CN102275528B - Driving moment coordinated control system and method of distributed-driving electric automobile - Google Patents

Abstract

The invention relates to a driving moment coordinated control system and method of a distributed-driving electric automobile. The system comprises a speed sensor, a steering wheel rotation angle sensor, an acceleration pedal sensor, a distributed-driving motor driving moment sensor, a distributed-driving electric automobile running state monitoring system, a distributed-driving electric automobile entire driving moment allocation controller, a distributed-driving motor, and an invalid driving moment coordinated control system which comprises a driver intension identifier, an invalid mode judger and a driving moment regulator, wherein the distributed-driving electric automobile running state monitoring system sends a speed signal and a steering wheel rotation angle signal to the driver intension identifier, and sends a feedback driving moment signal of each driving motor to the invalid mode judger; and the driving moment regulator coordinates and re-allocates the driving moment of each driving wheel according to the invalid state. The system and method provided by the invention can be widely applied to the cooperative control of the driving moment of the distributed-driving electric automobile.

Description

A kind of driving moment coordinated control system of distributed-driving electric automobile and method

Technical field

The present invention relates to a kind of drive torque regulation and control system and method, particularly be applicable to distributed-driving electric automobile driving moment coordinated control system and method under failure conditions about a kind of.

Background technology

Auto trade has become the leading industry of China's modern equipment manufacturing industry at present, is key pillars of the national economy.But the automobile pollution that increases rapidly is so that the problem of China's energy scarcity, environmental pollution and safety traffic also becomes becomes increasingly conspicuous, and electronlmobil is an important directions of future development, and it can address the above problem by actv..

Difference according to the drive wheel installation site, electronlmobil is divided into centralized driving electronlmobil and distributed-driving electric automobile, different from centralized driving electronlmobil, distributed-driving electric automobile is to be installed in respectively drive motor in each wheel or near each wheel, such arrangement can save change speed gear box, power-transfer clutch, the devices such as main reduction gear and diff.Distributed-driving electric automobile has the advantages such as response is quick, the driving messenger chain is short, transmission is efficient, compact conformation, and therefore, distributed-driving electric automobile is an important development direction in electronlmobil field.

Distributed-driving electric automobile has four drive wheels, and situation about can't travel is prone to accidents occurring that some or certain several drive wheel lost efficacy.For fear of the general mode of directly stopping that adopts of generation of accident, still this mode does not take full advantage of the drive wheel that other did not lose efficacy.Therefore occurring some or during situation that certain several drive wheel lost efficacy, the drive wheel that takes full advantage of other normal operation is realized smooth-ride, to the carrying capacity that strengthens distributed electric automobile and driving safety all tool be of great significance.

Summary of the invention

For the problems referred to above, the purpose of this invention is to provide a kind of distributed-driving electric automobile occurs some or certain several drive wheel when losing efficacy, lost efficacy by the drive torque to the drive wheel of homonymy or heteropleural and to coordinate control, satisfied driving moment coordinated control system and the method for chaufeur demand.

For achieving the above object, the present invention takes following technical scheme: a kind of driving moment coordinated control system of distributed-driving electric automobile, it comprises a car speed sensor that is arranged on the distributed-driving electric automobile, one steering wheel angle sensor, one accelerator pedal sensor, four distributed drive motor drive torque sensors, one distributed-driving electric automobile motoring condition monitoring system, a distributed-driving electric automobile car load drive torque dispensing controller and four distributed drive motor; It is characterized in that: it also comprises an inefficacy driving moment coordinated control system, described inefficacy driving moment coordinated control system comprises a Driver intention recognition device that is arranged on the chaufeur instrument carrier panel, is arranged on four failure mode determining devices on each distributed drive motor and is arranged on four drive torque regulating controls on the distributed drive motor controller; Described Driver intention recognition device comprises longitudinal direction of car state monitoring module and lateral direction of car state monitoring module; Described failure mode determining device comprises left drive motor failure mode judge module, left back drive motor failure mode judge module, right front drive motor failure mode judge module and right back drive motor failure mode judge module; Each described drive motor failure mode judge module comprises respectively drive torque order monitoring modular, drive torque execution monitoring modular and timing module; The vehicle speed signal that described distributed-driving electric automobile motoring condition monitoring system will come from the distributed-driving electric automobile of described car speed sensor sends in the described Driver intention recognition device with the steering wheel angle signal that comes from steering wheel angle sensor; The feedback drive torque signal that described distributed-driving electric automobile motoring condition monitoring system will come from each drive motor of described distributed drive motor drive torque sensor sends in the described failure mode determining device; Described drive torque regulating control is coordinated reallocation according to failure state to the drive torque of each drive wheel, and sends to described distributed drive motor.

