CN103707778A - Skidding resistance control method and device of electric-wheel dumper - Google Patents
Skidding resistance control method and device of electric-wheel dumper Download PDFInfo
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- CN103707778A CN103707778A CN201310744817.5A CN201310744817A CN103707778A CN 103707778 A CN103707778 A CN 103707778A CN 201310744817 A CN201310744817 A CN 201310744817A CN 103707778 A CN103707778 A CN 103707778A
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Abstract
The embodiment of the invention discloses a skidding resistance control method and device of an electric-wheel dumper. The method includes the steps that whether the electric-wheel dumper skids or not is judged according to the wheel speed of the electric-wheel dumper; when it is determined that the electric-wheel dumper skids, torque compensation amount is calculated according to the wheel speed and is sent to torque regulators of the electric-wheel dumper so that corresponding wheel motors are controlled by the torque regulators to adjust the speeds of wheels correspondingly driven by the wheel motors. By judging whether the wheels of the electric-wheel dumper skid or not and compensating for the torque of the motors corresponding to the skidding wheels when it is determined that the wheels of the electric-wheel dumper skid, the problem that the wheels skid can be safely and effectively solved, the control precision is high, and the skidding resistance effect is good.
Description
Technical field
The present invention relates to vehicle control field, relate in particular to a kind of anti-skid control method and device of electric power wheel self-discharging vehicle.
Background technology
Electric power wheel self-discharging vehicle is the large-scale transport vehicle that integrates driving engine, electrical generator, electrical motor, hydraulic efficiency pressure system, electric-control system, the advantages such as it has, and efficiency is high, freight volume large, good economy performance.Along with the raising of mining requirement and the development of industrial technology, Large Electric wheel self-discharging vehicle becomes the desirable transportation means of year above surface mine of yield ten-million-ton scale, large-scale water conservancy construction engineering.
But because electric power wheel self-discharging vehicle cost is high, its safety performance is had relatively high expectations.For electric power wheel self-discharging vehicle, occur that the situation of skidding is very easy to cause safety misadventure.The antiskid control system of vehicle is in order to prevent that vehicle from occurring trackslipping travelling, in starting or accelerator or the situation such as idle running, particularly prevent that vehicle from occurring the situation of trackslipping on asymmetric road surface, thus effectively improve vehicle can be handling, stability and safety.
Yet the domestic anti-skidding control technology of electric power wheel self-discharging vehicle can only directly be controlled the speed of wheel at present, this control method easily causes wheel to be subject to force unbalance, thereby affects anti-skidding control effect.And because the inner ring of wheel is different with the diameter of outer ring, directly control rate, can cause control accuracy not high, effect is not good enough.
Summary of the invention
Embodiment of the present invention technical matters to be solved is, the defect of, poor effect not high for the anti-skidding control technology precision of electric power wheel self-discharging vehicle in prior art provides anti-skid control method and the device of high, the effective electric power wheel self-discharging vehicle of a kind of precision.
In order to solve the problems of the technologies described above, the embodiment of the present invention provides a kind of anti-skid control method of electric power wheel self-discharging vehicle, comprising:
According to the wheel velocity of electric power wheel self-discharging vehicle, judge whether described electric power wheel self-discharging vehicle skids;
When definite described electric power wheel self-discharging vehicle skids, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.
Wherein, the described wheel velocity according to electric power wheel self-discharging vehicle judges that the step whether described electric power wheel self-discharging vehicle skids comprises:
Detect the speed of each wheel of electric power wheel self-discharging vehicle;
Calculate the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids;
Calculate the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.
Wherein:
Described according to v
leftjudge that the step whether left rear wheel skids comprises:
Judgement v
leftwhether be greater than first threshold T1, if v
leftbe greater than T1, determine that described left rear wheel skids;
Described according to v
rightjudge that the step whether off hind wheel skids comprises:
Judgement v
rightwhether be greater than Second Threshold T2, if v
rightbe greater than T2, determine that described off hind wheel skids.
