CN103101453A - Integrated electronic speed-differentiate and speed-regulation centralized control method and device thereof - Google Patents
Integrated electronic speed-differentiate and speed-regulation centralized control method and device thereof Download PDFInfo
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- CN103101453A CN103101453A CN2011103575948A CN201110357594A CN103101453A CN 103101453 A CN103101453 A CN 103101453A CN 2011103575948 A CN2011103575948 A CN 2011103575948A CN 201110357594 A CN201110357594 A CN 201110357594A CN 103101453 A CN103101453 A CN 103101453A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T10/72—Electric energy management in electromobility
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Abstract
Provided is an integrated electronic speed-differentiate and speed-regulation centralized control method and a device thereof. The integrated electronic speed-differentiate and speed-regulation centralized control method comprises an expected speed processing unit, an actual speed processing unit, a subtraction module, a PI algorithm module, a speed-differentiate distribution module, a left wheel drive unit and a right wheel drive unit. The integrated electronic speed-differentiate and speed-regulation centralized control method is characterized in that the expected speed processing unit, the actual speed processing unit, the subtraction module and the PI algorithm module can synergistically achieve a speed control function, the PI algorithm module sends a speed control output signal to the speed-differentiate distribution module, and the speed-differentiate distribution module uses an angle signal of a turning sensor to send the control signals of a left wheel driver and a right wheel driver to the left wheel drive unit and the right wheel drive unit. The integrated electronic speed-differentiate and speed-regulation centralized control method further provides the functions of speed-differentiate and speed-regulation, the system integration level and stability of a double-wheel-hub drive system are improved, and the maximum saving of the system and overall optimization are achieved.
Description
Technical field
The present invention relates to a kind of electron controls technology of four-wheel electric motor car, particularly electronic differential and speed governing constant speed are concentrated the battery-driven car driving control method that is integrated and the isolated plant of realizing the method.
Background technology
Most battery-driven car generally adopts the bridge-type drive configuration, and built-in motor directly is connected with drive axle, and the bridge-type drive configuration is applied to corresponding two-wheeled with the driving torque of built-in motor mechanically, promotes two-wheeled and advances, retreats.Although the differential method of bridge architecture is effective, owing to making energy transfer efficiency reduce by mechanical device, increased simultaneously the deadweight of battery-driven car.On the other hand, double wheel hub or many wheel hubs battery-driven car need extra electronics package to regulate the rotating speed of nearside wheel and off-side wheel when turning, to guarantee the stability of electric vehicle body.
At present, the driving of battery-driven car is the integrated future development towards driving motor and wheel, namely realize the direct driving of wheel, yet, what the challenge meaning was arranged is, how to realize simultaneously four-wheel electric motor car electronic differential and speed control, the problem to be solved in the present invention just by an integrated device.
Summary of the invention
Problem to be solved by this invention is to provide integrated apparatus and the method that can realize simultaneously four-wheel electric motor car electronic differential and speed control.
In order to address the above problem, technical scheme provided by the present invention is:
Integrated electric differential and speed governing centralized control method, described control method comprises the following steps:
1. the desired speed processing unit reads accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
2. the actual speed processing unit calculates actual treatment benchmark Vact, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
3. subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and the speed difference is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
4. PI algoritic module inbound pacing difference Verror, calculate speed Vset be set, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
5. the differential distribution module is according to turning to revision value V from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor
Δ, it is V that the inboard arranges speed
set-V Δ, outside speed is set to the Vset+V Δ;
6. the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
The present invention also provides a kind of device be used to realizing described integrated electric differential and speed governing centralized control method, and described device comprises:
The desired speed processing unit, read accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
The actual speed processing unit calculates actual treatment benchmark Vact, and is sent to subtraction block, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
Subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
The PI algoritic module, inbound pacing difference Verror calculates speed Vset is set, and speed Vset value will be set send to the differential distribution module, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
The differential distribution module, according to turning to revision value V Δ from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor, it is the Vset-V Δ that the inboard arranges speed, outside speed is set to the Vset+V Δ; After calculating end, the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
Preferably, the mouth of described accelerator, brake pedal, electronic parking is connected with the input end of desired speed processing unit respectively.
Preferably, the mouth of a described left side, wheel hub motor is connected with the input end of actual speed processing unit respectively.
Integrated electric differential proposed by the invention and speed governing centralized control method and realize that described square law device has following beneficial effect:
At first; integrated electric differential and speed governing centralized control method concentrate on one with speed governing and differential function, and reducing the wheel hub actuator is the computational burden of electric machine controller, makes the wheel hub actuator can be absorbed in the driving algorithm; other critical function such as limiting protecting have promoted Systems balanth.