Adopt the drive torque control method for coordinating of a kind of distributed-driving electric automobile of described system, it comprises the steps: 1) an inefficacy driving moment coordinated control system is set in the driving moment coordinated control system of distributed-driving electric automobile, this inefficacy driving moment coordinated control system comprises Driver intention recognition device, failure mode determining device and drive torque regulating control; Described Driver intention recognition device comprises longitudinal direction of car state monitoring module and lateral direction of car state monitoring module; Described failure mode determining device comprises left drive motor failure mode judge module, left back drive motor failure mode judge module, right front drive motor failure mode judge module and right back drive motor failure mode judge module; Each described drive motor failure mode judge module comprises respectively drive torque order monitoring modular, drive torque execution monitoring modular and timing module; 2) described longitudinal direction of car state monitoring module Real-Time Monitoring actual vehicle speed value v, and actual vehicle speed value v and speed of a motor vehicle threshold value Δ v compared, described lateral direction of car state monitoring module Real-Time Monitoring steering wheel angle value δ, and bearing circle actual rotational angle δ and steering wheel angle threshold value Δ δ compared, according to comparison result value, judge dynamic property demand and the durability requirements of chaufeur; 3) the drive torque bid value T of described each drive motor of drive torque order monitoring modular Real-Time Monitoring _Des, and with the drive torque bid value T of each drive motor _DesWith the drive torque threshold value Δ T that sets ₁Compare, drive torque is carried out the feedback drive torque value T of each drive motor of monitoring modular Real-Time Monitoring _Act, and with the feedback drive torque value T of each drive motor _ActWith the drive torque threshold value Δ T that sets ₂Compare, wherein Δ T ₁＞Δ T ₂, the time t of described timing module record and setting-up time threshold value Δ t relatively judge according to above-mentioned three comparative results whether each drive wheel is in failure conditions; The failure conditions of each drive wheel that the chaufeur real needs of 4) formulating according to the Driver intention recognition device and failure mode determining device send, drive torque bid value in conjunction with described distributed-driving electric automobile car load drive torque dispensing controller calculating, the drive torque regulating control is coordinated reallocation to the drive torque of each drive wheel, and the drive torque order after will reallocating directly sends to described distributed drive motor, finishes the coordination control of drive torque.

Described step 2) according to comparison result value, chaufeur is formulated the driving demand in, when satisfying δ＜Δ δ and v＜Δ v, thinks the dynamic property that the chaufeur demand is larger, when not satisfying δ＜Δ δ and v＜Δ v, thinks the stability that the chaufeur demand is larger.

Described step 3) judges according to above-mentioned three comparative results whether each drive wheel is in failure conditions in, when satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, timing module begins to start, and the time span of timing module record is t; When not satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, the timing module zero clearing, when t＞Δ t, the drive torque of certain drive wheel can not respond the drive torque order, thinks that this drive wheel lost efficacy.

Described step 3) judges according to above-mentioned three comparative results whether each drive wheel is in failure conditions in, failure conditions comprises without drive wheel inefficacy, the inefficacy of single drive wheel, the inefficacy of heteropleural dual drive wheel, the homonymy dual drive wheel lost efficacy, and three drive wheels lost efficacy, and all drive wheel lost efficacy.

Described step 4) the drive torque regulating control is coordinated reallocation to the drive torque of each drive wheel in, comprise that dynamic property is coordinated control and stability is coordinated control, its control process is as follows: after 1. some or certain several drive wheel lost efficacy, the method that dynamic property is coordinated control is that the drive torque that takes full advantage of the drive wheel of other normal operation remedies owing to drive torque value some or that certain several drive wheel lost efficacy and reduces, for the different failure conditions of drive wheel, increase the drive torque of homonymy or heteropleural normal operation drive wheel, finish the dynamic property of distributed-driving electric automobile drive torque and coordinate control; 2. after some or certain several drive wheel lost efficacy, for the different failure conditions of drive wheel, the drive torque of corresponding reduction homonymy or heteropleural drive wheel was finished the stability of distributed-driving electric automobile drive torque and is coordinated control.