Wherein:
Described according to v
leftjudge that the step whether left rear wheel skids comprises:
Calculate the speed difference v of the near front wheel and off front wheel
left front;
According to v
left frontcalculate revolver and turn to compensation c
left;
Judgement v
left-c
leftvalue whether be greater than the 3rd threshold value T3, if v
left-c
leftvalue be greater than T3, determine that described left rear wheel skids;
Described according to v
rightjudge that the step whether off hind wheel skids comprises:
Calculate the speed difference v of off front wheel and the near front wheel
right front;
According to v
right frontcalculate right wheel and turn to compensation c
right;
Judgement v
right-c
rightvalue whether be greater than the 4th threshold value T4, if v
right-c
rightvalue be greater than T4, determine that described off hind wheel skids.
Wherein, the described step according to described wheel velocity factored moment compensation rate comprises:
If determine, described left rear wheel skids, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel;
If determine, described off hind wheel skids, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel.
Correspondingly, the present invention also provides a kind of anti-skidding control device of electric power wheel self-discharging vehicle, comprising:
The judge module that skids, for judging according to the wheel velocity of electric power wheel self-discharging vehicle whether described electric power wheel self-discharging vehicle skids;
Self-adaptive control module, for when described in skid judge module while determining that described electric power wheel self-discharging vehicle skids, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.
Wherein, the judge module that skids described in comprises:
Wheel velocity detection module, for detection of the speed of each wheel of electric power wheel self-discharging vehicle;
Revolver judge module, for calculating the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids;
The right judge module of taking turns, for calculating the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.
Wherein:
Described revolver judge module is according to v
leftjudge when whether left rear wheel skids judgement v
leftwhether be greater than first threshold T1, if v
leftbe greater than T1, determine that described left rear wheel skids;
The described right judge module of taking turns is according to v
rightjudge when whether off hind wheel skids judgement v
rightwhether be greater than Second Threshold T2, if v
rightbe greater than T2, determine that described off hind wheel skids.
Wherein:
Described revolver judge module comprises:
The first computing module, for calculating the speed difference v of the near front wheel and off front wheel
left frontand the speed difference v of left rear wheel and the near front wheel
left;
Revolver turns to compensation computing module, for according to v
left frontcalculate revolver and turn to compensation c
left;
The first judge module, for judging v
left-c
leftvalue whether be greater than the 3rd threshold value T3, if v
left-c
leftvalue be greater than T3, determine that described left rear wheel skids;
The described right judge module of taking turns comprises:
The second computing module, for calculating the speed difference v of off front wheel and the near front wheel
right frontand the speed difference v of off hind wheel and off front wheel
right;
Right wheel turns to compensation computing module, for according to v
right frontcalculate right wheel and turn to compensation c
right;
The second judge module, for judging v
right-c
rightvalue whether be greater than the 4th threshold value T4, if v
right-c
rightvalue be greater than T4, determine that described off hind wheel skids.
Wherein, described self-adaptive control module comprises:
Left rear wheel adjustment module, if for determining that described left rear wheel skids, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the slow down speed of left rear wheel of left rear wheel motor;
Off hind wheel adjustment module, if for determining that described off hind wheel skids, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the slow down speed of off hind wheel of off hind wheel motor.
Implement the embodiment of the present invention, there is following beneficial effect: by whether the wheel of electric power wheel self-discharging vehicle is skidded and judged, and when judging tyre skidding by the moment of the corresponding motor of slip wheel is compensated, can solve safely and effectively tyre skidding problem, control accuracy is high, and skidproof effect is good.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of the power system of electric power wheel self-discharging vehicle in prior art;
Fig. 2 is the structural representation of the power system of electric power wheel self-discharging vehicle provided by the invention;
Fig. 3 is the first example structure schematic diagram of anti-skidding control device provided by the invention;
Fig. 4 is the second example structure schematic diagram of anti-skidding control device provided by the invention;
Fig. 5 is the 3rd example structure schematic diagram of anti-skidding control device provided by the invention;
Fig. 6 is the first embodiment diagram of circuit of the anti-skid control method of electric power wheel self-discharging vehicle provided by the invention;
Fig. 7 is the second embodiment diagram of circuit of the anti-skid control method of electric power wheel self-discharging vehicle provided by the invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Referring to Fig. 1, is the structural representation of the power system of electric power wheel self-discharging vehicle in prior art.Electric power wheel self-discharging vehicle generally includes the near front wheel, left rear wheel, off front wheel and off hind wheel, wherein in left rear wheel and off hind wheel one as main wheel, another is as trailing wheel.Chaufeur can pass through throttle adjustment speed stage, speed regulator is converted to moment information by velocity information, pass to respectively left rear wheel torque adjusting device and off hind wheel torque adjusting device, left rear wheel torque adjusting device and off hind wheel torque adjusting device are controlled left rear wheel current transformer and off hind wheel current transformer according to moment information respectively, thereby control respectively the rotating speed of left rear wheel motor and off hind wheel motor, and then control respectively the speed of left rear wheel and off hind wheel.Meanwhile, speed feedback module can gather the speed of left rear wheel and off hind wheel, feeds back to speed regulator, so that the wheel velocity that speed regulator gets according to feedback regulates the moment information of oneself exporting, keeps wheel velocity consistent with the velocity information of reception.
