CN104527457A - Multi-wheel independent drive electric vehicle slip rate control method - Google Patents

Multi-wheel independent drive electric vehicle slip rate control method Download PDF

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Publication number
CN104527457A
CN104527457A CN201410754325.9A CN201410754325A CN104527457A CN 104527457 A CN104527457 A CN 104527457A CN 201410754325 A CN201410754325 A CN 201410754325A CN 104527457 A CN104527457 A CN 104527457A
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real
speed
time
drive motors
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CN104527457B (en
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骆志伟
胡小龙
谭文华
付进军
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China Academy of Launch Vehicle Technology CALT
Beijing Institute of Space Launch Technology
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Beijing Institute of Space Launch Technology
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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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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Abstract

A multi-wheel independent drive electric vehicle slip rate control method includes the steps: S1 acquiring feedback signals of the rotating speed of a drive motor of each wheel in real time; S2 performing first-dimensional moving median filtering for the feedback signals of the rotating speed of the drive motor of each wheel to acquire the real-time rotating speed of each wheel; S3 performing second-dimensional moving median filtering for the real-time rotating speed of each wheel to acquire the real-time speed of a whole vehicle; S4 acquiring the real-time slip rate of each wheel according to the real-time rotating speed of each wheel and the real-time speed of the whole vehicle; S5 controlling the rotating speed of the drive motor of each wheel according to real-time slip rate data of each wheel to eliminate the slip rate of each wheel.