The present invention is owing to take above technical scheme, it has the following advantages: 1, inefficacy driving moment coordinated control system of the present invention was coordinated control by the distributed-driving electric automobile that the drive wheel inefficacy occurs is lost efficacy, occurring in the situation that certain or certain several drive wheels lost efficacy, satisfy the demand of chaufeur as far as possible, keep certain dynamic property and stability, suppressed the unsafe condition that lost efficacy and occur because of drive wheel.2, when driver side overweights the dynamic property demand, in the situation that the drive wheel inefficacy occurs, the present invention takes full advantage of the power-handling capability of normal operation drive wheel, by increasing the drive torque of normal operation drive wheel, has remedied the vertical drive torque of car load that lost efficacy and lose because of drive wheel.3, when driver side overweights durability requirements, in the situation that the drive wheel inefficacy occurs, the present invention utilizes the drive wheel of normal operation to satisfy vertical drive torque under the prerequisite that satisfies car load yaw moment demand as far as possible.4, the present invention is occuring in the situation that the homonymy dual drive wheel lost efficacy, three drive wheels lost efficacy, all drive wheel lost efficacy, and the drive torque regulating control is set to 0 with the drive torque bid value of all drive motor, guarantees the driving safety of distributed-driving electric automobile.Therefore, the present invention can be widely used in the drive torque coordination control of distributed-driving electric automobile under failure conditions.

Description of drawings

Fig. 1 is distributed-driving electric automobile drive torque regulation and control system block diagram of the present invention;

Fig. 2 is Driver intention recognition device control block diagram of the present invention;

Fig. 3 is failure mode determining device control block diagram of the present invention;

Fig. 4 is drive torque regulating control control block diagram 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, the distributed-driving electric automobile drive torque regulation and control system of the present invention and routine techniques is similar, comprises a car speed sensor 1, a steering wheel angle sensor 2, an accelerator pedal sensor 3, four distributed motor drive torque sensors 4, a distributed-driving electric automobile motoring condition monitoring system 5, a distributed-driving electric automobile car load drive torque dispensing controller 6, four distributed drive motor 7.The difference of the present invention and routine techniques is to be provided with specially an inefficacy driving moment coordinated control system 8, inefficacy driving moment coordinated control system 8 comprises a Driver intention recognition device 81 that is arranged on the chaufeur instrument carrier panel, is arranged on four failure mode determining devices 82 and four drive torque regulating controls 83 that are arranged on the distributed drive motor controller on each distributed drive motor.

As shown in Figure 2, the Driver intention recognition device 81 that lost efficacy in the driving moment coordinated control system 8 of the present invention comprises longitudinal direction of car state monitoring module 810 and lateral direction of car state monitoring module 811.Longitudinal direction of car state monitoring module 810 Real-Time Monitoring actual vehicle speed value v, and actual vehicle speed value v and speed of a motor vehicle threshold value Δ v compared, lateral direction of car state monitoring module 811 Real-Time Monitoring steering wheel angle value δ, and bearing circle actual rotational angle δ and steering wheel angle threshold value Δ δ compared.When satisfying δ＜Δ δ and v＜Δ v, think the dynamic property that the chaufeur demand is larger, the target that the inefficacy drive torque is coordinated control is the drive torque that takes full advantage of all drive motor that can work, satisfy vertical drive torque demand of chaufeur, and a yaw moment that produces is as less important demand as far as possible.When not satisfying δ＜Δ δ and v＜Δ v, think the stability that the chaufeur demand is larger, the target that the drive torque that loses efficacy this moment is coordinated control is to keep the drive torque value of distributed-driving electric automobile both sides roughly the same, and purpose is to satisfy the yaw moment demand of chaufeur.

As shown in Figure 3, the failure mode determining device 82 that the present invention was lost efficacy in the driving moment coordinated control system 8 comprises left drive motor failure mode judge module, left back drive motor failure mode judge module, right front drive motor failure mode judge module and right back drive motor failure mode judge module, judges respectively the failure state (not shown) of four distributed drive motor 7 by these four failure mode judge modules.The deterministic process of failure mode is described take the left drive motor as embodiment, and left drive motor failure mode judge module comprises drive torque order monitoring modular 820, drive torque execution monitoring modular 821 and timing module 822.The drive torque bid value T of drive torque order monitoring modular 820 Real-Time Monitoring left drive motors _Des, and with the drive torque bid value T of left drive motor _DesWith the drive torque threshold value Δ T that sets ₁Compare.Drive torque is carried out the feedback drive torque value T of the left front motor of monitoring modular 821 Real-Time Monitorings _Act, and with the feedback drive torque value T of left drive motor _ActWith the drive torque threshold value Δ T that sets ₂Compare, wherein Δ T ₁＞Δ T ₂, timing module 822 setting-up time threshold value Δ t.When satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, timing module 822 begins to start, and the time span of timing module 822 records is t; When not satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, timing module 822 zero clearings.When t＞Δ t, think that the drive torque of left drive motor can not respond the drive torque order that drive torque regulating control 83 sends, namely the left drive motor lost efficacy.The structure of the failure mode judge module of other three drive motor is all identical with left drive motor failure mode judge module with the method for judging inefficacy, no longer describes in detail herein.