Referring to Fig. 2, is the structural representation of the power system of electric power wheel self-discharging vehicle provided by the invention.As shown in Figure 2, between speed regulator and left rear wheel torque adjusting device, off hind wheel torque adjusting device, increased anti-skidding control device.
Referring to Fig. 3, is the first example structure schematic diagram of anti-skidding control device provided by the invention.As shown in Figure 3, anti-skidding control device 300 comprises:
The judge module 310 that skids, for judging according to the wheel velocity of electric power wheel self-discharging vehicle whether described electric power wheel self-discharging vehicle skids.Particularly, the slipping state of electric power wheel self-discharging vehicle generally includes two kinds, and a kind of is that left rear wheel skids, and another kind is that off hind wheel skids.The judge module that skids can judge that electric power wheel self-discharging vehicle is that left rear wheel skids, off hind wheel skids, left and right trailing wheel skids simultaneously or left and right trailing wheel does not all skid according to any suitable method well known to those skilled in the art.Certainly, likely occur that the speed of the near front wheel and off front wheel is respectively much larger than the situation of left rear wheel and off hind wheel, the near front wheel and off front wheel all do not have independent motor to drive at present, therefore can put aside both of these case yet.But the near front wheel and off front wheel also adopt driving with left rear wheel and the similar mode of off hind wheel shown in Fig. 1, also can adopt the present invention to carry out anti-skidding control to it if it will be appreciated by those skilled in the art that.
For example, as shown in Figure 4, the judge module 310 that skids can comprise: wheel velocity detection module 410, for detection of the speed of each wheel of electric power wheel self-discharging vehicle; Revolver judge module 420, for calculating the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids; The right judge module 430 of taking turns, for calculating the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.For example, revolver judge module 420 is according to v
leftjudge when whether left rear wheel skids, can be directly by v
leftcompare with default first threshold T1, if v
leftbe greater than first threshold T1, determine that left rear wheel skids, otherwise think that left rear wheel does not skid.Similarly, the right judge module 430 of taking turns is according to v
rightjudge when whether off hind wheel skids, can be directly by v
rightcompare with default Second Threshold T2, if v
rightbe greater than Second Threshold T2, determine that off hind wheel skids, otherwise think that off hind wheel does not skid.Again for example, revolver judge module 420 and the right judge module 430 of taking turns can relatively calculate respectively the difference of front and back wheel rotating speed and the rate of change of front and back wheel rotating speed difference separately, if the rate of change of front and back wheel rotating speed difference and front and back wheel rotating speed difference within the limits prescribed, judge that corresponding trailing wheel does not skid, otherwise judge corresponding rear wheels slip.
Self-adaptive control module 320, for when described in skid the definite described electric power wheel self-discharging vehicle of judge module 310 while skidding, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.For example, self-adaptive control module 320 can comprise: revolver adjustment module, if determine that for the judge module 310 that skids described left rear wheel skids, according to v
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the left rear wheel motor speed of left rear wheel that slows down, thereby eliminate the left rear wheel trend of skidding; The right adjustment module of taking turns, if determine that for the judge module 310 that skids described off hind wheel skids, according to v
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the off hind wheel motor speed of off hind wheel that slows down, thereby eliminate the off hind wheel trend of skidding.
