CN102267459B - Driving antiskid adjustment and control method for motor-driven vehicle - Google Patents

Driving antiskid adjustment and control method for motor-driven vehicle Download PDF

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CN102267459B
CN102267459B CN2011101270485A CN201110127048A CN102267459B CN 102267459 B CN102267459 B CN 102267459B CN 2011101270485 A CN2011101270485 A CN 2011101270485A CN 201110127048 A CN201110127048 A CN 201110127048A CN 102267459 B CN102267459 B CN 102267459B
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张俊智
孔德聪
吕辰
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Tsinghua University
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Abstract

The invention relates to a driving antiskid adjustment and control method for a motor-driven vehicle. The driving antiskid adjustment and control method comprises the following steps that: 1) a motor-driven vehicle antiskid adjustment and control system consisting of two driving motors, four wheel speed sensors, a driving antiskid controller and a motor controller is provided; 2) the wheel speed sensors send acquired angular speeds of non-driving wheels to the driving antiskid controller and a vehicle speed calculation module calculates a running speed of the motor-driven vehicle according to the angular speeds of the non-driving wheels; 3) a vehicle acceleration calculation module acquires a longitudinal acceleration according to the running speed; 4) the other two wheel speed sensors send the acquired angular speeds to a slip rate calculation module in the driving antiskid controller so as to acquire a longitudinal slip rate and a longitudinal slip rate derivative of driving wheels; 5) a target driving torque calculation module acquires a target driving torque at the moment according to the running speed, the longitudinal acceleration and the longitudinal slip rate of the driving wheels; and 6) the motor controller acquires a motor torque command value according to the target driving torque to finish the driving antiskid adjustment. The driving antiskid adjustment and control method can be widely applied to antiskid control of the motor-driven vehicle.