The vehicle speed signal that distributed-driving electric automobile motoring condition monitoring system 5 will come from the distributed-driving electric automobile of car speed sensor 1 sends in the Driver intention recognition device 81 with the steering wheel angle signal that comes from steering wheel angle sensor 2.The feedback drive torque signal that distributed-driving electric automobile motoring condition monitoring system 5 will come from each drive motor of distributed motor drive torque sensor 4 sends in the failure mode determining device 82.

As shown in Figure 4, the lost efficacy failure conditions of each drive wheel that drive torque regulating control 83 in the driving moment coordinated control system 8 sends according to real needs and the failure mode determining device 82 of the chaufeur of the formulation of Driver intention recognition device 81 of the present invention, in conjunction with the drive torque bid value that distributed-driving electric automobile car load drive torque dispensing controller 6 is calculated the drive torque of each drive motor is coordinated reallocation, and the drive torque order after will reallocating directly sends to distributed drive motor 7.If learn that by 82 judgements of failure mode determining device the drive torque bid value that drive torque regulating control 83 sends to distributed drive motor 7 is identical with the drive torque bid value that distributed-driving electric automobile car load drive torque dispensing controller 6 calculates without the drive wheel inefficacy.If learn the situation that exists drive wheel that inefficacy occurs by 82 judgements of failure mode determining device, distributed-driving electric automobile enters the inefficacy drive torque and coordinates master mode, and no longer distribute drive torque to the drive wheel that inefficacy occurs this moment.In case after entering inefficacy drive torque coordination master mode, distributed-driving electric automobile just no longer withdraws from this pattern, until finally lower electricity parking of automobile.

Such as Fig. 1～shown in Figure 4, when the present invention operates, the chaufeur acceleration pedal signal that the steering wheel angle signal that the vehicle speed signal of the distributed-driving electric automobile that car speed sensor 1 gathers, steering wheel angle sensor 2 gather, accelerator pedal sensor 3 gather, and the feedback drive torque signal of each drive motor of collecting of distributed motor drive torque sensor 4, send to respectively in the distributed-driving electric automobile motoring condition monitoring system 5.Distributed-driving electric automobile motoring condition monitoring system 5 sends to vehicle speed signal and the acceleration pedal aperture signal of the distributed-driving electric automobile that collects in the distributed-driving electric automobile car load drive torque dispensing controller 6 simultaneously.Distributed-driving electric automobile motoring condition monitoring system 5 sends to the feedback drive torque signal of vehicle speed signal, steering wheel angle signal and each drive motor of the distributed-driving electric automobile that collects in the inefficacy driving moment coordinated control system 8.Distributed-driving electric automobile car load drive torque dispensing controller 6 is according to vehicle speed signal and the acceleration pedal aperture signal of distributed-driving electric automobile, calculate the drive torque bid value of each distributed drive motor, and the drive torque bid value of each drive motor is sent in the inefficacy moment coordinated control system 8.

Driver intention recognition device 81 in the inefficacy driving moment coordinated control system 8 is formulated chaufeur to the demand of dynamic property and stability according to vehicle speed signal and the steering wheel angle signal of distributed-driving electric automobile.Failure mode determining device 82 is judged the failure state of each drive motor according to the feedback drive torque signal of the drive torque bid value of each drive motor and each drive motor.Drive torque regulating control 83 is according to the real needs and the failure state that comes from each drive motor of failure mode determining device 82 of the chaufeur that comes from Driver intention recognition device 81, drive torque bid value in conjunction with each drive motor that comes from distributed-driving electric automobile car load drive torque dispensing controller 6, the drive torque of each drive motor is coordinated reallocation, and the drive torque order after will reallocating sends to distributed drive motor 7, finishes the distributed-driving electric automobile drive torque and coordinates control.

Failure mode determining device 82 comprehensive all drive wheel failure conditions of output comprise without drive wheel and losing efficacy that single drive wheel lost efficacy, and the heteropleural dual drive wheel lost efficacy, and the homonymy dual drive wheel lost efficacy, and three drive wheels lost efficacy, and all drive wheel lost efficacy.

The coordination control that 83 pairs of drive torques of drive torque regulating control are coordinated reallocation comprises that dynamic property is coordinated control and stability is coordinated control, before the setting drive wheel lost efficacy, the drive torque order that distributed-driving electric automobile car load drive torque dispensing controller 6 is distributed to each drive wheel was respectively the drive torque T of left drive wheel _FL, the drive torque T of right front drive wheel _FR, the drive torque T of left back drive wheel _RLDrive torque T with right back drive wheel _RRIn general, the maximum drive moment that each drive wheel of normal operation can send is all identical, is T _MaxThe drive torque order that sends to each drive motor after drive torque is coordinated to reallocate is respectively

The method of coordinating the coordination control of reallocation for its drive torque of different failure conditions comprises as follows:

1) lost efficacy without drive wheel

If failure mode determining device 82 judges do not have drive wheel to lose efficacy, the drive torque order that drive torque regulating control 83 is issued distributed drive motor 7 is respectively:

$T_{\mathrm{FL}}^{*}=T_{\mathrm{FL}}$

$T_{\mathrm{FR}}^{*}=T_{\mathrm{FR}}$ 。(1)

$T_{\mathrm{RL}}^{*}=T_{\mathrm{RL}}$

$T_{\mathrm{RR}}^{*}=T_{\mathrm{RR}}$

2) the coordination control of single drive wheel inefficacy

The situation that single drive wheel inefficacy occurs has four kinds to be respectively: the left drive wheel lost efficacy, and left back drive wheel lost efficacy, and right front drive wheel lost efficacy, right back drive wheel inefficacy.The present invention lost efficacy take the left drive wheel to coordinate the method for control as embodiment illustrates single drive wheel inefficacy.

1. dynamic property is coordinated control

After single drive wheel occurs losing efficacy, it is that to satisfy vertical drive torque be main objective that dynamic property is coordinated control, satisfies simultaneously the yaw moment demand as far as possible.After the left drive wheel lost efficacy, the method that dynamic property is coordinated control was that the drive torque that takes full advantage of the drive wheel of other normal operation remedies the drive torque value that lost efficacy and reduce owing to the left drive wheel.For satisfy the yaw moment demand as far as possible, at first carry out homonymy drive torque coordinated allocation, namely increase the drive torque of left back drive wheel.When coordinating control by the homonymy drive torque and can't satisfy vertical drive torque demand, then carry out the heteropleural drive torque and coordinate control, increase the drive torque of heteropleural drive wheel, yaw moment can not be met this moment, for the situation of the inefficacy of different drive wheels, the method that dynamic property is coordinated control is as follows:

If a) T _FL+ T _RL＜T _Max, namely left back drive wheel moment increases T _FLAfter surpass maximum drive torque value T _Max, then satisfying dynamic property coordination demand for control by increasing with the drive torque coordination control of side drive wheel, after the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=T_{\mathrm{FR}}$

$T_{\mathrm{RL}}^{*}=T_{\mathrm{FL}}+T_{\mathrm{RL}}$

$T_{\mathrm{RR}}^{*}=T_{\mathrm{RR}}.---\left(2\right)$

B) if T _FL+ T _RL〉=T _MaxAnd T _FL+ T _RL+ T _RR＜2T _MaxThen satisfy vertical drive torque demand by the drive torque of increase homonymy normal operation drive wheel and the drive torque of heteropleural rear drive sprocket, after the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=T_{\mathrm{FR}}$ 。(3)

$T_{\mathrm{RL}}^{*}=T_{\max }$

$T_{\mathrm{RR}}^{*}=T_{\mathrm{FL}}+T_{\mathrm{RL}}+T_{\mathrm{RR}}-T_{\max }$

C) if T _FL+ T _RL+ T _RR〉=2T _MaxAnd T _FL+ T _FR+ T _RL+ T _RR＜3T _MaxThen satisfy total drive torque demand by the drive torque of increase homonymy normal operation drive wheel and the drive torque of two drive wheels of heteropleural, after the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=T_{\mathrm{FL}}+T_{\mathrm{RL}}+T_{\mathrm{FR}}+T_{\mathrm{RR}}-2T_{\max }$ 。(4)

$T_{\mathrm{RL}}^{*}=T_{\max }$

$T_{\mathrm{RR}}^{*}=T_{\max }$

D) if T _FL+ T _FR+ T _RL+ T _RR〉=3T _Max, then the drive wheel moment of all normal operations is increased to maximum and also can't satisfies total vertically drive torque demand.But can improve as much as possible dynamic property like this, after the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=T_{\max }$

$T_{\mathrm{RL}}^{*}=T_{\max }$

$T_{\mathrm{RR}}^{*}=T_{\max }.---\left(5\right)$

2. stability is coordinated control

After single drive wheel inefficacy occurs, because the driving condition of distributed-driving electric automobile is no longer normal, in order to improve as much as possible the stability of distributed-driving electric automobile, can not consider to improve stability by the method that increases drive wheel moment, but rely on the moment that reduces each drive wheel to improve stability.

