CN104828068A - Four-wheel drive hybrid electric vehicle, drive anti-slip control method and device - Google Patents
Four-wheel drive hybrid electric vehicle, drive anti-slip control method and device Download PDFInfo
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- CN104828068A CN104828068A CN201410806014.2A CN201410806014A CN104828068A CN 104828068 A CN104828068 A CN 104828068A CN 201410806014 A CN201410806014 A CN 201410806014A CN 104828068 A CN104828068 A CN 104828068A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/26—Wheel slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention discloses a four-wheel drive hybrid electric vehicle, a drive anti-slip control method and a device. The method comprises steps: a slip rate signal, required torque of an engine in the four-wheel drive hybrid electric vehicle and required torque of a drive motor are acquired; the slip rate signal is used for judging whether wheels in the four-wheel drive hybrid electric vehicle are in a slip state; and if the wheels in the four-wheel drive hybrid electric vehicle are judged to be in the slip state according to the slip rate signal, the required torque of the engine and the required torque of the drive motor are adjusted, and the required torque of the engine and the required torque of the drive motor after adjustment are used for carrying out drive anti-slip control on the four-wheel drive hybrid electric vehicle. Through adjusting the required torque of the engine and the required torque of the drive motor at the best time and carrying out synthesis and arbitration on the required torque of the engine and the required torque of the drive motor after adjustment according to the vehicle speed, the steering sensor angle and the slip rate signal transmitted by an ESP, the phenomenon of vehicle slip can be quickly eliminated, and the drive performance of the vehicle is improved.
Description
Technical field
The present invention relates to Development of HEV Technology field, particularly relate to a kind of Anti-slip regulation control method of four-drive hybrid electric vehicle, device and a kind of four-drive hybrid electric vehicle with this Anti-slip regulation control setup.
Background technology
At present, increasing passenger vehicle is equipped with Anti-slip regulation system, from the angle of vehicle driving safety, suppresses acutely trackslipping of drive wheel to be very important.In correlation technique, those skilled in the art it is also proposed mode when can skid to automotive wheel and method, such as, a kind of anti-slip regulation of hybrid vehicle and control method (application number: the anti-skid control method 201010113837.9) proposing the rear-guard coaxial parallel-connection hybrid vehicle being applicable to passenger vehicle thereof, but, (afterwards) hybrid vehicle of driving before the method is only applicable to, all has the mixed dynamic needs of the 4 wheel driven of propulsive effort to improve and optimizate for antero posterior axis; And for example, a kind of 4 wheel driven is without lock anti-skid final drive (application number: 201310225746.8) propose according to traditional 4 wheel driven anti-slip device for automobile, but the mixed dynamic power vehicle of 4 wheel driven relies on rational control method to realize anti-sliding control, if additional device, will increase the complexity of structure.
Therefore, how to rely on rational control method to realize the problems demand solution that 4 wheel driven mixes the anti-sliding control of power vehicle.
Summary of the invention
Object of the present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.
For this reason, first object of the present invention is the Anti-slip regulation control method proposing a kind of four-drive hybrid electric vehicle.The method by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, the demand torque of slippage rate signal to the driving engine after adjustment and drive motor simultaneously transmitted according to the speed of a motor vehicle, rotation direction sensor angle and ESP carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
Second object of the present invention is the Anti-slip regulation control setup proposing a kind of four-drive hybrid electric vehicle.
3rd object of the present invention is to propose a kind of four-drive hybrid electric vehicle.
To achieve these goals, the Anti-slip regulation control method of the four-drive hybrid electric vehicle of first aspect present invention embodiment, comprising: obtain the demand torque of driving engine in slippage rate signal, four-drive hybrid electric vehicle and the demand torque of drive motor; Whether slipping state is according to the wheel that described slippage rate signal judges in described four-drive hybrid electric vehicle; And if judge that described wheel is in slipping state according to described slippage rate signal, then regulate the demand torque of the demand torque of described driving engine and described drive motor, and according to the demand torque of driving engine after adjustment and the demand torque of drive motor, Anti-slip regulation control is carried out to described four-drive hybrid electric vehicle.
