CN101774372B - Driving anti-skid control system of hybrid electric vehicle and control method thereof - Google Patents
Driving anti-skid control system of hybrid electric vehicle and control method thereof Download PDFInfo
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Abstract
The invention relates to a driving anti-skid control system of a hybrid electric vehicle and a control method thereof; the driving anti-skid control system comprises a brake pressure pipe, a vehicle transmission system and a driving anti-skid control electric signal circuit; the brake pressure pipe comprises an air compressor; the air compressor is connected with a brake cylinder through a valve; the output end of the brake cylinder is connected with two front wheel brake chambers and two input ends of a bi-directional single-way valve through two vehicle brake anti-lock regulating valves, a driving anti-skid regulating valve and a brake pipe, and the input end thereof is connected with two rear wheel brake chambers through the other two vehicle brake anti-lock regulating valves; the vehicle transmission system comprises an engine, and the engine is connected with a transmission mechanism assembly through a motor; the driving anti-skid control electric signal circuit comprises four wheel speed sensors arranged near the wheels; the two wheel speed sensors in the front part and the two vehicle brake anti-lock regulating valves are connected with a brake/driving controller; and the brake/driving controller is respectively connected with the driving anti-skid regulating valve, the controller of the complete vehicle, an electronic throttle, a motor controller, the other two wheel speed sensors and the two vehicle brake anti-lock regulating valves. The invention can be widely applied to the anti-skid control systems of various hybrid electric vehicles.
Description
Technical field
The present invention relates to a kind of vehicle control system and control method, particularly about a kind of anti-slip regulation and control method thereof that has adopted the hybrid vehicle of Pneumatic braking system.
Background technology
Anti-slip regulation (ASR; Anti Slip Regulation), vehicular drive antiskid control system (ATC; Automatic Traction Control) and vehicle drive control system (TCS, Traction ControlSystem) produce by Sweden Volvo car company trial-production the earliest, after this development is swift and violent; Technology is very ripe now, becomes the standard configuration of medium-to-high grade manned vehicle.And in the vehicular field that adopts Pneumatic braking system; Since the integrated system of the German Bosch release air-pressure type ABS/ATC of company (car brakeing antiblock device/vehicular drive antiskid control system), driven skid control system and adopted the vehicular field of Pneumatic braking system to obtain to use widely abroad.At present, the driving skid control system also has been equipped with more and more on domestic some palace cars.Say that from the angle of vehicle driving safety it is very important suppressing acutely trackslipping of drive wheel.It is as shown in Figure 1 that (A is no sideslip angle, vertical adhesion value curve among the figure, and B is 5 ° of sideslip angles, vertical adhesion value curve, and C is 5 ° of sideslip angles, side direction adhesion value curve.), can find out that according to three curves 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 change of the sideslip angle of tire occurs breakking away until reaching limit of adhesion greatly under same side force, and 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 orthodox car is general adopt below several kinds of means suppress trackslipping of drive wheels: 1, regulate the throttle opening of driving engine and the output driving torque that point of ignition waits to regulate driving engine.2, the drive wheel that trackslips is implemented the braking force intervention.3, adopt some special physical constructions, such as anti-skid final drive, diff lock etc.Under the dual-pressure of energy shock and environmental problem, economy better and the hybrid vehicle Rapid Realization commercialization of environmental protection more, 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 driving engine is because the restriction of self-characteristic; The torque that under the slow speed of revolution condition, can provide is less; But motor just can provide bigger driving torque in low engine speed range, so hybrid vehicle the phenomenon that drive wheel trackslips more likely occurs than conventional truck when low speed.On this basis, the driving skid control system that is used for hybrid vehicle can be with reference to the driving skid control system of orthodox car, and the part of also having any different simultaneously is mainly reflected in and drives in the anti-skidding control in the control to motor torque.