Description

Many wheels independent drive electric vehicle slippage rate control method
Technical field
The present invention relates to electric automobiles, particularly relate to a kind of battery-driven car slippage rate control method.
Background technology
Many wheels independent drive electric vehicle have motor-driven, flexible, be swift in response, reliability is high, be easy to realize the features such as complicated propulsive effort control; Many wheels independent drive electric vehicle each wheel equipment drive motor, when one or several drive motor damages, vehicle still can normally travel under rational control policy, at the convenient time change the drive motor of damage, improve redundancy and the reliability of drive system work.
Many wheels independent drive electric vehicle avoids being rigidly connected under mechanical drive mode, and eliminate the transmission links such as power-transfer clutch, change-speed box and transmission shaft, driving efficiency is improved, and achieves electromechanical integration.And the disappearance of machine driven system, alleviate complete vehicle quality, achieve lightweight target.
Many wheels independent drive electric vehicle drive system concentrates on wheel or wheel position, limit, and be easy to realize standardized designs, do not have in the past complicated mechanical transmission mechanism, the maintainability of system significantly improves.
Many wheels independent drive electric vehicle moment of starting is large, and acceleration capability is good, and turn radius is little, and road crossing ability is good, can exert oneself, not easily skid according to the road environment adjusting knurl limit of complexity.Can propulsive effort control be completed by electrical motor and not need other annexes, easily realisation can better, anti-slip regulation (TCS), anti-skid brake system (ABS) and kinetic control system (VDC) that cost is lower, torque distribution is more flexible.
Owing to taking turns the above-mentioned many advantages that independent drive electric vehicle exists more, become the product of market the supreme arrogance of a person with great power, but be operated in independently under active drive pattern owing to taking turns the whole wheel of independent drive electric vehicle more, car load does not have flower wheel, driving wheel is driving and there is possibility out of control of trackslipping under braking mode, when wheel seriously skids, wheel speed and actual vehicle speed matching relationship unbalance.
Summary of the invention
The object of this invention is to provide a kind of many wheel independent drive electric vehicle slippage rate control methods, for solving the problems of the technologies described above.
A kind of many wheel independent drive electric vehicle slippage rate control methods, is characterized in that, comprise the following steps:
The feedback signal of each wheel drive motors rotating speed of S1, Real-time Collection;
S2, the first dimension slip medium filtering is carried out to the feedback signal of each wheel drive motors rotating speed obtain each wheel real-time rotate speed;
S3, each wheel real-time rotate speed carried out to the second dimension slip medium filtering and obtain the real-time speed of a motor vehicle of car load;
S4, draw the real-time slippage rate of each wheel in conjunction with each wheel real-time rotate speed and the real-time speed of a motor vehicle of car load;
S5, rotating speed according to each wheel drive motors of real-time slippage rate Data Control of each wheel, to eliminate the slippage rate of each wheel, return step S1 afterwards.
The concrete manner of execution of described step S2 is:
First set up a data storage areas, deposit N sampled data of each wheel drive motors speed feedback signal successively, the deposit data of each new sampling, to tail of the queue, abandons the data of head of the queue simultaneously;
Then respectively center line average values computing is carried out to N sampled data of current each wheel drive motors, obtain the real-time rotate speed of each wheel drive motors.
The concrete manner of execution of described step S3 is:
The real-time rotate speed of each wheel drive motors calculated by the first dimension slip medium filtering in data storage areas is carried out size sequence;
If under many wheel independent drive electric vehicles are in driving condition, then reject the real-time rotate speed of the large wheel drive motors of sequence medium speed value; If under many wheel independent drive electric vehicles are in braking mode, then reject the real-time rotate speed of the little wheel drive motors of sequence medium speed value;
Two dimension median filter is carried out to residue wheel wheel speed;
Weighted differences screening is carried out to remaining wheel drive motors real-time rotate speed;
Re-start center line average values to remaining wheel drive motors rotating speed to calculate, obtain final car load real time motor end rotating speed V;
The real-time vehicle velocity V of car load is drawn according to formula e=KV π D.
Under driving condition, the number rejecting the real-time rotate speed of the large wheel drive motors of sequence medium speed value is n/2; Under braking mode, the number rejecting the real-time rotate speed of the little wheel drive motors of sequence medium speed value is n/2.
The condition of remaining wheel drive motors real-time rotate speed being carried out to weighted differences screening is:
Drive pattern Vx-V > KdV;
Braking mode V-Vx > KdV;
When Vx meets above-mentioned screening conditions, then reject this Vx, be ungratifiedly left remaining wheel drive motors real-time rotate speed.
The concrete manner of execution of described step S4 is:
During braking mode:
σ x = K · V x · π · D - V E V E ;
During driving condition:
σ x = K · V x · π · D - V E K · V x · π · D .
Many wheel independent drive electric vehicle slippage rate control methods of the present invention, by the Real-time Collection to each wheel drive motors rotating speed, process, first dimension slip medium filtering is carried out to each wheel drive motors rotating speed gathered and obtains each wheel real-time rotate speed, then the second dimension slip medium filtering is carried out to each wheel real-time rotate speed and obtain the real-time speed of a motor vehicle of car load, and then calculate the real-time slippage rate of each wheel, for the traction control method under different operating mode provides design considerations, eliminate the real-time slippage rate of each wheel, achieve and many wheel independent drive electric vehicle slippage rates are controlled.
Below in conjunction with accompanying drawing, many wheel independent drive electric vehicle slippage rate control methods of the present invention are described further.
Accompanying drawing explanation