According to the Anti-slip regulation control method of the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal can be obtained, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, and whether be in slipping state according to the wheel that slippage rate signal judges in four-drive hybrid electric vehicle, if, then regulate the demand torque of driving engine and the demand torque of drive motor, and according to the demand torque of driving engine after adjustment and the demand torque of drive motor, Anti-slip regulation control is carried out to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
According to one embodiment of present invention, described judge that described wheel is in slipping state according to described slippage rate signal while, described Anti-slip regulation control method also comprises: obtain current drive pattern; The demand torque of the described driving engine of described adjustment and the demand torque of described drive motor comprise: the demand torque regulating the demand torque of described driving engine and described drive motor according to described current drive pattern.
Wherein, in an embodiment of the present invention, described drive pattern comprises four wheel drive pattern, front wheel drive mode and back-wheel drive pattern.
According to one embodiment of present invention, describedly the demand torque of the demand torque of described driving engine and described drive motor is regulated specifically to comprise according to described current drive pattern: if described current drive pattern is front wheel drive mode, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor; If described current drive pattern is back-wheel drive pattern, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor; If described current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further; If the wheel being in slipping state described in judging has front-wheel, then whether the wheel being in slipping state described in judging further has trailing wheel; If the wheel being in slipping state described in judging has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to described slippage rate signal.
According to one embodiment of present invention, if described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is front-wheel, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor; If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is trailing wheel, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor.
According to one embodiment of present invention, describedly according to the demand torque of driving engine after regulating and the demand torque of drive motor, Anti-slip regulation is carried out to described four-drive hybrid electric vehicle and control specifically to comprise: the demand torque of the demand torque of the driving engine after described adjustment and drive motor is carried out synthesize and arbitrates, obtain the demand output torque of driving engine and the demand output torque of drive motor, and control the driving of described four-drive hybrid electric vehicle according to the demand output torque of described driving engine and the demand output torque of drive motor.
To achieve these goals, the Anti-slip regulation control setup of the four-drive hybrid electric vehicle of second aspect present invention embodiment, comprise: the first acquisition module, for the demand torque of the demand torque and drive motor that obtain the driving engine in slippage rate signal, four-drive hybrid electric vehicle; Whether judge module, be in slipping state for the wheel judged in described four-drive hybrid electric vehicle according to described slippage rate signal; Adjustment module, for when judging that described wheel is in slipping state according to described slippage rate signal, regulates the demand torque of the demand torque of described driving engine and described drive motor; And control module, for carrying out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to described four-drive hybrid electric vehicle.
According to the Anti-slip regulation control setup of the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal is obtained by the first acquisition module, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, whether the wheel that judge module judges in four-drive hybrid electric vehicle according to slippage rate signal is in slipping state, if, then adjustment module regulates the demand torque of driving engine and the demand torque of drive motor, control module carries out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
According to one embodiment of present invention, described Anti-slip regulation control setup also comprises: the second acquisition module, while judging that described wheel is in slipping state at described judge module according to described slippage rate signal, obtains current drive pattern; In an embodiment of the present invention, described adjustment module is specifically for the demand torque that regulates the demand torque of described driving engine and described drive motor according to described current drive pattern.
Wherein, in an embodiment of the present invention, described drive pattern comprises four wheel drive pattern, front wheel drive mode and back-wheel drive pattern.
According to one embodiment of present invention, described adjustment module specifically for: if described current drive pattern is front wheel drive mode, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor; If described current drive pattern is back-wheel drive pattern, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor; If described current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further; If the wheel being in slipping state described in judging has front-wheel, then whether the wheel being in slipping state described in judging further has trailing wheel; If the wheel being in slipping state described in judging has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to described slippage rate signal.
According to one embodiment of present invention, described adjustment module also specifically for: if described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is front-wheel, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor; If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is trailing wheel, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor.
According to one embodiment of present invention, described control module specifically for: the demand torque of the demand torque of the driving engine after described adjustment and drive motor is carried out synthesizing and arbitrates, obtain the demand output torque of driving engine and the demand output torque of drive motor, and control the driving of described four-drive hybrid electric vehicle according to the demand output torque of described driving engine and the demand output torque of drive motor.