Find through patent retrieval; Shanghai Fuel Battery Automobile Power System Co., Ltd has applied for name being called the patent of invention of " the driving skid control system and the method for four-wheel driving electric vehicle ", and (application number is 200610147758.3; Publication number is CN101024377A, and open day is 2007.08.29), a kind of anti-skidding control method of driving that is directed against the pure electric automobile of four wheel drive has been proposed; Realize driving anti-skidding control through the size of regulating four motor-driven moments on the wheel; But owing to be pure electric automobile, this patent does not relate to the control to driving engine, does not relate to the adjusting of wheel being intervened braking force yet; 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.Be to realize that through 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 equally, also do not relate to adjusting the drive wheel brake-pressure; A kind of driving skid control system that is used for hybrid vehicle has been proposed among the U.S. Pat 006263267B1; When detecting wheel slip, suppress to trackslip, lack the content of the brake-pressure of regulating motor torque and drive wheel equally through the output torque that reduces motor.Can see that from above retrieval existing driving skid control system and control method major part all are to be used for orthodox car and pure electric automobile.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of anti-skidding control effect anti-slip regulation and the control method thereof of hybrid vehicle preferably.
For realizing above-mentioned purpose, the present invention takes following technical scheme: a kind of anti-slip regulation of hybrid vehicle is characterized in that: it comprises that a braking pressure pipeline, a vehicle transmission system and drive anti-skidding control electric signal loop; Said braking pressure pipeline comprises an Air compressor, and said Air compressor connects a braking gas tank through a safety valve, a pressure maintaining valve successively, and a mouth of said braking gas tank connects two front wheel brake air chambers respectively through two car brakeing anti-lock control cocks; Two other mouth of said braking gas tank drives the anti-slip regulation valve through one respectively and is connected two-way one-way valve two input ends with brake piping, and said two-way one-way valve mouth connects two trailing wheel compressed air brake cylinders through two other car brakeing anti-lock control cock respectively; Said vehicle transmission system comprises a driving engine, the said driving engine motor that is connected in series, and the moment of said driving engine and the coupling of the moment of said motor are after the mouth of said motor is transferred to an assembly of drive gear; The anti-skidding control electric signal of said driving loop comprises that four lay respectively near the wheel speed sensors of each wheel; Near two said wheel speed sensors that are positioned at the front vehicle wheel are connected a braking/driving governor with two said car brakeing anti-lock control cocks, and said braking/driving governor also connects said driving anti-slip regulation valve, carload controller, an electronic throttle, an electric machine controller, two respectively and is positioned at rear wheel neighbouring said wheel speed sensors and two other said car brakeing anti-lock control cock.
A kind of anti-skidding control method of driving that adopts the hybrid vehicle of above-mentioned control system; Its step is following: the wheel speed signal that 1) sends according to two wheel speed sensors that are positioned at front vehicle wheel; Calculate the instantaneous speed of a motor vehicle of vehicle; According to the wheel speed signal and the said instantaneous speed of a motor vehicle that two wheel speed sensors that are positioned at rear wheel send, calculate the instantaneous slippage rate of vehicle rear wheel; 2) according to the instantaneous speed of a motor vehicle and instantaneous slippage rate; Judge by braking/driving governor whether drive wheel the phenomenon of trackslipping occurs, when judging that trackslipping appears in drive wheel, according to the size of instantaneous speed of a motor vehicle v; Decision is to get into braking force to intervene the stage, still gets into electronic throttle and motor torque and regulates the stage; When judging that drive wheel does not occur trackslipping, then confirm the throttle opening bid value and the motor torque bid value of electronic throttle; 3) said step 2),, satisfy S＞S when getting into the braking force intervention during stage
+The time, intervening braking force on the drive wheel increases; Satisfy S
-≤S≤S
+The time, intervene braking force on the drive wheel and remain unchanged; Satisfy S＜S
-The time, intervene braking force on the drive wheel and reduce; Continue to withdraw from behind the 3s when the braking force intervention stage, get into electronic throttle and motor torque and regulate the stage; Wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold; 4) said step 2) and in the step 3); Get into the adjusting of electronic throttle and motor torque during the stage; Utilize the proportional plus integral plus derivative controller that presets in the braking/driving governor to confirm motor-driven/braking torque command value on the one hand, this motor torque bid value is sent to motor by electric machine controller; Aperture bid value through braking/driving governor control electronic throttle descends rapidly on the other hand; 5) in the said step 4), the aperture bid value after motor torque bid value and the decline is sent in the logic threshold control module, and the aperture bid value of the electronic throttle of adjusting is sent to driving engine;
In the said step 1), said instantaneous speed of a motor vehicle v is: v=ω
fR, said instantaneous slippage rate S is:
In the formula, S is a slippage rate, ω
fBe front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel.