Description

A kind of driving anti-slip regulation control method of motor-driven vehicle
Technical field
The present invention relates to a kind of motor-driven adjustment control method, particularly drive the driving anti-slip regulation control method of vehicle about a kind of pure electronic, hybrid power and fuel cell motor of being applicable to.
Background technology
General pure electric vehicle, motor vehicle driven by mixed power and fuel-cell vehicle adopt motor to drive, and compare with the ICE-powered mode, and motor-driven has following characteristics: 1, motor torque can pass through electric current, voltage signal and obtains comparatively accurately; 2, the modern electrical machine control technology can accurately be controlled the moment of motor; 3, motor torque response ratio combustion engine moment responses is rapid.The motor-driven vehicle has all been installed the driving skid control system at present, prevent that the situation of wheel slip from appearring in the motor-driven vehicle when driving, thereby avoid motor-driven vehicle loses cohesive resistance, unsafe conditions such as sideslip or forfeiture steering capability occur, guaranteed the acceleration capability of motor-driven vehicle simultaneously.
At present, the driving skid control system of motor-driven vehicle generally adopts traditional logic Threshold Control Method method, traditional logic Threshold Control Method method is to detect by angular acceleration and straight skidding rate to the motor-driven driving wheel of vehicle, drive wheel is braked, simultaneously the motor output torque is carried out shim action.Traditional logic Threshold Control Method method makes that the straight skidding rate fluctuation of drive wheel is bigger because braking force and propulsive effort are carried out shim action, can't be stabilized near the desired slip rate, and the control effect is restricted.
For existing all kinds of motor-driven vehicles, great majority drive skid control system and have continued to use traditional logic Threshold Control Method method, do not take full advantage of that motor torque obtains conveniently, control precisely, respond characteristics rapidly, so the driving skidproof effect of motor-driven vehicle space that still has greatly improved.
Summary of the invention
At the problems referred to above, it is better to the purpose of this invention is to provide a kind of driving skidproof effect, has the driving anti-slip regulation control method that is applicable to the motor-driven vehicle of strong manipulative capability and high value of practical.
For achieving the above object, the present invention takes following technical scheme: a kind of driving anti-slip regulation control method of motor-driven vehicle, comprise the steps: 1) arrange one and comprise two drive motor, four wheel speed sensors, a motor-driven anti-slip regulation control system that drives anti-skid controller and an electric machine controller, described driving anti-skid controller comprises speed of a motor vehicle computing module, vehicle acceleration computing module, slip rate computing module and target drives moment computing module; 2) two wheel speed sensors are the described driving anti-skid controller of the non-driving wheel angular velocity omega that collects ' be sent to, by described speed of a motor vehicle computing module according to non-driving wheel angular velocity omega ' the obtain moving velocity V of motor-driven vehicle; 3) obtained the longitudinal acceleration of motor-driven vehicle by described vehicle acceleration computing module
Figure BDA0000061662940000011
4) two other wheel speed sensors is sent to described driving anti-skid controller with the drive wheel angular velocity omega that collects, and utilizes the moving velocity V of drive wheel angular velocity omega and motor-driven vehicle to obtain straight skidding rate S and the straight skidding rate derivative of drive wheel by described slip rate computing module 5) according to described step 2)～4), described target drive force computing module utilizes the moving velocity V of motor-driven vehicle, the longitudinal acceleration of motor-driven vehicle
Figure BDA0000061662940000022
Obtain target drives moment T at this moment with drive wheel straight skidding rate S d6) electric machine controller is according to target drives moment T dObtain motor torque bid value T m=i gi 0T d, motor torque is dynamically controlled, finish the driving anti-slip regulation; In the formula, i gBe the transmission ratio of electric machine controller, i 0Main reduction gear transmitting ratio for electric machine controller.
In the described step 4), the straight skidding rate S of described drive wheel and its straight skidding rate derivative
Figure BDA0000061662940000023
Satisfy following relational expression:
S . = k ( S - S * ) ,
In the formula, k is constant, S *It is the desired slip rate.
In the described step 5), described target drives moment T dFor:
T d = VI r ( 1 - S ) 2 { S * - S k + 1 V [ V . ( 1 - S ) + r 2 V . m t I ( 1 - S ) 2 ] } ,
Wherein, I is the rotor inertia of wheel, S *Be the desired slip rate, r is the effective rolling radius of wheel, m tBe the quality of 1/2nd motor-driven vehicles, k is constant, and V is the moving velocity of motor-driven vehicle, Be the longitudinal acceleration of motor-driven vehicle, S is drive wheel straight skidding rate.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention controls the straight skidding rate derivative of motor-driven driving wheel of vehicle, can keep motor-driven driving wheel of vehicle straight skidding rate and be stabilized in ideal value, well improve driving skidproof effect.2, the present invention can take full advantage of the motor-driven moment responses rapidly, advantage accurately, taken into account the safety, dynamic property and the traveling comfort that drive.3, motor-driven anti-slip regulation control system of the present invention is simple in structure, and cost is lower, has stronger manipulative capability and higher utility.Therefore, the present invention can be widely used in the anti-skidding control of motor-driven vehicle.
Description of drawings
Fig. 1 is the structural representation of motor-driven anti-slip regulation control system of the present invention
Fig. 2 is the structured flowchart that the present invention drives anti-skid controller
Fig. 3 is the wheel kinetic model scheme drawing of motor-driven vehicle of the present invention