To achieve these goals, the four-drive hybrid electric vehicle of third aspect present invention embodiment, comprises the Anti-slip regulation control setup of second aspect present invention embodiment.
According to the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal is obtained by the first acquisition module in Anti-slip regulation control setup, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, whether the wheel that judge module judges in four-drive hybrid electric vehicle according to slippage rate signal is in slipping state, if, then adjustment module regulates the demand torque of driving engine and the demand torque of drive motor, control module carries out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein,
Fig. 1 is the diagram of circuit of the Anti-slip regulation control method of four-drive hybrid electric vehicle according to an embodiment of the invention;
Fig. 2 is the exemplary plot of drive system in four-drive hybrid electric vehicle according to an embodiment of the invention;
Fig. 3 is the diagram of circuit of the Anti-slip regulation control method of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention;
Fig. 4 is the structural representation of the Anti-slip regulation control setup of four-drive hybrid electric vehicle according to an embodiment of the invention; And
Fig. 5 is the structural representation of the Anti-slip regulation control setup of four-drive hybrid electric vehicle in accordance with another embodiment of the present invention.
Detailed description of the invention
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
Describe and can be understood in diagram of circuit or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
At present, current orthodox car all adopts electronic stability controlling system (ESP) to realize Anti-slip regulation controlling functions, ESP also can realize the match control with hybrid vehicle, orthodox car has the auxiliary devices such as center differential in anti-skidding process, and be driving engine single power source, therefore ESP easily realizes anti-sliding control by falling to turn round; In electronics four-drive hybrid electric vehicle, because antero posterior axis all exists propulsion source, and eliminate the auxiliary devices such as center differential, therefore, the control process relative complex of traditional E SP control method; And because ESP control hierarchy is the highest, if ESP does not arbitrate with entire car controller HCU, direct falling driving engine and motor is turned round, torque gradient may be caused to reduce the faults such as excessive, if arbitrated with HCU, then can cause the adjustment opportunity of intervening the several step-length of Controlled drug-release, wrong thing the best.
For this reason, the present invention proposes a kind of Anti-slip regulation control method of four-drive hybrid electric vehicle, device and have the four-drive hybrid electric vehicle of this Anti-slip regulation control setup, its output torque mainly through entire car controller HCU ACTIVE CONTROL driving engine and drive motor is to realize the control of Anti-slip regulation.Particularly, below with reference to the accompanying drawings describe the Anti-slip regulation control method of the four-drive hybrid electric vehicle according to the embodiment of the present invention, device and there is the four-drive hybrid electric vehicle of this Anti-slip regulation control setup.
Fig. 1 is the diagram of circuit of the Anti-slip regulation control method of four-drive hybrid electric vehicle according to an embodiment of the invention.It should be noted that, the Anti-slip regulation control method of the embodiment of the present invention is applicable in four-drive hybrid electric vehicle, the Anti-slip regulation control method of the embodiment of the present invention is the explanation carried out with the application of four-drive hybrid electric vehicle structure as shown in Figure 2, those skilled in the art will appreciate that the Anti-slip regulation control method of the embodiment of the present invention is equally applicable to other 4 wheel driven structures.Wherein, as shown in Figure 2, the drive system of four-drive hybrid electric vehicle comprises predecessor portions and rear-guard part, predecessor portions can by driving engine, BSG (Belt Starter Generator, belt drive motor generator integrated apparatus), automatic transmission with hydraulic torque converter assembly and diff composition, wherein, BSG by V belt translation to realize the start and stop of driving engine; Rear-guard part can be made up of rear axis drive motor, single reduction gear (Zr1 and Zr2) and diff, and wherein, rear axis drive motor torque can be passed through single reduction gear and main reduction gear is passed to rear axle wheel respectively.
As shown in Figure 1, the Anti-slip regulation control method of this four-drive hybrid electric vehicle can comprise:
S101, obtains the demand torque of driving engine in slippage rate signal, four-drive hybrid electric vehicle and the demand torque of drive motor.