Said step 2) in, judges that the condition that said drive wheel trackslips is: S＞S
+, wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold.
In the said step 4), the said motor torque bid value tm_cmd that is confirmed by said proportional plus integral plus derivative controller is: tm_cmd=PID (S-S
d), in the formula, S is a slippage rate; S
dBe the target slippage rate, according to different road adhesion condition S
dScope be [0.1,0.2].
In the said step 4), the best decline scope of the aperture bid value of said electronic throttle is [25%, 40%].
In the said step 5), jump to the condition that said electronic throttle aperture reduces state by said electronic throttle aperture increase state and be: said motor torque bid value tm_cmd is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of said motor; D
1Also be threshold value, its scope is [0.15,0.2].
In the said step 5), reduce the condition that state jumps to said electronic throttle aperture and increase state by said electronic throttle aperture and be: said motor torque bid value tm_cmd is a driving torque, and tm_cmd＞C
2, S＜D
2, C wherein
2Be threshold value, relevant with said motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention carries out logic threshold control owing to according to the slippage rate of drive wheel wheel is intervened braking force; Motor torque is carried out PID control; Change simultaneously the engine air throttle aperture is carried out logic threshold control, so realized that slippage rate with drive wheel changes near being controlled at optimal value according to the slippage rate of motor torque and drive wheel.2, the present invention is owing to be provided with wheel speed sensors near two front vehicle wheels and two rear wheels; The wheel speed signal that records according to wheel speed sensors can calculate the instantaneous speed of a motor vehicle and the instantaneous slippage rate of vehicle; And judge drive wheel by braking/driving governor according to this instantaneous speed of a motor vehicle and instantaneous slippage rate and the phenomenon of trackslipping whether occurs; And then adopt corresponding braking force intervention and electronic throttle and motor torque to regulate, with the effective control that realizes drive wheel is trackslipped.3, the present invention drives anti-slip regulation valve and car brakeing anti-lock control cock because the braking pressure pipeline of car load is provided with, and therefore can regulate the intervention braking force size on the drive wheel through these two kinds of control cocks.4, the present invention controls to adjust the aperture of electronic throttle owing to be provided with electronic throttle and braking/driving governor by braking/driving governor, and then realizes the adjusting to the driving torque of driving engine.5, driving/braking torque of the braking/driving governor co-operative control motor of the present invention's employing is so that the slippage rate of drive wheel is stabilized near the optimal value.The present invention can be widely used in the various hybrid vehicle antiskid control systems.
Description of drawings
Fig. 1 is a motor tire cohesive resistance typical curve scheme drawing of the prior art
Fig. 2 is an anti-slip regulation structural representation of the present invention
Fig. 3 is the anti-skidding control method schematic flow sheet of driving of the present invention
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
As shown in Figure 2, anti-slip regulation of the present invention comprises that a braking pressure pipeline 1 (shown in black solid line among the figure), a vehicle transmission system 2 (shown in grey lines among the figure) and drive anti-skidding control electric signal loop 3 (shown in dotted line among the figure).
Braking pressure pipeline 1 is for car brakeing energy source to be provided; Simultaneously also can energy source be provided for driving the intervention braking force of being controlled in anti-skidding control electric signal loop 3, braking pressure pipeline 1 comprises that an Air compressor 11, a safety valve 12, a pressure maintaining valve 13, a braking gas tank 14, four ABS (car brakeing anti-lock) control cocks 15, two front wheel brake air chambers 16, drive anti-slip regulation valve 17, one two-way one-way valve 18 and two trailing wheel compressed air brake cylinders 19.Air compressor 11 connects braking gas tank 14 through safety valve 12, pressure maintaining valve 13 successively, and a mouth of braking gas tank 14 connects two ABS control cock 15 input ends through brake piping, and these ABS control cock 15 mouths connect a front wheel brake air chamber 16 respectively; One in two other mouth of braking gas tank 14 through driving the input end that anti-slip regulation valve 17 connects two-way one-way valve 18; Another connects another input end of two-way one-way valve 18 through brake piping; The mouth of two-way one-way valve 18 connects other two ABS control cocks, 15 input ends respectively, and the mouth of this ABS control cock 15 connects a trailing wheel compressed air brake cylinder 19 respectively.