After the inefficacy of left drive wheel, the target that stability is coordinated control is so that yaw moment satisfies the demand of chaufeur, and vertical drive torque demand is considered as a less important target.At this moment, for satisfying durability requirements, the drive torque of corresponding reduction heteropleural front driving wheel is if in the time of only can't satisfying the yaw moment demand by reduction heteropleural front driving wheel drive torque, then further reduce heteropleural rear drive sprocket drive torque.To the situation of the inefficacy of different drive wheels, the method that stability is coordinated control is as follows:

If a) T _FL＜T _FR, then just can satisfy the yaw moment demand by the drive torque that reduces the heteropleural front driving wheel, although sacrificed the part tractive performance, guaranteed the stability of distributed-driving electric automobile.After the stability coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=T_{\mathrm{FR}}-T_{\mathrm{FL}}$

$T_{\mathrm{RL}}^{*}=T_{\mathrm{RL}}$

$T_{\mathrm{RR}}^{*}=T_{\mathrm{RR}}.---\left(6\right)$

B) if T _FL〉=T _FRThen only can not satisfy the yaw moment demand by the drive torque that reduces the heteropleural front driving wheel, need to reduce simultaneously heteropleural rear drive sprocket drive torque, after the stable coordinated allocation, the drive torque order that drive torque regulating control 83 sends to the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$

$T_{\mathrm{RL}}^{*}=T_{\mathrm{RL}}$

$T_{\mathrm{RR}}^{*}=T_{\mathrm{RR}}+T_{\mathrm{FR}}+T_{\mathrm{FL}}.---\left(7\right)$

3) the heteropleural dual drive wheel lost efficacy and coordinated control

The situation of generation heteropleural dual drive wheel inefficacy has four kinds, is respectively: left drive wheel and right front drive wheel lost efficacy, left drive is taken turns and the inefficacy of right back drive wheel, left back drive wheel and the inefficacy of right front drive wheel, left back drive wheel and right back drive wheel lost efficacy.

The present invention illustrates heteropleural dual drive wheel inefficacy control method for coordinating take left drive wheel and the inefficacy of right front drive wheel as embodiment.

1. dynamic property is coordinated control

After the inefficacy of heteropleural dual drive wheel occured, the primary goal that dynamic property is coordinated control was to satisfy vertical drive torque demand, satisfies simultaneously the yaw moment demand as far as possible.

If a) T _FL+ T _FR+ T _RL+ T _RR＜2T _Max, then just can satisfy the dynamic property coordination requirement by the drive torque that increases the drive wheel that works.After the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$

$T_{\mathrm{RL}}^{*}=(T_{\mathrm{FL}}+T_{\mathrm{FR}}+T_{\mathrm{RL}}+T_{\mathrm{RR}})/2$

$T_{\mathrm{RR}}^{*}=(T_{\mathrm{FL}}+T_{\mathrm{FR}}+T_{\mathrm{RL}}+T_{\mathrm{RR}})/2.---\left(8\right)$

B) if T _FL+ T _FR+ T _RL+ T _RR〉=2T _Max, then can't satisfy former propulsive effort demand by the drive torque that increases the drive wheel that works, can only increase the drive torque of each drive wheel near the dynamic property demand of chaufeur as far as possible.After the dynamic property coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$

$T_{\mathrm{RL}}^{*}=T_{\max }$

$T_{\mathrm{RR}}^{*}=T_{\max }.---\left(9\right)$

2. stability is coordinated control

After the inefficacy of heteropleural dual drive wheel occurs, because the driving condition of distributed electric automobile is no longer normal, in order to improve as much as possible the stability of automobile, no longer consider to improve stability by the method that increases drive wheel moment, but rely on the drive torque that reduces each drive wheel to improve stability, reduce the generation of yaw moment as far as possible.After the stability coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$

$T_{\mathrm{RL}}^{*}=\min (T_{\mathrm{RL}},T_{\mathrm{RR}})$

$T_{\mathrm{RR}}^{*}=\min (T_{\mathrm{RL}},T_{\mathrm{RR}}).---\left(10\right)$

4) the homonymy dual drive wheel lost efficacy and coordinated control

The situation that the homonymy dual drive wheel lost efficacy has two kinds: left drive wheel and left back drive wheel lost efficacy, and right front drive wheel and right back drive wheel lost efficacy.

No matter left side dual drive wheel inefficacy or the inefficacy of right side dual drive wheel occur, distributed electric automobile has all completely lost the propulsive effort of a side, and yaw very easily occurs in the driving process, so after the inefficacy of homonymy dual drive wheel occurs, should allow automobile stop as early as possible, avoid occurring unsafe condition.After the stability coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$ 。(11)

$T_{\mathrm{RL}}^{*}=0$

$T_{\mathrm{RR}}^{*}=0$

5) three drive wheels lost efficacy and coordinated control

The situation that three drive wheels inefficacies occur has four kinds to be respectively: left drive wheel, left back drive wheel and three drive wheels of right front drive wheel lost efficacy; Left drive wheel, left back drive wheel and three drive wheels of right back drive wheel lost efficacy; Right front drive wheel, right back drive wheel and three drive wheels of left drive wheel lost efficacy; Right front drive wheel, right back drive wheel and three drive wheels of left back drive wheel lost efficacy;