Whether S102, be in slipping state according to the wheel that slippage rate signal judges in four-drive hybrid electric vehicle.
Particularly, can judge according to the slippage rate signal got whether there is in four-drive hybrid electric vehicle the wheel being in slipping state, in other words, judge in four-drive hybrid electric vehicle, which wheel is in slipping state according to slippage rate signal.
S103, if judge that wheel is in slipping state according to slippage rate signal, then regulate the demand torque of driving engine and the demand torque of drive motor, and according to the demand torque of driving engine after adjustment and the demand torque of drive motor, Anti-slip regulation control is carried out to four-drive hybrid electric vehicle.
Further, in one embodiment of the invention, while judging that wheel is in slipping state according to slippage rate signal, this Anti-slip regulation control method also can comprise: obtain current drive pattern.In an embodiment of the present invention, the demand torque of driving engine and the demand torque of drive motor is regulated to realize by following steps: to regulate the demand torque of driving engine and the demand torque of drive motor according to current drive pattern.Particularly, while judging that wheel is in slipping state according to slippage rate signal, judge which wheel is in driving condition by current drive pattern, and after the wheel being in driving condition starts to skid, with the demand torque of the demand torque of driving engine and drive motor for benchmark regulates.In an embodiment of the present invention, for the ease of controlling and preventing interference, in vehicle slip process, the motor output torque in BSG can be made to be 0, to be undertaken regulating by driving engine and drive motor and meet dynamic property demand.
Wherein, in an embodiment of the present invention, drive pattern can comprise four wheel drive pattern, front wheel drive mode and back-wheel drive pattern etc.The specific implementation process regulating the demand torque of driving engine and the demand torque of drive motor according to current drive pattern will be specifically introduced below by following several situation:
(1) if current drive pattern is front wheel drive mode, be then the demand torque of driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the adjustment moment of torsion sum preset by the current demand torque adjustment of drive motor.Wherein, it is a scalar quantity that the adjustment moment of torsion preset in the present invention can be understood, the datum quantity of calibration value can according to the setting of driving engine (motor) torque decline (increase) gradient scope, gradient scope is provided by driving engine or motor producer, such as 5 ~ 15Nm/10ms, in scope, carry out adjustment during real steering vectors demarcate, finally determine desired quantity.
Particularly, when current drive pattern is front wheel drive mode, can determine that now vehicle only has front axle to there is driving torque, the initial value of the demand torque of drive motor can be made to be 0, be the demand torque of driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the adjustment moment of torsion sum preset by the current demand torque adjustment of drive motor, namely can be regarded as and the driving torque of a front axle part is transferred to rear axle, skid to prevent front-wheel.
(2) if current drive pattern is back-wheel drive pattern, be then the demand torque of driving engine and the adjustment moment of torsion sum preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of drive motor.Particularly, when current drive pattern is back-wheel drive pattern, can determine that now vehicle only has rear axle to there is driving torque, the initial value of the demand torque of driving engine can be made to be 0, be the demand torque of driving engine and the adjustment moment of torsion sum preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of drive motor, namely can be regarded as and the driving torque of a rear axle part is transferred to front axle, to prevent rear wheels slip.
(3) if current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further; If judge that the wheel being in slipping state has front-wheel, then judge whether the wheel being in slipping state has trailing wheel further; If judge that the wheel being in slipping state has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to slippage rate signal.Particularly, when current drive pattern is four wheel drive pattern, need to judge to be in the wheel of slipping state whether there is front-wheel further, if had, then judge to be in the wheel of slipping state whether also there is trailing wheel further, if had, then can determine that the four-wheel in now vehicle skids all, can determine that now road surface can provide the maxim of adhesive ability according to the slippage rate of the ESP system transmission in vehicle, this value is utilized to limit operator demand's moment of torsion, and operator demand's moment of torsion is decomposed front and back wheel, and according to speed ratio and driving efficiency, calculate the demand torque of driving engine and the demand torque of drive motor that make new advances.