Vehicle transmission system 2 is the rear-guard type; It comprises a driving engine 21, a motor 22, an assembly of drive gear 23 and two rear wheels 24; Driving engine 21 motor 22 that is connected in series makes the driving torque after the moment coupling of moment and motor 22 of driving engine 21, is transferred to assembly of drive gear 23 through the mouth of motor 22; By assembly of drive gear 23 driving torque is transferred on two rear wheels 24 through vehicle rear axle, realizes driving function.Wherein, motor 22 can provide driving torque, again braking torque can be provided.
Drive anti-skidding control electric signal loop 3 and comprise four wheel speed sensors 31, a braking/driving governor 32, an electronic throttle 33, an electric machine controller 34 and carload controller 35.Four wheel speed sensors 31 lay respectively at four wheels before and after the vehicle near; Two wheel speed sensors 31 that are positioned at front vehicle wheel are sent to braking/driving governor 32 with detected wheel speed signal; And the ABS control cock 15 of two front vehicle wheels is from braking/driving governor 32 receiving valve control signals; Braking/driving governor 32 connects respectively and drives wheel speed sensors 31 and two ABS control cocks 15 that anti-slip regulation valve 17, entire car controller 35, electronic throttle 33, electric machine controller 34, two are positioned at rear wheel simultaneously; Entire car controller 35 sends the aperture reference value signal throttle_tgt of electronic throttle 33 and the motor torque reference value signal tm_tgt of electric machine controller 34 to braking/driving governor 32; Braking/driving governor 32 is opened according to two reference value signals and is driven anti-slip regulation valve 17; Make the air pressure in the braking gas tank 14 promote two-way one-way valve 18; Air pressure is delivered to be positioned at two ABS control cocks 15 of rear wheel, through the switching frequency of control ABS control cock 15, control action goes up the value of intervening braking force at drive wheel (two trailing wheels); Braking/driving governor 32 sends throttle opening bid value signal throttle_cmd to electronic throttle 33, controls the aperture of actual electronic throttle 33; Braking/driving governor 32 sends motor torque bid value signal tm_cmd to electric machine controller 34, the size of control real electrical machinery torque.
As shown in Figure 3, it is when drive wheel trackslips, slippage rate to be controlled near the optimum slippage rate that the present invention drives anti-skidding control method.Braking/driving governor 32 judges based on driving wheel wheel speed and driven pulley wheel speed whether driving wheel the phenomenon of trackslipping occurs.When detecting drive wheel and trackslip, according to the slippage rate of drive wheel, the intervention braking force on the co-operative control drive wheel and the aperture of the electronic throttle 33 of driving engine 21, the size of motor torque are so that the slippage rate of drive wheel changes near optimal value.Its step is following:
1) wheel speed signal that sends according to two wheel speed sensors that are positioned at front vehicle wheel, the instantaneous speed of a motor vehicle v that calculates vehicle is:
v＝ω
f·r (1)
According to wheel speed signal and instantaneous speed of a motor vehicle v that two wheel speed sensors that are positioned at rear wheel send, the instantaneous slippage rate S that calculates the vehicle rear wheel is:
In the above-mentioned formula: S is a slippage rate, ω
fBe front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel;