The anti-skidding control device of the electric power wheel self-discharging vehicle that the embodiment of the present invention provides, by whether the wheel of electric power wheel self-discharging vehicle is skidded and is judged, and when judging tyre skidding by the moment of the corresponding motor of slip wheel is compensated, can solve safely and effectively tyre skidding problem, control accuracy is high, and skidproof effect is good.
When electric power wheel self-discharging vehicle is turned, length velocity relation when the wheel velocity relation between its front and back wheel is different from straight-line travelling, if it is not accurate enough at this moment to judge according to the velocity contrast of front and back wheel whether wheel skids simply, in order to address this problem, can when carrying out tyre skidding judgement, consider the extraordinary circumstances such as turn inside diameter.Below with reference to Fig. 5, this preferred embodiment is described in detail.
Referring to Fig. 5, is the 3rd example structure schematic diagram of anti-skidding control device provided by the invention.
As shown in Figure 5, revolver judge module 420 comprises:
The first computing module 511, for calculating the speed difference v of the near front wheel and off front wheel
left frontand the speed difference v of left rear wheel and the near front wheel
left.
Revolver turns to compensation computing module 512, for according to v
left frontcalculate revolver and turn to compensation c
left.Particularly, can be according to v
left front, the near front wheel and the wheel spacing of off front wheel and the wheel spacing of the near front wheel and left rear wheel calculate revolver and turn to compensation c
left.
The first judge module 513, for judging v
left-c
left(be v
leftwith c
leftpoor) value whether be greater than the 3rd threshold value T3, if v
left-c
leftvalue be greater than T3, determine that described left rear wheel skids, otherwise, judge that left rear wheel is non-slip.
The right judge module 430 of taking turns comprises:
The second computing module 521, for calculating the speed difference v of off front wheel and the near front wheel
right frontand the speed difference v of off hind wheel and off front wheel
right.
Right wheel turns to compensation computing module 522, for according to v
right frontcalculate right wheel and turn to compensation c
right.Particularly, can be according to v
right front, off front wheel and the wheel spacing of the near front wheel and the wheel spacing of off front wheel and off hind wheel calculate right wheel and turn to compensation c
right.
The second judge module 523, for judging v
right-c
right(be v
rightwith c
rightpoor) value whether be greater than the 4th threshold value T4, if v
right-c
rightvalue be greater than T4, determine that described off hind wheel skids.
In addition, self-adaptive control module 320 can comprise:
Left rear wheel adjustment module 531, if for determining that described left rear wheel skids, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the slow down speed of left rear wheel of left rear wheel motor.Particularly, if determine, described left rear wheel skids, and comprises PI controller in left rear wheel adjustment module 531, and left rear wheel adjustment module 531 can be calculated by PI controller the torque compensation amount of left rear wheel, and wherein the parameter of PI controller can (be v according to skidproof effect
left-c
leftvalue, Performance Evaluation etc.) automatically adjust.For example, work as v
left-c
leftvalue large and change greatlyr, automatically increase PI parameter, thereby increase torque compensation amount, work as v
left-c
leftvalue less and change littlely, automatically reduce PI parameter, thereby reduce torque compensation amount.
Off hind wheel adjustment module 532, if for determining that described off hind wheel skids, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the slow down speed of off hind wheel of off hind wheel motor.Particularly, if determine, described off hind wheel skids, and comprises PI controller in off hind wheel adjustment module 532, and off hind wheel adjustment module 532 can be calculated by PI controller the torque compensation amount of off hind wheel, and wherein the parameter of PI controller can (be v according to skidproof effect
right-c
rightvalue, Performance Evaluation etc.) automatically adjust.For example, work as v
right-c
rightvalue large and change greatlyr, automatically increase PI parameter, thereby increase torque compensation amount, work as v
right-c
rightvalue less and change littlely, automatically reduce PI parameter, thereby reduce torque compensation amount.