More specifically, when determining that the four-wheel in now vehicle skids all, can according to the antero posterior axis torque distribution ratio before skidding, by operator demand's torque distribution of regaining to front and back wheel, wherein, bias ratio row equal the front-wheel place moment of torsion before skidding divided by trailing wheel place moment of torsion, front-wheel place moment of torsion equals skidding front engine target torque and transmission gear speed ratio, speed ratio of main reducer and driving efficiency long-pending, it is long-pending that trailing wheel place moment of torsion equals skidding front motor target torque and single-stage speed reducing speed ratio and driving efficiency, afterwards, by the front-wheel place moment of torsion that redefines divided by driving efficiency, main reduction gear and transmission gear speed ratio, be engine demand moment of torsion, trailing wheel place moment of torsion is divided by single-stage speed reducing speed ratio and driving efficiency, be the demand torque of drive motor.
(4) in an embodiment of the present invention, if current drive pattern is four wheel drive pattern, and judge that the wheel being in slipping state is front-wheel, be then the demand torque of driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the adjustment moment of torsion sum preset by the current demand torque adjustment of drive motor.That is, the driving torque of a front axle part is transferred to rear axle, skid to prevent front-wheel.
(5) in an embodiment of the present invention, if current drive pattern is four wheel drive pattern, and judge that the wheel being in slipping state is trailing wheel, be then the demand torque of driving engine and the adjustment moment of torsion sum preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of drive motor.That is, the driving torque of a rear axle part is transferred to front axle, to prevent rear wheels slip.
Specifically, in an embodiment of the present invention, after the adjustment demand torque of driving engine and the demand torque of drive motor, according to the demand torque of driving engine after adjustment and the demand torque of drive motor, the specific implementation process that four-drive hybrid electric vehicle carries out Anti-slip regulation control be can be: the demand torque of driving engine after adjustment and the demand torque of drive motor can be carried out synthesizing and arbitrate, obtain the demand output torque of driving engine and the demand output torque of drive motor, and the driving of four-drive hybrid electric vehicle is controlled according to the demand output torque of driving engine and the demand output torque of drive motor.
Be to be understood that, for guarantee the trailing wheel of vehicle in the high speed of a motor vehicle and turn to greatly time stabilizing power, in an embodiment of the present invention, the demand torque of drive motor should consider the speed of a motor vehicle and steering wheel angle factor, such as, when the speed of a motor vehicle and steering wheel angle excessive time, the demand torque of drive motor can be multiplied by the coefficient being less than 1, wherein, this coefficient can be demarcated.
According to the Anti-slip regulation control method of the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal can be obtained, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, and whether be in slipping state according to the wheel that slippage rate signal judges in four-drive hybrid electric vehicle, if, then regulate the demand torque of driving engine and the demand torque of drive motor, and according to the demand torque of driving engine after adjustment and the demand torque of drive motor, Anti-slip regulation control is carried out to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
The present invention can be more clearly understood, below by casehistory to make those skilled in the art.
For example, as shown in Figure 3, first, slippage rate signal, the speed of a motor vehicle, steering wheel angle, drive pattern can be obtained, the demand torque Ter of driving engine E and the demand torque Tmr of drive motor TM, and BSG Motor torque (S301).Afterwards, judge in vehicle, which wheel is in slipping state by slippage rate signal, and judge which wheel is in driving condition by drive pattern, and after wheel starts skidding, with the demand torque Tmr of the demand torque Ter of driving engine E and drive motor TM for benchmark regulates.It should be noted that, for the ease of controlling and preventing interference, make BSG motor output torque be 0 in vehicle slip process, undertaken regulating by driving engine E and drive motor TM and meet dynamic property demand.Wherein, can judge whether current drive pattern is four wheel drive pattern (S302), if, then judge whether front-wheel skids (S303) further, if, then judge whether trailing wheel also skids (S304) further, if, then can determine vehicle now four-wheel all skid, the slippage rate that can transmit according to