Fig. 4 is the schematic flow sheet of motor-driven anti-slip regulation control of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1 and Figure 2, motor-driven anti-slip regulation control system of the present invention comprises two drive motor 1, four wheel speed sensors 2, a driving anti-skid controller 3 and an electric machine controller 4, wherein, drive anti-skid controller 3 and comprise speed of a motor vehicle computing module 31, vehicle acceleration computing module 32, slip rate computing module 33 and target drives moment computing module 34.Two drive motor 1 apply moment to two drive wheels 5 of motor-driven vehicle respectively, for the motor-driven vehicle provides propulsive effort.Four wheel speed sensors 2 are installed in respectively on two drive wheels 5 and two non-driving wheels 6 of motor-driven vehicle, and the angular speed of wheel signal of each drive wheel 5 that will collect and each non-driving wheel 6 is sent to drive in the anti-skid controller 3 and handles, and obtains target drives moment.Drive anti-skid controller 3 and again target drives moment is sent to electric machine controller 4, regulate the moment of control two drive motor 1 by electric machine controller 4, and then finish the driving anti-slip regulation control to the motor-driven vehicular electric machine.
As shown in Figure 3, each wheel of motor-driven vehicle all has two degree of freedom, is respectively the moving velocity V of motor-driven vehicle and the angular speed of wheel of motor-driven vehicle.The wheel of motor-driven vehicle is divided into drive wheel 5 and non-driving wheel 6, so the angular speed of wheel of motor-driven vehicle be divided into again drive wheel angular velocity omega and non-driving wheel angular velocity omega ', do not trackslip owing to do not exist between non-driving wheel 6 and the ground, therefore utilize non-driving wheel angular velocity omega ' calculate the moving velocity V of motor-driven vehicle, the computing formula of the moving velocity V of motor-driven vehicle is as follows;
V＝rω′， (1)
In the formula, r is the effective rolling radius of wheel.
Obtain the longitudinal acceleration of motor-driven vehicle according to kinetics relation
Figure BDA0000061662940000031
The angular acceleration of each drive wheel 5
Figure BDA0000061662940000032
Be respectively with the straight skidding rate S of each drive wheel 5:
V . = F x m t , - - - ( 2 )
ω . = 1 I ( T d - r F x ) , - - - ( 3 )
S = V - rω V , - - - ( 4 )
In the above-mentioned formula (2), m tBe the quality of 1/2nd motor-driven vehicles, the quality of motor-driven vehicle is the sprung weight m by whole motor-driven vehicle Vs, two drive wheel quality m wWith two non-driving wheel quality m ' wStack obtains, namely
Figure BDA0000061662940000036
Fx is the wheel of motor-driven vehicle and the vertical adhesive ability between the road surface; In the formula (3), I is the rotor inertia of wheel; T dBe target drives moment, for the motor-driven vehicle, motor can be braked wheel, so target drives moment T dIt can be negative value.
As shown in Figure 4, according to motor-driven vehicle limited slip regulation and control system, motor-driven vehicle limited slip adjustment control method of the present invention comprises the steps:
1) two wheel speed sensors 2 drive anti-skid controller 3 with the non-driving wheel angular velocity omega that collects ' be sent to, and drive speed of a motor vehicle computing module 31 in the anti-skid controller 3 according to non-driving wheel angular velocity omega ' the obtain moving velocity V of motor-driven vehicle.
2) obtained the longitudinal acceleration of motor-driven vehicle by the vehicle acceleration computing module 32 that drives anti-skid controller 3
Figure BDA0000061662940000041
3) two other wheel speed sensors 2 is sent to the drive wheel angular velocity omega that collects and drives anti-skid controller 3, and the slip rate computing module 33 that drives anti-skid controller 3 utilizes the moving velocity V of drive wheel angular velocity omega and motor-driven vehicle to obtain straight skidding rate S and the straight skidding rate derivative of drive wheel 5
Figure BDA0000061662940000042
Straight skidding rate S in order to ensure drive wheel 5 is stabilized in desired slip rate S *Near, the straight skidding rate S of drive wheel 5 and straight skidding rate derivative
Figure BDA0000061662940000043
Satisfy
Figure BDA0000061662940000044
Wherein k is constant; When the straight skidding rate S of motor-driven driving wheel of vehicle 5 and the straight skidding rate derivative of drive wheel 5 Satisfy During relational expression, the straight skidding rate S of drive wheel 5 will level off to desired slip rate S fast *, finally be stabilized in desired slip rate S *The place, thus guarantee that the motor-driven vehicle takes full advantage of ground and adheres to and drive, avoid drive wheel to trackslip;
By above-mentioned formula (4) as can be known, the straight skidding rate derivative of drive wheel 5 For:
S . = V . ( 1 - S ) - r ω . V , - - - ( 5 )
In above-mentioned formula (2) and the above-mentioned formula of formula (3) substitution (5), obtain the straight skidding rate derivative of drive wheel 5
Figure BDA0000061662940000049
Another kind of expression-form:
S . = - 1 V [ V . ( 1 - S ) + r 2 V . m t I ( 1 - S ) 2 ] + ( r VI ) ( 1 - S ) 2 T d . - - - ( 6 )
4) according to step 1)～3), the target drives moment computing module 34 that drives anti-skid controller 3 utilizes the moving velocity V of motor-driven vehicle, the longitudinal acceleration of motor-driven vehicle
Figure BDA00000616629400000411
Obtain target drives moment T at this moment with drive wheel straight skidding rate S d
In conjunction with formula (6) and straight skidding rate S and straight skidding rate derivative
Figure BDA00000616629400000412
Relational expression can calculate target drives moment T dExpression formula as follows:
T d = VI r ( 1 - S ) 2 { S * - S k + 1 V [ V . ( 1 - S ) + r 2 V . m t I ( 1 - S ) 2 ] } . - - - ( 7 )
5) electric machine controller 4 is according to the target drives moment T in the step 4) dObtain motor torque bid value T m, motor torque is dynamically controlled, finish the driving anti-slip regulation, improved the driving skidproof effect; Wherein, motor torque bid value T mFor:
T m＝i gi 0T d， (8)
In the formula, i gBe the transmission ratio of electric machine controller 4, i 0Main reduction gear transmitting ratio for electric machine controller 4.
The various embodiments described above only are used for explanation the present invention, and wherein the structure of each parts and connection mode etc. all can change to some extent, and every equivalents and improvement of carrying out on the basis of technical solution of the present invention all should do not got rid of outside protection scope of the present invention.