2) according to instantaneous speed of a motor vehicle v and instantaneous slippage rate S; Judge by the decision condition in the braking/driving governor whether driving wheel the phenomenon of trackslipping occurs; When judging that trackslipping appears in driving wheel; Size according to instantaneous speed of a motor vehicle v; Whether decision adopts the brake force intervention, if this moment, the speed of a motor vehicle was lower than 40km/h, gets into brake force and intervenes the stage; If this moment, the speed of a motor vehicle was higher than 40km/h, gets into electronic throttle and motor torque and regulate the stage; When judging that driving wheel does not occur trackslipping; The throttle opening bid value throttle_cmd that then confirms electronic throttle is identical with the aperture reference value throttle_tgt of electronic throttle, and the motor torque bid value tm_cmd of electric machine controller is identical with the motor torque reference value tm_tgt of electric machine controller;
Wherein, decision condition is S＞S
+, wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold;
3) above-mentioned steps 2) in, when the speed of a motor vehicle is lower than 40km/h, get into the braking force intervention during stage, satisfy S＞S
+The time, increase through intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Satisfy S
-≤S≤S
+The time, remain unchanged through intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Satisfy S＜S
-The time, reduce through intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Continue to withdraw from behind the 3s when the braking force intervention stage, get into electronic throttle and motor torque and regulate the stage; Wherein, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold;
4) above-mentioned steps 2) and step 3) in; Get into the adjusting of electronic throttle and motor torque during the stage; Utilize PID (PID) controller that presets in the braking/driving governor to confirm motor-driven/braking torque command value tm_cmd on the one hand; This motor torque bid value is sent to motor by electric machine controller, and motor torque bid value tm_cmd is:
tm_cmd＝PID(S-S
d) (3)
In the formula, S is a slippage rate, S
dBe the target slippage rate, according to different road adhesion condition S
dScope be [0.1,0.2];
Aperture bid value throttle_cmd through braking/driving governor control electronic throttle descends rapidly on the other hand, and its preferably decline scope is [25%, 40%];
5) above-mentioned steps 4) in; Aperture bid value throttle_cmd after motor torque bid value tm_cmd and the decline is sent in the logic threshold control module; Control the increase and decrease state of electronic throttle aperture, and the aperture bid value throttle_cmd of the electronic throttle of adjusting is sent to driving engine;
Above-mentioned steps 5) in; In logical gate limit control module; The increase and decrease state of electronic throttle aperture carries out saltus step according to condition D in the logical gate limit control module and condition E; Wherein, jumping to the condition D that electronic throttle 14 apertures reduce state by electronic throttle 14 aperture increase states is: the motor torque bid value is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of motor; D
1Also be threshold value, its scope is [0.15,0.2].Reducing the condition E that state jumps to the electronic throttle aperture and increase state by the electronic throttle aperture is: the motor torque bid value is a driving torque, and tm_cmd＞C
2And S＜D
2, C wherein
2Be threshold value, also relevant with motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
In electronic throttle aperture increase state, the electronic throttle aperture is monotone increasing in time, and advancing the speed is 5% per second; Reduce in the state at throttle opening, throttle opening is monotone decreasing in time, and reducing speed also is 5% per second.
In sum; When the enforcement driving is anti-skidding on hybrid vehicle; Need the anti-skidding control method of the driving on orthodox car and the pure electric automobile be combined; Promptly can drive the control that increases on the basis of anti-skidding control method motor torque, also can improve the anti-skidding control effect of driving of hybrid vehicle largely in traditional vehicle.