ESP, determine that now road surface can provide the maxim of adhesive ability, this value is utilized to limit operator demand's moment of torsion, and operator demand's moment of torsion is decomposed front and back wheel, according to speed ratio and driving efficiency, calculate Ter and Tmr (S305) made new advances.If judge that current drive pattern is four wheel drive pattern, but judge now front-wheel skidding and trailing wheel is non-slip, then the current demand torque T e of driving engine can be adjusted to the demand torque Ter of driving engine and the difference of the adjustment torque T v preset, i.e. Te=Ter-Tv, and the current demand torque T m of drive motor is adjusted to the demand torque Tmr of drive motor and the adjustment torque T v sum preset, i.e. Tm=Tmr+Tv (S306).If judge that current drive pattern is four wheel drive pattern, but judge the now non-slip and rear wheels slip of front-wheel, then the current demand torque T e of driving engine can be adjusted to the demand torque Ter of driving engine and the adjustment torque T v sum preset, i.e. Te=Ter+Tv, and the current demand torque T m of drive motor is adjusted to the demand torque Tmr of drive motor and the difference of the adjustment torque T v preset, i.e. Tm=Tmr-Tv (S307).When judging current drive pattern not as four wheel drive pattern sum, can judge whether current be front wheel drive mode (S308), if, then can determine now only have front axle to there is driving torque, the current demand torque T e of driving engine can be adjusted to the demand torque Ter of driving engine and the difference of the adjustment torque T v preset, i.e. Te=Ter-Tv, and the current demand torque T m of drive motor is adjusted to the demand torque Tmr of drive motor and the adjustment torque T v sum preset, i.e. Tm=Tmr+Tv, wherein initial Tmr is 0 (S309).When judging current drive pattern also not as front wheel drive mode, can judge whether current drive pattern is back-wheel drive pattern (S310), if, then the current demand torque T e of driving engine can be adjusted to the demand torque Ter of driving engine and the adjustment torque T v sum preset, i.e. Te=Ter+Tv, and the current demand torque T m of drive motor is adjusted to the demand torque Tmr of drive motor and the difference of the adjustment torque T v preset, i.e. Tm=Tmr-Tv (S311).Finally, the demand torque Te of driving engine after adjustment and the demand torque Tm of drive motor can be carried out synthesizing and arbitrate, and send the demand torque Te of driving engine after joint and the demand torque Tm of drive motor to driving engine E and drive motor M, and using the demand torque of this Te as now driving engine E, using the demand torque of this Tm as now drive motor M, wherein, Tm should consider the speed of a motor vehicle and steering wheel angle factor, guarantee trailing wheel in the high speed of a motor vehicle and turn to greatly time stabilizing power, when the speed of a motor vehicle and steering wheel angle excessive time Tm should be multiplied by the coefficient being less than 1, this coefficient can be demarcated (S312), circulate successively, by regulating to the demand torque of driving engine and drive motor the control realizing Anti-slip regulation.
Corresponding with the Anti-slip regulation control method of the four-drive hybrid electric vehicle that above-mentioned several embodiment provides, a kind of embodiment of the present invention also provides a kind of Anti-slip regulation control setup of four-drive hybrid electric vehicle, the Anti-slip regulation control setup of the four-drive hybrid electric vehicle provided due to the embodiment of the present invention is corresponding with the Anti-slip regulation control method of the four-drive hybrid electric vehicle that above-mentioned several embodiment provides, therefore the Anti-slip regulation control setup of the four-drive hybrid electric vehicle that the present embodiment provides also is applicable at the embodiment of the Anti-slip regulation control method of aforementioned four-drive hybrid electric vehicle, be not described in detail in the present embodiment.Fig. 4 is the structural representation of the Anti-slip regulation control setup of four-drive hybrid electric vehicle according to an embodiment of the invention.As shown in Figure 4, the Anti-slip regulation control setup of this four-drive hybrid electric vehicle can comprise: the first acquisition module 10, judge module 20, adjustment module 30 and control module 40.
Particularly, the first acquisition module 10 can be used for obtaining the demand torque of driving engine in slippage rate signal, four-drive hybrid electric vehicle and the demand torque of drive motor.
Whether the wheel that judge module 20 can be used for judging in four-drive hybrid electric vehicle according to slippage rate signal is in slipping state.
When adjustment module 30 is used in and judges that wheel is in slipping state according to slippage rate signal, regulate the demand torque of driving engine and the demand torque of drive motor.