Fig. 1 is many wheel independent drive electric vehicle slippage rate control flow charts.
Detailed description of the invention
Many wheels independent drive electric vehicle slippage rate control system that many wheel independent drive electric vehicle slippage rate control methods of the present invention are relied on comprises master controller, sensor group, drive motor group, the drive motor number that drive motor group comprises identical with the wheel number of taking turns independent drive electric vehicle more, the sensor that sensor group comprises is identical with the drive motor number that drive motor group comprises, sensor, drive motor, wheel one_to_one corresponding; Drive motor is for driving wheel corresponding with it, sensor is used for the rotating speed of Real-time Collection drive motor corresponding with it, and by the data feedback of collection to master controller, master controller is used for making corresponding control command according to pre-set programs to after the data analysis calculating received, and control drive motor is that the many wheels independent drive electric vehicle under different operating mode provides tractive force.
Many wheel independent drive electric vehicle slippage rate control methods of the present invention adopt two dimension median filter algorithm, carry out Real-Time Filtering synthesis, calculate the real-time slippage rate of each wheel to each vehicle wheel rotational speed.Wherein the first dimension slip medium filtering is the slip medium filtering to each wheel drive motors rotating speed, with the real-time rotate speed of each wheel drive motors of Real-time Obtaining; Second dimension slip medium filtering is after the real-time rotate speed data summarization to each wheel drive motors that previous step obtains, the slip medium filtering carried out, reject the real-time rotate speed of mismatch wheel drive motors, car load real-time speed is obtained by converting, and then calculate the real-time slippage rate of each wheel, master controller controls according to the drive motor of real-time slippage rate to each wheel of each wheel, to eliminate the real-time slippage rate of each wheel, realizes steadily advancing of many wheel self-contained power cars.
Many wheel independent drive electric vehicle slippage rate control methods of the present invention comprise the steps: as shown in Figure 1
The feedback signal of each wheel drive motors rotating speed of S1, Real-time Collection;
S2, the first dimension slip medium filtering is carried out to the feedback signal of each wheel drive motors rotating speed obtain each wheel real-time rotate speed;
S3, each wheel real-time rotate speed carried out to the second dimension slip medium filtering and obtain the real-time speed of a motor vehicle of car load;
S4, draw the real-time slippage rate of each wheel in conjunction with each wheel real-time rotate speed and the real-time speed of a motor vehicle of car load;
S5, rotating speed according to each wheel drive motors of real-time slippage rate Data Control of each wheel, to eliminate the slippage rate of each wheel, return step S1 afterwards.
The method being obtained each wheel real-time rotate speed of many wheel independent drive electric vehicles by the first dimension slip medium filtering is that each wheel drive motors speed feedback signal utilizing sensor group to gather, is obtained by slip median filtering algorithm.Concrete steps are as follows:
First in the data space of master controller, a data storage areas is set up, deposit N the sampled data (N sampling required time is less than 0.5s) of each wheel drive motors speed feedback signal successively, the deposit data of each new sampling is to tail of the queue, abandon the data (following first in first out) of head of the queue simultaneously, then carry out center line average values computing to N number of rotary speed data of current each wheel respectively, one group of each wheel drive motors rotary speed data of often sampling carries out once-through operation.
Formula 1 Vx = 1 N Σ i = 1 N R n
Wherein the center line average values that calculates after the N time sampling of the wheel drive motors rotating speed of Vx to be sequence number be x, is the real-time rotate speed of this wheel drive motors filtered, wheel drive motors speed regulation n sampled value of Rn to be sequence number be x.
This algorithm has good real-time, and operand is less, the feature that filtering degree is high.
The acquisition methods of the many wheels independent drive electric vehicle car load speed in the present invention carries out medium filtering to n wheel drive motors rotating speed, utilize weighted differences screening conditions, reject the wheel drive motors rotating speed with actual vehicle speed mismatch, utilize remaining wheel drive motors rotating speed again to average, calculate car load speed in conjunction with the no-load voltage ratio of wheel drive motors rotating speed and vehicle wheel rotational speed and vehicle wheel roll radius.
Concrete steps are as follows:
The real-time rotate speed of each wheel drive motors calculated by the first dimension slip medium filtering in data storage areas is carried out size sequence.
At any driving condition, the large wheel wheel speed of sequence medium speed value (rejecting quantity is total wheel count n/2) is rejected.
Under braking mode, reject the little wheel wheel speed of sequence medium speed value (rejecting quantity is total wheel count n/2)
Second dimension slip medium filtering is carried out to the real-time rotate speed of remaining wheel drive motors.
Formula 2 V = 2 n Σ x = 1 n / 2 V x
Wherein V is the motor side rotating speed that car load real time motor end rotating speed is corresponding, and n is wheel count, and Vx is that a remaining n/2 wheel is through filtered wheel drive motors real-time rotate speed.
Carry out weighted differences screening to remaining n/2 wheel drive motors real-time rotate speed, screening conditions are as follows:
Formula 3 Vx-V > KdV drive pattern
V-Vx > KdV braking mode
Wherein Kd span is 0.15≤Kd≤0.3, usually gets 0.15.When Vx meets the kick-out condition of formula 3, then reject Vx, center line average values is re-started to remaining wheel drive motors rotating speed and calculates, obtain final car load real time motor end rotating speed V.
Formula 4 V e=KV π D
Wherein, V efor the real-time speed of a motor vehicle, K is the speed ratio of motor side rotating speed and vehicle wheel rotational speed, and V is the car load wheel speed of each vehicle wheel rotational speed after two dimension median filter calculates, and D is vehicle wheel roll radius.
Each wheel slip rate is
During braking mode:
Formula 5 σ x = K · V x · π · D - V E V E
During driving condition:
Formula 6 σ x = K · V x · π · D - V E K · V x · π · D
σ xfor the real-time slippage rate that sequence number is the wheel of x.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.