Claims (1)

1. the driving anti-slip regulation control method of a motor-driven vehicle comprises the steps:
1) arrange one and comprise two drive motor, four wheel speed sensors, a motor-driven anti-slip regulation control system that drives anti-skid controller and an electric machine controller, described driving anti-skid controller comprises speed of a motor vehicle computing module, vehicle acceleration computing module, slip rate computing module and target drives moment computing module;
2) two wheel speed sensors are the described driving anti-skid controller of the non-driving wheel angular velocity omega that collects ' be sent to, by described speed of a motor vehicle computing module according to non-driving wheel angular velocity omega ' the obtain moving velocity V of motor-driven vehicle;
3) obtained the longitudinal acceleration of motor-driven vehicle by described vehicle acceleration computing module
4) two other wheel speed sensors is sent to described driving anti-skid controller with the drive wheel angular velocity omega that collects, and utilizes the moving velocity V of drive wheel angular velocity omega and motor-driven vehicle to obtain straight skidding rate S and the straight skidding rate derivative of drive wheel by described slip rate computing module
Figure FDA00002984059100016
The straight skidding rate S of described drive wheel and its straight skidding rate derivative
Figure FDA00002984059100017
Satisfy following relational expression:
S · = k ( S - S * ) ,
In the formula, k is constant, S *It is the desired slip rate;
5) according to described step 2)～4), described target drive force computing module utilizes the moving velocity V of motor-driven vehicle, the longitudinal acceleration of motor-driven vehicle
Figure FDA00002984059100012
Obtain target drives moment T at this moment with drive wheel straight skidding rate S dDescribed target drives moment T dFor:
T d = VI r ( 1 - S ) 2 { S * - S k + 1 V [ V · ( 1 - S ) + r 2 V · m t I ( 1 - S ) 2 ] } ,
Wherein, I is the rotor inertia of wheel, S *Be the desired slip rate, r is the effective rolling radius of wheel, m tBe the quality of 1/2nd motor-driven vehicles, k is constant, and V is the moving velocity of motor-driven vehicle,
Figure FDA00002984059100014
Be the longitudinal acceleration of motor-driven vehicle, S is drive wheel straight skidding rate;
6) electric machine controller is according to target drives moment T dObtain motor torque bid value T m=i gi 0T d, motor torque is dynamically controlled, finish the driving anti-slip regulation; In the formula, i gBe the transmission ratio of electric machine controller, i 0Main reduction gear transmitting ratio for electric machine controller.
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