Further, in one embodiment of the invention, as shown in Figure 5, this Anti-slip regulation control setup also can comprise the second acquisition module 50.Second acquisition module 50 is used in while according to slippage rate signal, judge module 20 judges that wheel is in slipping state, obtains current drive pattern.In an embodiment of the present invention, adjustment module 30 can be specifically for: regulate the demand torque of driving engine and the demand torque of drive motor according to current drive pattern.Wherein, in an embodiment of the present invention, drive pattern can comprise four wheel drive pattern, front wheel drive mode and back-wheel drive pattern etc.
Specifically, in an embodiment of the present invention, adjustment module 30 can be specifically for: if current drive pattern is front wheel drive mode, be then the demand torque of driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the adjustment moment of torsion sum preset by the current demand torque adjustment of drive motor;
If current drive pattern is back-wheel drive pattern, be then the demand torque of driving engine and the adjustment moment of torsion sum preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of drive motor;
If current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further;
If judge that the wheel being in slipping state has front-wheel, then judge whether the wheel being in slipping state has trailing wheel further;
If judge that the wheel being in slipping state has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to slippage rate signal.
In an embodiment of the present invention, adjustment module 30 also can be specifically for: if current drive pattern is four wheel drive pattern, and judge that the wheel being in slipping state is front-wheel, be then the demand torque of driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the adjustment moment of torsion sum preset by the current demand torque adjustment of drive motor; If current drive pattern is four wheel drive pattern, and judge that the wheel being in slipping state is trailing wheel, be then the demand torque of driving engine and the adjustment moment of torsion sum preset by the current demand torque adjustment of driving engine, and be the demand torque of drive motor and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of drive motor.
Control module 40 can be used for the demand torque of driving engine after according to adjustment and the demand torque of drive motor carries out Anti-slip regulation control to four-drive hybrid electric vehicle.Specifically, in an embodiment of the present invention, the demand torque of driving engine after adjustment and the demand torque of drive motor can carry out synthesizing and arbitrate by control module 40, obtain the demand output torque of driving engine and the demand output torque of drive motor, and control the driving of four-drive hybrid electric vehicle according to the demand output torque of driving engine and the demand output torque of drive motor.
According to the Anti-slip regulation control setup of the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal is obtained by the first acquisition module, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, whether the wheel that judge module judges in four-drive hybrid electric vehicle according to slippage rate signal is in slipping state, if, then adjustment module regulates the demand torque of driving engine and the demand torque of drive motor, control module carries out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
In order to realize above-described embodiment, the invention allows for a kind of four-drive hybrid electric vehicle, comprising the Anti-slip regulation control setup of any one embodiment above-mentioned.
According to the four-drive hybrid electric vehicle of the embodiment of the present invention, slippage rate signal is obtained by the first acquisition module in Anti-slip regulation control setup, the demand torque of the driving engine in four-drive hybrid electric vehicle and the demand torque of drive motor, whether the wheel that judge module judges in four-drive hybrid electric vehicle according to slippage rate signal is in slipping state, if, then adjustment module regulates the demand torque of driving engine and the demand torque of drive motor, control module carries out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to four-drive hybrid electric vehicle, namely by ACTIVE CONTROL driving engine and drive motor output torque to realize the control of Anti-slip regulation, can regulate by the demand torque in the best opportunity to driving engine and drive motor, simultaneously according to the speed of a motor vehicle, the demand torque of the slippage rate signal that rotation direction sensor angle and ESP transmit to the driving engine after adjustment and drive motor carries out synthesizing and arbitrates, eliminate the phenomenon of vehicle slip fast, thus improve the driveability of vehicle.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinatory logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this specification sheets or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (13)
1. an Anti-slip regulation control method for four-drive hybrid electric vehicle, is characterized in that, comprise the following steps:
Obtain the demand torque of driving engine in slippage rate signal, four-drive hybrid electric vehicle and the demand torque of drive motor;
Whether slipping state is according to the wheel that described slippage rate signal judges in described four-drive hybrid electric vehicle; And
If judge that described wheel is in slipping state according to described slippage rate signal, then regulate the demand torque of the demand torque of described driving engine and described drive motor, and according to the demand torque of driving engine after adjustment and the demand torque of drive motor, Anti-slip regulation control is carried out to described four-drive hybrid electric vehicle.
