle required, then not enough braking force is provided by hydraulic brake system.Glancing impact reference wheel rotating speed of target is confirmed by the electronic brake pedal opening value.
The lagging influence that the steering wheel angle dead band that consideration is caused by steering gar cleanrance when turning to changes the wheel flutter deflection angle.Owing to have the gap between the transmission in the deflector, before steering wheel rotation was eliminated steering gar cleanrance, wheel flutter did not rotate.When bearing circle rotates dead band angle σ scope to the left and right sides from in-line position in, when not rotating, wheel flutter thinks still that vehicle keeps straight on and do not turn to.Dead band angle σ is a smaller value, can measure through real vehicle and confirm, the steering wheel rotation angle that bearing circle rotates when wheel flutter begins to rotate just was dead band angle σ when promptly bearing circle was in in-line position.In turning to driving process, when the direction of bearing circle rotation changes, still consider the influence in corner dead band, i.e. the change of wheel flutter deflection angle lags behind the change of steering wheel angle.
The tachogen that being used to of present embodiment 1 measured the wheel hub motor actual speed also can be tachogen independently.
The embodiment of the invention 2, it is the electronic differential control system that two electronic front-wheels (or trailing wheel) drive automobile, it is basic identical with the embodiment of the invention 1, is n
i *(i=2) be the rotating speed of target of another wheel hub motor.
Claims (6)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112367A (en) * | 2013-03-01 | 2013-05-22 | 西南大学 | Driving control system of electric automobile with rear wheels driven by independent motors |
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| CN102198802A (en) * | 2011-03-21 | 2011-09-28 | 河南龙瑞新能源汽车有限公司 | Four-wheel hub motor driving system for electric vehicle |
| CN102343911B (en) * | 2011-07-14 | 2014-02-12 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Anti-skid control method of mining dump truck |
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| CN101758854A (en) | 2010-06-30 |
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