Secondly, the functions such as the integrated control method of differential and speed governing will be braked, electronic parking are integrated in one, realized concentrating and integrated electrical control of double wheel hub drive system dispersed texture, under the prerequisite that keeps double wheel hub system original function, reduced system complexity, having reduced the wiring burden, is the control method of a kind of not only economy but also convenient and efficient.
At last, the wheel hub motor that the In-wheel motor driving device generally only is directed to this driver control carries out speed governing, and the car load system of disperseing driving for double wheel hub, its speed regulation process needs the coordination of two wheel hub actuators, the method is more difficult realization, speed regulation process is transferred to integrated controller, make the double wheel hub actuator of dispersion can plan as a whole to distribute, the more important thing is that the speed that has realized turning to and kept straight on controls, the advantage of the system integration is provided for the development in pluralism of double wheel hub drive system.
Description of drawings
Fig. 1 integrated electric differential and speed governing centralized controlling device electricity functional block diagram.
Label declaration:
1 desired speed processing unit
2 actual speed processing units
The 3PI algoritic module
4 differential distribution module
5 revolver driver elements
6 right wheel drive units
7 subtraction block
8 accelerators
9 brake pedals
10 electronic parkings
11 turning sensors
12 left wheel hub actuators
13 left wheel hub motors
14 right wheel hub actuators
15 right wheel hub motors
The specific embodiment
Below in conjunction with description of drawings the specific embodiment of the present invention.
Embodiment 1
Integrated electric differential and speed governing centralized control method, described control method comprises the following steps:
1. the desired speed processing unit reads accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
2. the actual speed processing unit calculates actual treatment benchmark Vact, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
3. subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and the speed difference is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
4. PI algoritic module inbound pacing difference Verror, calculate speed Vset be set, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
5. the differential distribution module is according to turning to revision value V from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor
Δ, it is V that the inboard arranges speed
set-V Δ, outside speed is set to the Vset+V Δ;
6. the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
Embodiment 2
A kind of device of realizing embodiment 1 described method comprises:
The desired speed processing unit, read accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
The actual speed processing unit calculates actual treatment benchmark Vact, and is sent to subtraction block, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
Subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
The PI algoritic module, inbound pacing difference Verror calculates speed Vset is set, and speed Vset value will be set send to the differential distribution module, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
The differential distribution module, according to turning to revision value V Δ from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor, it is the Vset-V Δ that the inboard arranges speed, outside speed is set to the Vset+V Δ; After calculating end, the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
Under the prerequisite that keeps double wheel hub system original function, in order to have reduced system complexity, reduced the wiring burden, adopt integrated processing in the technical program, the mouth of described accelerator, brake pedal, electronic parking is connected input end connects with the desired speed processing unit, the mouth of a described left side, wheel hub motor is connected with the input end of actual speed processing unit respectively.
Claims (4)
1. integrated electric differential and speed governing centralized control method, is characterized in that, described control method comprises the following steps:
1. the desired speed processing unit reads accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
2. the actual speed processing unit calculates actual treatment benchmark Vact, and is sent to subtraction block, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
3. subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and the speed difference is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
4. PI algoritic module inbound pacing difference Verror, calculate speed Vset be set, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
5. the differential distribution module is according to turning to revision value V from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor
Δ, it is V that the inboard arranges speed
set-V Δ, outside speed is set to the Vset+V Δ;
6. the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
2. device that is used for realizing the described integrated electric differential of claim 1 and speed governing centralized control method is characterized in that described device comprises:
The desired speed processing unit, read accelerator output and the electric signal desired speed linear correlation according to cycle T a, the desired speed processing unit reads the control electric signal of brake pedal and the output of electronic parking module according to cycle T c, the dimension of desired speed processing unit naturalization accelerator, brake pedal, electronic parking unit institute output electrical signals, with the value after naturalization as reference speed Vref and export subtraction block to;
The actual speed processing unit calculates actual treatment benchmark Vact, and is sent to subtraction block, and computing formula is:
Vact＝Vl×μl+Vr×μr (1)
Wherein, Vl is the left wheel hub motor speed, and Vr is right wheel hub motor rotating speed, and μ l, μ r are empirical parameter;
Subtraction block receives reference velocity Vref and actual treatment benchmark Vact, calculates the speed difference Verror of reference velocity Vref and actual speed Vact, and is sent to the PI algoritic module;
V
error＝(V
ref-V
act) (2)
The PI algoritic module, inbound pacing difference Verror calculates speed Vset is set, and speed Vset value will be set send to the differential distribution module, and formula is:
V
set＝V
error×Kp+(V
error+Sum)×Ki (3)
Wherein, Kp is the linear gain coefficient, and Ki is integration gain factor, Sum be all previous PI calculate medium velocity difference Verror accumulation and,
The differential distribution module, according to turning to revision value V Δ from the receive calculating with the angle electric signal steering wheel angle linear correlation and speed settings Vset of turning sensor, it is the Vset-V Δ that the inboard arranges speed, outside speed is set to the Vset+V Δ; After calculating end, the differential distribution module arranges speed with off-side wheel and sends to the wheel drive unit corresponding with off-side wheel, nearside wheel is arranged speed send to the wheel drive unit corresponding with nearside wheel.
