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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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
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speed
slip rate
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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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Beijing Institute of Technology BIT
China Academy of Launch Vehicle Technology CALT
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China Academy of Launch Vehicle Technology CALT
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    • Y02T10/72—Electric energy management in electromobility

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Abstract

一种多轮独立驱动电动车滑转率控制方法，包括以下步骤：S1、实时采集各车轮驱动电机转速的反馈信号；S2、对各车轮驱动电机转速的反馈信号进行第一维度滑动中值滤波获取各车轮实时转速；S3、对各车轮实时转速进行第二维度中值滤波获取整车实时车速；S4、结合各车轮实时转速与整车实时车速得出各车轮的实时滑转率；S5、根据各车轮的实时滑转率数据控制各车轮驱动电机的转速，以消除各车轮的滑转率。

A method for controlling the slip rate of a multi-wheel independently driven electric vehicle, comprising the following steps: S1, real-time collection of feedback signals of the rotational speeds of the driving motors of each wheel; S2, performing first-dimensional sliding median filtering on the feedback signals of the rotational speeds of the driving motors of each wheel Obtain the real-time rotational speed of each wheel; S3, perform second-dimensional median filtering on the real-time rotational speed of each wheel to obtain the real-time vehicle speed of the vehicle; S4, combine the real-time rotational speed of each wheel with the real-time vehicle speed to obtain the real-time slip rate of each wheel; S5, According to the real-time slip rate data of each wheel, the rotation speed of each wheel drive motor is controlled 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)

1.一种多轮独立驱动电动车滑转率控制方法，其特征在于，包括以下步骤： 1. A slip rate control method for a multi-wheel independently driven electric vehicle, characterized in that, comprising the following steps: S1、实时采集各车轮驱动电机转速的反馈信号； S1. Real-time collection of feedback signals of the rotational speed of each wheel drive motor; S2、对各车轮驱动电机转速的反馈信号进行第一维度滑动中值滤波获取各车轮实时转速； S2. Perform first-dimensional sliding median filtering on the feedback signals of the rotational speeds of the driving motors of each wheel to obtain the real-time rotational speeds of each wheel; S3、对各车轮实时转速进行第二维度滑动中值滤波获取整车实时车速； S3. Perform second-dimensional sliding median filtering on the real-time speed of each wheel to obtain the real-time speed of the vehicle; S4、结合各车轮实时转速与整车实时车速计算各车轮的实时滑转率； S4. Calculate the real-time slip rate of each wheel in combination with the real-time rotational speed of each wheel and the real-time vehicle speed of the whole vehicle; S5、根据各车轮的实时滑转率数据控制各车轮驱动电机的转速，以消除各车轮的滑转率，之后返回步骤S1。 S5. Control the rotation speed of each wheel drive motor according to the real-time slip rate data of each wheel to eliminate the slip rate of each wheel, and then return to step S1. 2.根据权利要求1所述的多轮独立驱动电动车滑转率控制方法，其特征在于，所述步骤S2的具体执行方法为： 2. The method for controlling the slip rate of a multi-wheel independently driven electric vehicle according to claim 1, wherein the specific execution method of the step S2 is as follows: 首先建立一个数据存储区域，依次存放各车轮驱动电机转速反馈信号的N次采样数据，每次新采样的数据存放到队尾，同时抛弃队首的数据； Firstly, a data storage area is established to sequentially store the N sampling data of the speed feedback signal of each wheel drive motor, each time the newly sampled data is stored at the end of the queue, and the data at the head of the queue is discarded at the same time; 然后分别对当前各车轮驱动电机的N次采样数据进行算术平均值运算，得到各车轮驱动电机的实时转速。 Then, the arithmetic mean value operation is performed on the current sampling data of N times of each wheel drive motor to obtain the real-time rotational speed of each wheel drive motor. 3.根据权利要求2所述的多轮独立驱动电动车滑转率控制方法，其特征在于，所述步骤S3的具体执行方法为： 3. The method for controlling the slip rate of a multi-wheel independently driven electric vehicle according to claim 2, wherein the specific execution method of the step S3 is: 将数据存储区域中通过第一维度滑动中值滤波计算出来的各车轮驱动电机的实时转速进行大小排序； Sorting the real-time rotational speeds of the wheel drive motors calculated through the first dimension sliding median filter in the data storage area; 如果多轮独立驱动电动车处于驱动状态下，则剔除序列中转速值大的车轮驱动电机的实时转速；如果多轮独立驱动电动车处于制动状态下，则剔除序列中转速值小的车轮驱动电机的实时转速； If the multi-wheel independent drive electric vehicle is in the driving state, the real-time speed of the wheel drive motor with a large speed value in the sequence is eliminated; if the multi-wheel independent drive electric vehicle is in the braking state, the wheel drive with a small speed value in the sequence is eliminated The real-time speed of the motor; 对剩余车轮轮速进行第二维中值滤波； Carry out second-dimensional median filtering on the remaining wheel speed; 对剩余的车轮驱动电机实时转速进行差值加权筛选； Perform difference weighted screening on the real-time speed of the remaining wheel drive motors; 对剩余的车轮驱动电机转速重新进行算术平均值计算，得到最终的整车实时电机端转速V； Re-calculate the arithmetic mean value of the remaining wheel drive motor speeds to obtain the final real-time motor end speed V of the vehicle; 根据公式得出整车实时车速VE＝K·V·π·D。 According to the formula, the real-time vehicle speed V E =K·V·π·D is obtained. 4.根据权利要求3所述的多轮独立驱动电动车滑转率控制方法，其特征在于，驱动状态下，剔除序列中转速值大的车轮驱动电机的实时转速的个数为n/2；制动状态下，剔除序列中 转速值小的车轮驱动电机的实时转速的个数为n/2。 4. The multi-wheel independent drive electric vehicle slip rate control method according to claim 3, wherein, under the driving state, the number of real-time rotating speeds of wheel drive motors with large rotating speed values in the sequence is n/2; In the braking state, the number of real-time speeds of wheel drive motors with small speed values in the elimination sequence is n/2. 5.根据权利要求3所述的多轮独立驱动电动车滑转率控制方法，其特征在于，对剩余的车轮驱动电机实时转速进行差值加权筛选的条件为： 5. The slip rate control method for multi-wheel independently driven electric vehicles according to claim 3, wherein the condition for carrying out difference weighted screening to the real-time speeds of remaining wheel drive motors is: 驱动模式  Vx-V＞Kd·V； Drive mode Vx-V＞Kd V; 制动模式  V-Vx＞Kd·V； Braking mode V-Vx＞Kd·V; 当Vx满足上述筛选条件时，则剔除该Vx，不满足的保留为剩余的车轮驱动电机实时转速。 When Vx satisfies the above screening conditions, the Vx is eliminated, and those that are not satisfied are retained as the real-time speeds of the remaining wheel drive motors. 6.根据权利要求3所述的多轮独立驱动电动车滑转率控制方法，其特征在于，所述步骤S4的具体执行方法为： 6. The method for controlling the slip rate of a multi-wheel independently driven electric vehicle according to claim 3, characterized in that, the specific execution method of the step S4 is: 制动状态时： When braking: 驱动状态时： When driving:
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