Referring to Fig. 6, is the first embodiment diagram of circuit of the anti-skid control method of electric power wheel self-discharging vehicle provided by the invention, and the method comprises:
S601, according to the wheel velocity of electric power wheel self-discharging vehicle, judge whether described electric power wheel self-discharging vehicle skids.Particularly, the slipping state of electric power wheel self-discharging vehicle generally includes two kinds, and a kind of is that left rear wheel skids, and another kind is that off hind wheel skids.Can judge that electric power wheel self-discharging vehicle is that left rear wheel skids, off hind wheel skids, left and right trailing wheel skids simultaneously or left and right trailing wheel does not all skid according to any suitable method well known to those skilled in the art.Certainly, likely occur that the speed of the near front wheel and off front wheel is respectively much larger than the situation of left rear wheel and off hind wheel, the near front wheel and off front wheel all do not have independent motor to drive at present, therefore can put aside both of these case yet.But the near front wheel and off front wheel also adopt driving with left rear wheel and the similar mode of off hind wheel shown in Fig. 1, also can adopt the present invention to carry out anti-skidding control to it if it will be appreciated by those skilled in the art that.
For example, step S601 can comprise: the speed that detects each wheel of electric power wheel self-discharging vehicle; Calculate the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids; Calculate the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.For example,, according to v
leftjudge when whether left rear wheel skids, can be directly by v
leftcompare with default first threshold T1, if v
leftbe greater than first threshold T1, determine that left rear wheel skids, otherwise think that left rear wheel does not skid.Similarly, according to v
rightjudge when whether off hind wheel skids, can be directly by v
rightcompare with default Second Threshold T2, if v
rightbe greater than Second Threshold T2, determine that off hind wheel skids, otherwise think that off hind wheel does not skid.Again for example, can also relatively calculate respectively the rate of change of difference and the front and back wheel rotating speed difference of front and back wheel rotating speed, if the rate of change of front and back wheel rotating speed difference and front and back wheel rotating speed difference within the limits prescribed, judge that corresponding trailing wheel does not skid, otherwise judge corresponding rear wheels slip.
S602, when definite described electric power wheel self-discharging vehicle skids, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.For example, if determine, described left rear wheel skids, can be according to v
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the left rear wheel motor speed of left rear wheel that slows down, thereby eliminate the left rear wheel trend of skidding.If determine, described off hind wheel skids, can be according to v
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the off hind wheel motor speed of off hind wheel that slows down, thereby eliminate the off hind wheel trend of skidding.
This method can also comprise: if determine when described electric power wheel self-discharging vehicle is non-slip, the torque compensation amount of exporting to torque adjusting device is zero.
The anti-skid control method of the electric power wheel self-discharging vehicle that the embodiment of the present invention provides, by whether the wheel of electric power wheel self-discharging vehicle is skidded and is judged, and when judging tyre skidding by the moment of the corresponding motor of slip wheel is compensated, can solve safely and effectively tyre skidding problem, control accuracy is high, and skidproof effect is good.
When electric power wheel self-discharging vehicle is turned, length velocity relation when the wheel velocity relation between its front and back wheel is different from straight-line travelling, if it is not accurate enough at this moment to judge according to the velocity contrast of front and back wheel whether wheel skids simply, in order to address this problem, can when carrying out tyre skidding judgement, consider the extraordinary circumstances such as turn inside diameter.Below with reference to Fig. 7, this preferred embodiment is described in detail.
Referring to Fig. 7, is the second embodiment diagram of circuit of the anti-skid control method of electric power wheel self-discharging vehicle provided by the invention, and the method comprises:
The speed of S701, each wheel of detection electric power wheel self-discharging vehicle.
The speed difference v of S702, calculating the near front wheel and off front wheel
left front, left rear wheel and the near front wheel speed difference v
left, off front wheel and the near front wheel speed difference v
right front, and the speed difference v of off hind wheel and off front wheel
right.
S703, according to v
left frontcalculate revolver and turn to compensation c
left, and according to v
right frontcalculate right wheel and turn to compensation c
right.Particularly, can be according to v
left front, the near front wheel and the wheel spacing of off front wheel and the wheel spacing of the near front wheel and left rear wheel calculate revolver and turn to compensation c
left.Can be according to v
right front, off front wheel and the wheel spacing of the near front wheel and the wheel spacing of off front wheel and off hind wheel calculate right wheel and turn to compensation c
right.
S704, judgement v
left-c
leftvalue whether be greater than the 3rd threshold value T3.