3. device according to claim 2, it is characterized in that: the mouth of described accelerator, brake pedal, electronic parking is connected with the input end of desired speed processing unit respectively.
4. device according to claim 3, it is characterized in that: the mouth of a described left side, wheel hub motor is connected with the input end of actual speed processing unit respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110357594.8A CN103101453B (en) | 2011-11-13 | 2011-11-13 | Integrated electric differential and speed governing centralized Control method and device thereof |
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|---|---|---|---|
| CN201110357594.8A CN103101453B (en) | 2011-11-13 | 2011-11-13 | Integrated electric differential and speed governing centralized Control method and device thereof |
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| CN103101453A true CN103101453A (en) | 2013-05-15 |
| CN103101453B CN103101453B (en) | 2016-08-03 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129321A (en) * | 2014-08-20 | 2014-11-05 | 成都宽和科技有限责任公司 | Digital differential control moped system with gear signals and speed signals input successively |
| CN104149653A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential control moped system with gear signals added into model processor |
| CN105150880A (en) * | 2015-09-23 | 2015-12-16 | 中国煤炭科工集团太原研究院有限公司 | Electronic differential method of novel mining electric four-wheel drive special vehicle |
| CN106740273A (en) * | 2016-12-12 | 2017-05-31 | 中国北方车辆研究所 | For driver's signal resolution method of electric drive tracked vehicle control |
| CN106886215A (en) * | 2015-12-15 | 2017-06-23 | 北京智行者科技有限公司 | A kind of electric car based on multiaxis trolleybus tracking tracking system and with it |
| CN107757357A (en) * | 2017-11-13 | 2018-03-06 | 陕西科技大学 | A kind of cross feedback electronic type differential system and its control method |
| CN110816660A (en) * | 2019-10-18 | 2020-02-21 | 长沙桑铼特农业机械设备有限公司 | Hinged four-wheel drive chassis and steering method thereof |
| CN115195490A (en) * | 2021-04-09 | 2022-10-18 | 泓创绿能股份有限公司 | Driving system of electric vehicle and driving control method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129321A (en) * | 2014-08-20 | 2014-11-05 | 成都宽和科技有限责任公司 | Digital differential control moped system with gear signals and speed signals input successively |
| CN104149653A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential control moped system with gear signals added into model processor |
| CN104129321B (en) * | 2014-08-20 | 2016-04-13 | 成都宽和科技有限责任公司 | Boosted vehicle system is controlled with the digital differential of gear and speed signal successively input |
| CN104149653B (en) * | 2014-08-20 | 2016-04-13 | 成都宽和科技有限责任公司 | The voltage difference that shift signal adds model processor divides control boosted vehicle system |
| CN105150880A (en) * | 2015-09-23 | 2015-12-16 | 中国煤炭科工集团太原研究院有限公司 | Electronic differential method of novel mining electric four-wheel drive special vehicle |
| CN106886215A (en) * | 2015-12-15 | 2017-06-23 | 北京智行者科技有限公司 | A kind of electric car based on multiaxis trolleybus tracking tracking system and with it |
| CN106740273A (en) * | 2016-12-12 | 2017-05-31 | 中国北方车辆研究所 | For driver's signal resolution method of electric drive tracked vehicle control |
| CN107757357A (en) * | 2017-11-13 | 2018-03-06 | 陕西科技大学 | A kind of cross feedback electronic type differential system and its control method |
| CN110816660A (en) * | 2019-10-18 | 2020-02-21 | 长沙桑铼特农业机械设备有限公司 | Hinged four-wheel drive chassis and steering method thereof |
| CN112339856A (en) * | 2019-10-18 | 2021-02-09 | 长沙桑铼特农业机械设备有限公司 | Steering method based on articulated four-wheel drive chassis |
| CN112339856B (en) * | 2019-10-18 | 2021-09-28 | 长沙桑铼特农业机械设备有限公司 | Steering method based on articulated four-wheel drive chassis |
| CN115195490A (en) * | 2021-04-09 | 2022-10-18 | 泓创绿能股份有限公司 | Driving system of electric vehicle and driving control method thereof |
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