Claims (6)

1. take turns an independent drive electric vehicle slippage rate control method more, it is characterized in that, comprise the following steps:
The feedback signal of each wheel drive motors rotating speed of S1, Real-time Collection;
S2, the first dimension slip medium filtering is carried out to the feedback signal of each wheel drive motors rotating speed obtain each wheel real-time rotate speed;
S3, each wheel real-time rotate speed carried out to the second dimension slip medium filtering and obtain the real-time speed of a motor vehicle of car load;
S4, calculate the real-time slippage rate of each wheel in conjunction with each wheel real-time rotate speed and the real-time speed of a motor vehicle of car load;
S5, rotating speed according to each wheel drive motors of real-time slippage rate Data Control of each wheel, to eliminate the slippage rate of each wheel, return step S1 afterwards.
2. many wheel independent drive electric vehicle slippage rate control methods according to claim 1, it is characterized in that, the concrete manner of execution of described step S2 is:
First set up a data storage areas, deposit N sampled data of each wheel drive motors speed feedback signal successively, the deposit data of each new sampling, to tail of the queue, abandons the data of head of the queue simultaneously;
Then respectively center line average values computing is carried out to N sampled data of current each wheel drive motors, obtain the real-time rotate speed of each wheel drive motors.
3. many wheel independent drive electric vehicle slippage rate control methods according to claim 2, it is characterized in that, the concrete manner of execution of described step S3 is:
The real-time rotate speed of each wheel drive motors calculated by the first dimension slip medium filtering in data storage areas is carried out size sequence;
If under many wheel independent drive electric vehicles are in driving condition, then reject the real-time rotate speed of the large wheel drive motors of sequence medium speed value; If under many wheel independent drive electric vehicles are in braking mode, then reject the real-time rotate speed of the little wheel drive motors of sequence medium speed value;
Two dimension median filter is carried out to residue wheel wheel speed;
Weighted differences screening is carried out to remaining wheel drive motors real-time rotate speed;
Re-start center line average values to remaining wheel drive motors rotating speed to calculate, obtain final car load real time motor end rotating speed V;
The real-time vehicle velocity V of car load is drawn according to formula e=KV π D.
4. many wheel independent drive electric vehicle slippage rate control methods according to claim 3, it is characterized in that, under driving condition, the number rejecting the real-time rotate speed of the large wheel drive motors of sequence medium speed value is n/2; Under braking mode, the number rejecting the real-time rotate speed of the little wheel drive motors of sequence medium speed value is n/2.
5. many wheel independent drive electric vehicle slippage rate control methods according to claim 3, it is characterized in that, the condition of remaining wheel drive motors real-time rotate speed being carried out to weighted differences screening is:
Drive pattern Vx-V > KdV;
Braking mode V-Vx > KdV;
When Vx meets above-mentioned screening conditions, then reject this Vx, be ungratifiedly left remaining wheel drive motors real-time rotate speed.
6. many wheel independent drive electric vehicle slippage rate control methods according to claim 3, it is characterized in that, the concrete manner of execution of described step S4 is:
During braking mode:
During driving condition:
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CN113415336A (en) * 2021-06-23 2021-09-21 徐工集团工程机械股份有限公司科技分公司 Electric transmission steering control system and loader
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CN104617914A (en) * 2015-02-11 2015-05-13 珠海格力电器股份有限公司 Signal filtering method and system for electrical equipment
CN104617914B (en) * 2015-02-11 2018-09-07 珠海格力电器股份有限公司 Signal filtering method and system for electrical equipment
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CN113415336A (en) * 2021-06-23 2021-09-21 徐工集团工程机械股份有限公司科技分公司 Electric transmission steering control system and loader
CN113771644A (en) * 2021-09-18 2021-12-10 恒大恒驰新能源汽车研究院(上海)有限公司 Torque distribution method, device and system

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