If judgment result is that of step S704 is to perform step S705.S705, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the slow down speed of left rear wheel of left rear wheel motor, until left rear wheel no longer skids.Particularly, if determine, described left rear wheel skids, and can calculate by PI controller the torque compensation amount of left rear wheel, and wherein the parameter of PI controller can (be v according to skidproof effect
left-c
leftvalue, Performance Evaluation etc.) automatically adjust.For example, work as v
left-c
leftvalue large and change greatlyr, automatically increase PI parameter, thereby increase torque compensation amount, work as v
left-c
leftvalue less and change littlely, automatically reduce PI parameter, thereby reduce torque compensation amount.Next perform step S706.
If the determination result is NO for step S705, directly perform step S706.S706, the disconnected v of judgement
right-c
rightvalue whether be greater than the 4th threshold value T4.
If judgment result is that of step S706 is to perform step S707.S707, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the slow down speed of off hind wheel of off hind wheel motor, until off hind wheel no longer skids.Particularly, if determine, described off hind wheel skids, and can calculate by PI controller the torque compensation amount of off hind wheel, and wherein the parameter of PI controller can (be v according to skidproof effect
right-c
rightvalue, Performance Evaluation etc.) automatically adjust.For example, work as v
right-c
rightvalue large and change greatlyr, automatically increase PI parameter, thereby increase torque compensation amount, work as v
right-c
rightvalue less and change littlely, automatically reduce PI parameter, thereby reduce torque compensation amount.
If the determination result is NO for step S706, this method flow process finishes.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, to come the hardware that instruction is relevant to complete by computer program, described program can be stored in a computer read/write memory medium, this program, when carrying out, can comprise as the flow process of the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access Memory, RAM) etc.
Above disclosed is only a kind of preferred embodiment of the present invention, certainly can not limit with this interest field of the present invention, one of ordinary skill in the art will appreciate that all or part of flow process that realizes above-described embodiment, and the equivalent variations of doing according to the claims in the present invention, still belong to the scope that invention is contained.
Claims (10)
1. an anti-skid control method for electric power wheel self-discharging vehicle, is characterized in that, comprising:
According to the wheel velocity of electric power wheel self-discharging vehicle, judge whether described electric power wheel self-discharging vehicle skids;
When definite described electric power wheel self-discharging vehicle skids, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.
2. the anti-skid control method of electric power wheel self-discharging vehicle as claimed in claim 1, is characterized in that, the described wheel velocity according to electric power wheel self-discharging vehicle judges that the step whether described electric power wheel self-discharging vehicle skids comprises:
Detect the speed of each wheel of electric power wheel self-discharging vehicle;
Calculate the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids;
Calculate the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.
3. the anti-skid control method of electric power wheel self-discharging vehicle as claimed in claim 2, is characterized in that:
Described according to v
leftjudge that the step whether left rear wheel skids comprises:
Judgement v
leftwhether be greater than first threshold T1, if v
leftbe greater than T1, determine that described left rear wheel skids;
Described according to v
rightjudge that the step whether off hind wheel skids comprises:
Judgement v
rightwhether be greater than Second Threshold T2, if v
rightbe greater than T2, determine that described off hind wheel skids.
4. the anti-skid control method of electric power wheel self-discharging vehicle as claimed in claim 2, is characterized in that:
Described according to v
leftjudge that the step whether left rear wheel skids comprises:
Calculate the speed difference v of the near front wheel and off front wheel
left front;
According to v
left frontcalculate revolver and turn to compensation c
left;
Judgement v
left-c
leftvalue whether be greater than the 3rd threshold value T3, if v
left-c
leftvalue be greater than T3, determine that described left rear wheel skids;
Described according to v
rightjudge that the step whether off hind wheel skids comprises:
Calculate the speed difference v of off front wheel and the near front wheel
right front;
According to v
right frontcalculate right wheel and turn to compensation c
right;
Judgement v
right-c
rightvalue whether be greater than the 4th threshold value T4, if v
right-c
rightvalue be greater than T4, determine that described off hind wheel skids.
5. the anti-skid control method of electric power wheel self-discharging vehicle as claimed in claim 4, is characterized in that, the described step according to described wheel velocity factored moment compensation rate comprises:
If determine, described left rear wheel skids, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel;
If determine, described off hind wheel skids, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel.