After three drive wheels occur losing efficacy, completely lost the propulsive effort of a side, opposite side also can only the retaining part propulsive effort, and yaw very easily occurs in the driving process, after therefore three drive wheels occur losing efficacy, should allow automobile stop as early as possible, avoids occurring unsafe condition.After the stability coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$ 。(12)

$T_{\mathrm{RL}}^{*}=0$

$T_{\mathrm{RR}}^{*}=0$

6) all drive wheel lost efficacy

Situation that whole drive wheels lost efficacy occurs to be had a kind ofly, and this moment, distributed-driving electric automobile was lost whole drive torques, should allow automobile stop as early as possible, avoided occurring unsafe condition.After the stability coordinated allocation, the drive torque order that drive torque regulating control 83 is issued the distributed drive motor 7 of each drive wheel is respectively:

$T_{\mathrm{FL}}^{*}=0$

$T_{\mathrm{FR}}^{*}=0$ 。(13)

$T_{\mathrm{RL}}^{*}=0$

$T_{\mathrm{RR}}^{*}=0$

Distributed-driving electric automobile is owing to exist a plurality of drive wheels, in the situation that can't drive, still can utilize the drive wheel of other normal operation occurring that some or certain several drive wheel lost efficacy, and realizing walking lamely drives.This mode makes distributed-driving electric automobile keep good dynamic property and stability by taking full advantage of other drive wheel that do not lose efficacy, and has satisfied the driving demand of chaufeur as far as possible.

The various embodiments described above only are used for explanation the present invention; wherein the structure of each parts, connection mode and method step etc. all can change to some extent; 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 (8)

1. the driving moment coordinated control system of a distributed-driving electric automobile, it comprises a car speed sensor that is arranged on the distributed-driving electric automobile, one steering wheel angle sensor, one accelerator pedal sensor, four distributed drive motor drive torque sensors, one distributed-driving electric automobile motoring condition monitoring system, a distributed-driving electric automobile car load drive torque dispensing controller and four distributed drive motor; It is characterized in that: it also comprises an inefficacy driving moment coordinated control system, described inefficacy driving moment coordinated control system comprises a Driver intention recognition device that is arranged on the chaufeur instrument carrier panel, is arranged on four failure mode determining devices on each distributed drive motor and is arranged on four drive torque regulating controls on the distributed drive motor controller; Described Driver intention recognition device comprises longitudinal direction of car state monitoring module and lateral direction of car state monitoring module; Described failure mode determining device comprises left drive motor failure mode judge module, left back drive motor failure mode judge module, right front drive motor failure mode judge module and right back drive motor failure mode judge module; Each described drive motor failure mode judge module comprises respectively drive torque order monitoring modular, drive torque execution monitoring modular and timing module;

The vehicle speed signal that described distributed-driving electric automobile motoring condition monitoring system will come from the distributed-driving electric automobile of described car speed sensor sends in the described Driver intention recognition device with the steering wheel angle signal that comes from steering wheel angle sensor; The feedback drive torque signal that described distributed-driving electric automobile motoring condition monitoring system will come from each drive motor of described distributed drive motor drive torque sensor sends in the described failure mode determining device; Described drive torque regulating control is coordinated reallocation according to failure state to the drive torque of each drive wheel, and sends to described distributed drive motor.

2. one kind is adopted the as claimed in claim 1 drive torque control method for coordinating of the distributed-driving electric automobile of driving moment coordinated control system, and it comprises the steps:

1) an inefficacy driving moment coordinated control system is set in the driving moment coordinated control system of distributed-driving electric automobile, this inefficacy driving moment coordinated control system comprises Driver intention recognition device, failure mode determining device and drive torque regulating control; Described Driver intention recognition device comprises longitudinal direction of car state monitoring module and lateral direction of car state monitoring module; Described failure mode determining device comprises left drive motor failure mode judge module, left back drive motor failure mode judge module, right front drive motor failure mode judge module and right back drive motor failure mode judge module; Each described drive motor failure mode judge module comprises respectively drive torque order monitoring modular, drive torque execution monitoring modular and timing module;

2) described longitudinal direction of car state monitoring module Real-Time Monitoring actual vehicle speed value v, and actual vehicle speed value v and speed of a motor vehicle threshold value Δ v compared, described lateral direction of car state monitoring module Real-Time Monitoring steering wheel angle value δ, and bearing circle actual rotational angle δ and steering wheel angle threshold value Δ δ compared, according to comparison result value, judge dynamic property demand and the durability requirements of chaufeur;