Above-mentioned each embodiment only is used to explain the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (8)
1. the anti-skidding control method of the driving of a hybrid vehicle, its step is following:
1) anti-slip regulation is set, this system comprises that a braking pressure pipeline, a vehicle transmission system and drive anti-skidding control electric signal loop; The braking pressure pipeline comprises an Air compressor, and Air compressor is connected a braking gas tank through a safety valve successively with a pressure maintaining valve, and a mouth of braking gas tank connects two front wheel brake air chambers respectively through two car brakeing anti-lock control cocks; Two other mouth of braking gas tank drives the anti-slip regulation valve through one respectively and is connected two-way one-way valve two input ends with brake piping, and two-way one-way valve mouth connects two trailing wheel compressed air brake cylinders through two other car brakeing anti-lock control cock respectively; Vehicle transmission system comprises a driving engine, the driving engine motor that is connected in series, and the moment of driving engine and the coupling of the moment of motor are after the mouth of motor is transferred to an assembly of drive gear; Drive anti-skidding control electric signal loop and comprise that four lay respectively near the wheel speed sensors of each wheel; Near two wheel speed sensors that are positioned at the front vehicle wheel are connected a braking/driving governor with two car brakeing anti-lock control cocks, and braking/driving governor also connection driving anti-slip regulation valve, carload controller, an electronic throttle, an electric machine controller, two are positioned at rear wheel neighbouring wheel speed sensors and two other car brakeing anti-lock control cock respectively;
2) according to the wheel speed signal of the two wheel speed sensors transmission that is positioned at front vehicle wheel, calculate the instantaneous speed of a motor vehicle of vehicle, according to the wheel speed signal and the said instantaneous speed of a motor vehicle that two wheel speed sensors that are positioned at rear wheel send, calculate the instantaneous slippage rate of vehicle rear wheel;
3) based on the instantaneous speed of a motor vehicle and instantaneous slippage rate; Judge by braking/driving governor whether driving wheel the phenomenon of trackslipping occurs, when judging that trackslipping appears in driving wheel, based on the size of the instantaneous speed of a motor vehicle; Decision is to get into brake force to intervene the stage, still gets into electronic throttle and motor torque and regulates the stage; When judging that driving wheel does not occur trackslipping, then confirm the throttle opening bid value and the motor torque bid value of electronic throttle;
4) in the said step 3),, satisfy S＞S when getting into the braking force intervention during stage
+The time, intervening braking force on the drive wheel increases; Satisfy S
-≤S≤S
+The time, intervene braking force on the drive wheel and remain unchanged; Satisfy S＜S
-The time, intervene braking force on the drive wheel and reduce; Continue to withdraw from behind the 3s when the braking force intervention stage, get into electronic throttle and motor torque and regulate the stage; Wherein, S is instantaneous slippage rate, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold;
5) in said step 3) and the step 4); Get into the adjusting of electronic throttle and motor torque during the stage; Utilize the proportional plus integral plus derivative controller that presets in the braking/driving governor to confirm motor braking/driving torque bid value tm_cmd on the one hand, this motor braking/driving torque bid value tm_cmd is sent to motor by electric machine controller; Aperture bid value through braking/driving governor control electronic throttle descends rapidly on the other hand;
6) in the said step 5), the aperture bid value after motor braking/driving torque bid value tm_cmd and the decline is sent in the logic threshold control module, and the aperture bid value of the electronic throttle of adjusting is sent to driving engine.
2. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1, it is characterized in that: said step 2), the said instantaneous speed of a motor vehicle is:
v＝ω
f·r，
Said instantaneous slippage rate is:
In the formula, S is instantaneous slippage rate, ω
fBe front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel.
3. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1 is characterized in that: in the said step 3), judge that the condition that said drive wheel trackslips is:
S＞S
+，
Wherein, S is instantaneous slippage rate, S
+Be wheel slip rate maximum threshold.
4. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1 is characterized in that: in the said step 5), the said motor braking/driving torque bid value tm_cmd that is confirmed by said proportional plus integral plus derivative controller is:
tm_cmd＝PID(S-S
d)，
In the formula, S is instantaneous slippage rate; S
dBe the target slippage rate, according to different road adhesion condition S
dScope be [0.1,0.2].
5. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1, it is characterized in that: in the said step 5), the best decline scope of the aperture bid value of said electronic throttle is [25%, 40%].
6. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1; It is characterized in that: in the said step 6); The condition that the aperture that jumps to said electronic throttle by the aperture increase state of said electronic throttle reduces state is: said motor braking/driving torque bid value tm_cmd is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of said motor; D
1Also be threshold value, its scope is [0.15,0.2].
7. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 1; It is characterized in that: in the said step 6); The condition that is reduced aperture that state jumps to said electronic throttle and increased state by the aperture of said electronic throttle is: said motor braking/driving torque bid value tm_cmd is a driving torque, and tm_cmd＞C
2, S＜D
2, C wherein
2Be threshold value, relevant with said motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
8. the anti-slip regulation of the hybrid vehicle of a realization such as each said method of claim 1～7, it is characterized in that: it comprises that a braking pressure pipeline, a vehicle transmission system and drive anti-skidding control electric signal loop;
Said braking pressure pipeline comprises an Air compressor, and said Air compressor is connected a braking gas tank through a safety valve successively with a pressure maintaining valve, and a mouth of said braking gas tank connects two front wheel brake air chambers respectively through two car brakeing anti-lock control cocks; Two other mouth of said braking gas tank drives the anti-slip regulation valve through one respectively and is connected two-way one-way valve two input ends with brake piping, and said two-way one-way valve mouth connects two trailing wheel compressed air brake cylinders through two other car brakeing anti-lock control cock respectively;
Said vehicle transmission system comprises a driving engine, the said driving engine motor that is connected in series, and the moment of said driving engine and the coupling of the moment of said motor are after the mouth of said motor is transferred to an assembly of drive gear;
The anti-skidding control electric signal of said driving loop comprises that four lay respectively near the wheel speed sensors of each wheel; Near two said wheel speed sensors that are positioned at the front vehicle wheel are connected a braking/driving governor with two said car brakeing anti-lock control cocks, and said braking/driving governor also connects said driving anti-slip regulation valve, carload controller, an electronic throttle, an electric machine controller, two respectively and is positioned at rear wheel neighbouring said wheel speed sensors and two other said car brakeing anti-lock control cock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101138379A CN101774372B (en) | 2010-02-24 | 2010-02-24 | Driving anti-skid control system of hybrid electric vehicle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101138379A CN101774372B (en) | 2010-02-24 | 2010-02-24 | Driving anti-skid control system of hybrid electric vehicle and control method thereof |
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| Publication Number | Publication Date |
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| CN101774372A CN101774372A (en) | 2010-07-14 |
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| CN101985300B (en) * | 2010-09-30 | 2013-05-08 | 重庆长安汽车股份有限公司 | Torque control method capable of preventing driving wheels from slipping |
| CN102267459B (en) * | 2011-05-17 | 2013-07-10 | 清华大学 | Driving antiskid adjustment and control method for motor-driven vehicle |
| JP5447447B2 (en) * | 2011-07-14 | 2014-03-19 | トヨタ自動車株式会社 | Braking force control device for vehicle |
| US9096231B2 (en) * | 2012-03-27 | 2015-08-04 | Caterpillar Inc. | Rollback prevention system for mobile machine |
| CN103542973B (en) * | 2012-07-13 | 2016-01-27 | 葛在 | A kind of method of testing vehicle braking ability and device |
| CN103879305B (en) * | 2014-03-10 | 2015-10-28 | 清华大学 | Maximum torque for four motorized wheels battery-driven car estimates Anti-slip regulation algorithm |
| CN104477164B (en) * | 2014-11-20 | 2018-03-13 | 北京新能源汽车股份有限公司 | Pure electric vehicle driving anti-skid control system and method thereof |
| CN104712449B (en) * | 2015-02-06 | 2017-06-23 | 西华大学 | A kind of university student's equation motorcycle race four-wheel anti-skid system |
| CN106141659A (en) * | 2015-04-10 | 2016-11-23 | 五冶集团上海有限公司 | The installation method of raw material ore tank dump car driven pulley brake |
| CN109515415B (en) * | 2018-12-02 | 2021-11-05 | 柳州英飞科技有限公司 | Anti-skid control device of automobile electronic controller |
| CN109635433A (en) * | 2018-12-12 | 2019-04-16 | 湖北文理学院 | A kind of hybrid vehicle self-adaptive PID dynamic control method of improved grey model prediction |
| DE102019103901A1 (en) * | 2019-02-15 | 2020-08-20 | Wabco Gmbh | Parking brake arrangement with individual wheel ABS control |
| CN113386585A (en) * | 2020-03-12 | 2021-09-14 | 南京金龙客车制造有限公司 | Pure electric vehicle driving force control system and control method thereof |
| WO2022077195A1 (en) * | 2020-10-13 | 2022-04-21 | 华为技术有限公司 | Electromechanical braking method and electromechanical braking device |
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