6. an anti-skidding control device for electric power wheel self-discharging vehicle, is characterized in that, comprising:
The judge module that skids, for judging according to the wheel velocity of electric power wheel self-discharging vehicle whether described electric power wheel self-discharging vehicle skids;
Self-adaptive control module, for when described in skid judge module while determining that described electric power wheel self-discharging vehicle skids, according to described wheel velocity factored moment compensation rate, and described torque compensation amount is sent to the torque adjusting device of described electric power wheel self-discharging vehicle, make described torque adjusting device control the speed that corresponding wheel electrical machine regulates the wheel of own driving.
7. the anti-skidding control device of electric power wheel self-discharging vehicle as claimed in claim 6, is characterized in that, described in the judge module that skids comprise:
Wheel velocity detection module, for detection of the speed of each wheel of electric power wheel self-discharging vehicle;
Revolver judge module, for calculating the speed difference v of left rear wheel and the near front wheel
left, according to v
leftjudge whether left rear wheel skids;
The right judge module of taking turns, for calculating the speed difference v of off hind wheel and off front wheel
right, according to v
rightjudge whether off hind wheel skids.
8. the anti-skidding control device of electric power wheel self-discharging vehicle as claimed in claim 7, is characterized in that:
Described revolver judge module is according to v
leftjudge when whether left rear wheel skids judgement v
leftwhether be greater than first threshold T1, if v
leftbe greater than T1, determine that described left rear wheel skids;
The described right judge module of taking turns is according to v
rightjudge when whether off hind wheel skids judgement v
rightwhether be greater than Second Threshold T2, if v
rightbe greater than T2, determine that described off hind wheel skids.
9. the anti-skidding control device of electric power wheel self-discharging vehicle as claimed in claim 7, is characterized in that:
Described revolver judge module comprises:
The first computing module, for calculating the speed difference v of the near front wheel and off front wheel
left frontand the speed difference v of left rear wheel and the near front wheel
left;
Revolver turns to compensation computing module, for according to v
left frontcalculate revolver and turn to compensation c
left;
The first judge module, for judging v
left-c
leftvalue whether be greater than the 3rd threshold value T3, if v
left-c
leftvalue be greater than T3, determine that described left rear wheel skids;
The described right judge module of taking turns comprises:
The second computing module, for calculating the speed difference v of off front wheel and the near front wheel
right frontand the speed difference v of off hind wheel and off front wheel
right;
Right wheel turns to compensation computing module, for according to v
right frontcalculate right wheel and turn to compensation c
right;
The second judge module, for judging v
right-c
rightvalue whether be greater than the 4th threshold value T4, if v
right-c
rightvalue be greater than T4, determine that described off hind wheel skids.
10. the anti-skidding control device of electric power wheel self-discharging vehicle as claimed in claim 9, is characterized in that, described self-adaptive control module comprises:
Left rear wheel adjustment module, if for determining that described left rear wheel skids, according to v
left-c
leftthe torque compensation amount of value, the performance of left rear wheel motor and the calculation of parameter left rear wheel of left rear wheel, and the torque compensation amount of the left rear wheel calculating is sent to left rear wheel torque adjusting device, make moment that left rear wheel torque adjusting device output reduces to left rear wheel motor, control the slow down speed of left rear wheel of left rear wheel motor;
Off hind wheel adjustment module, if for determining that described off hind wheel skids, according to v
right-c
rightthe torque compensation amount of value, the performance of off hind wheel motor and the calculation of parameter off hind wheel of off hind wheel, and the torque compensation amount of the off hind wheel calculating is sent to off hind wheel torque adjusting device, make moment that off hind wheel torque adjusting device output reduces to off hind wheel motor, control the slow down speed of off hind wheel of off hind wheel motor.
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| CN105751919B (en) * | 2016-03-31 | 2018-06-12 | 电子科技大学 | A kind of four-wheel wheel hub electric vehicle anti-skid control method |
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| CN103707778B (en) | 2015-12-30 |
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Effective date of registration: 20211012 Address after: 215000 52 tianedang Road, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Huichuan Control Technology Co.,Ltd. Address before: 215000 north side of Youxiang Road, Wangshan Industrial Park, Wuzhong Economic Development Zone, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU INOVANCE TECHNOLOGY Co.,Ltd. |