3) the drive torque bid value T of described each drive motor of drive torque order monitoring modular Real-Time Monitoring _Des, and with the drive torque bid value T of each drive motor _DesWith the drive torque threshold value Δ T that sets ₁Compare, drive torque is carried out the feedback drive torque value T of each drive motor of monitoring modular Real-Time Monitoring _Act, and with the feedback drive torque value T of each drive motor _ActWith the drive torque threshold value Δ T that sets ₂Compare, wherein Δ T ₁＞Δ T ₂, the time t of described timing module record and setting-up time threshold value Δ t relatively judge according to above-mentioned three comparative results whether each drive wheel is in failure conditions;

The failure conditions of each drive wheel that the chaufeur real needs of 4) formulating according to the Driver intention recognition device and failure mode determining device send, drive torque bid value in conjunction with described distributed-driving electric automobile car load drive torque dispensing controller calculating, the drive torque regulating control is coordinated reallocation to the drive torque of each drive wheel, and the drive torque order after will reallocating directly sends to described distributed drive motor, finishes the coordination control of drive torque.

3. the drive torque control method for coordinating of a kind of distributed-driving electric automobile as claimed in claim 2, it is characterized in that: described step 2) according to comparison result value, chaufeur is formulated the driving demand, when satisfying δ＜Δ δ and v＜Δ v, think the dynamic property that the chaufeur demand is larger, when not satisfying δ＜Δ δ and v＜Δ v, think the stability that the chaufeur demand is larger.

4. the drive torque control method for coordinating of a kind of distributed-driving electric automobile as claimed in claim 2 is characterized in that: judge according to above-mentioned three comparative results whether each drive wheel is in failure conditions described step 3), when satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, timing module begins to start, and the time span of timing module record is t; When not satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, the timing module zero clearing, when t＞Δ t, the drive torque of certain drive wheel can not respond the drive torque order, thinks that this drive wheel lost efficacy.

5. the drive torque control method for coordinating of a kind of distributed-driving electric automobile as claimed in claim 3 is characterized in that: judge according to above-mentioned three comparative results whether each drive wheel is in failure conditions described step 3), when satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, timing module begins to start, and the time span of timing module record is t; When not satisfying T _Des＞Δ T ₁And T _Act＜Δ T ₂The time, the timing module zero clearing, when t＞Δ t, the drive torque of certain drive wheel can not respond the drive torque order, thinks that this drive wheel lost efficacy.

6. such as the drive torque control method for coordinating of claim 2 or 3 or 4 or 5 described a kind of distributed-driving electric automobiles, it is characterized in that: judge according to above-mentioned three comparative results whether each drive wheel is in failure conditions described step 3), failure conditions comprises without drive wheel inefficacy, the inefficacy of single drive wheel, the inefficacy of heteropleural dual drive wheel, the homonymy dual drive wheel lost efficacy, three drive wheels lost efficacy, and all drive wheel lost efficacy.

7. such as the drive torque control method for coordinating of claim 2 or 3 or 4 or 5 described a kind of distributed-driving electric automobiles, it is characterized in that: the drive torque regulating control is coordinated reallocation to the drive torque of each drive wheel described step 4), comprise that dynamic property is coordinated control and stability is coordinated control, its control process is as follows:

1. after some or certain several drive wheel lost efficacy, the method that dynamic property is coordinated control is that the drive torque that takes full advantage of the drive wheel of other normal operation remedies owing to drive torque value some or that certain several drive wheel lost efficacy and reduces, for the different failure conditions of drive wheel, increase the drive torque of homonymy or heteropleural normal operation drive wheel, finish the dynamic property of distributed-driving electric automobile drive torque and coordinate control;

2. after some or certain several drive wheel lost efficacy, for the different failure conditions of drive wheel, the drive torque of corresponding reduction homonymy or heteropleural drive wheel was finished the stability of distributed-driving electric automobile drive torque and is coordinated control.

8. the drive torque control method for coordinating of a kind of distributed-driving electric automobile as claimed in claim 6, it is characterized in that: the drive torque regulating control is coordinated reallocation to the drive torque of each drive wheel described step 4), comprise that dynamic property is coordinated control and stability is coordinated control, its control process is as follows:

1. after some or certain several drive wheel lost efficacy, the method that dynamic property is coordinated control is that the drive torque that takes full advantage of the drive wheel of other normal operation remedies owing to drive torque value some or that certain several drive wheel lost efficacy and reduces, for the different failure conditions of drive wheel, increase the drive torque of homonymy or heteropleural normal operation drive wheel, finish the dynamic property of distributed-driving electric automobile drive torque and coordinate control;

2. after some or certain several drive wheel lost efficacy, for the different failure conditions of drive wheel, the drive torque of corresponding reduction homonymy or heteropleural drive wheel was finished the stability of distributed-driving electric automobile drive torque and is coordinated control.

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