2. Anti-slip regulation control method as claimed in claim 1, is characterized in that, described judge that described wheel is in slipping state according to described slippage rate signal while, also comprise:
Obtain current drive pattern;
The demand torque of the described driving engine of described adjustment and the demand torque of described drive motor comprise:
The demand torque of the demand torque of described driving engine and described drive motor is regulated according to described current drive pattern.
3. Anti-slip regulation control method as claimed in claim 2, it is characterized in that, described drive pattern comprises four wheel drive pattern, front wheel drive mode and back-wheel drive pattern.
4. Anti-slip regulation control method as claimed in claim 3, is characterized in that, describedly regulates the demand torque of the demand torque of described driving engine and described drive motor specifically to comprise according to described current drive pattern:
If described current drive pattern is front wheel drive mode, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor;
If described current drive pattern is back-wheel drive pattern, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor;
If described current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further;
If the wheel being in slipping state described in judging has front-wheel, then whether the wheel being in slipping state described in judging further has trailing wheel;
If the wheel being in slipping state described in judging has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to described slippage rate signal.
5. Anti-slip regulation control method as claimed in claim 4, is characterized in that,
If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is front-wheel, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor;
If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is trailing wheel, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor.
6. Anti-slip regulation control method as claimed in claim 1, is characterized in that, describedly carries out Anti-slip regulation according to the demand torque of driving engine after regulating and the demand torque of drive motor to described four-drive hybrid electric vehicle and controls specifically to comprise:
The demand torque of the demand torque of the driving engine after described adjustment and drive motor is carried out synthesizing and arbitrates, obtain the demand output torque of driving engine and the demand output torque of drive motor, and control the driving of described four-drive hybrid electric vehicle according to the demand output torque of described driving engine and the demand output torque of drive motor.
7. an Anti-slip regulation control setup for four-drive hybrid electric vehicle, is characterized in that, comprising:
First acquisition module, for the demand torque of the demand torque and drive motor that obtain the driving engine in slippage rate signal, four-drive hybrid electric vehicle;
Whether judge module, be in slipping state for the wheel judged in described four-drive hybrid electric vehicle according to described slippage rate signal;
Adjustment module, for when judging that described wheel is in slipping state according to described slippage rate signal, regulates the demand torque of the demand torque of described driving engine and described drive motor; And
Control module, for carrying out Anti-slip regulation control according to the demand torque of driving engine after adjustment and the demand torque of drive motor to described four-drive hybrid electric vehicle.
8. Anti-slip regulation control setup as claimed in claim 7, is characterized in that, also comprise:
Second acquisition module, while judging that described wheel is in slipping state at described judge module according to described slippage rate signal, obtains current drive pattern;
Described adjustment module specifically for:
The demand torque of the demand torque of described driving engine and described drive motor is regulated according to described current drive pattern.
9. Anti-slip regulation control setup as claimed in claim 8, it is characterized in that, described drive pattern comprises four wheel drive pattern, front wheel drive mode and back-wheel drive pattern.
10. Anti-slip regulation control setup as claimed in claim 9, is characterized in that, described adjustment module specifically for:
If described current drive pattern is front wheel drive mode, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor;
If described current drive pattern is back-wheel drive pattern, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor;
If described current drive pattern is four wheel drive pattern, then judge whether the wheel being in slipping state has front-wheel further;
If the wheel being in slipping state described in judging has front-wheel, then whether the wheel being in slipping state described in judging further has trailing wheel;
If the wheel being in slipping state described in judging has trailing wheel, then redefine the demand torque of driving engine and the demand torque of drive motor according to described slippage rate signal.
11. Anti-slip regulation control setups as claimed in claim 10, is characterized in that, described adjustment module also specifically for:
If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is front-wheel, be then the demand torque of described driving engine and the difference of the adjustment moment of torsion preset by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and described default adjustment moment of torsion sum by the current demand torque adjustment of described drive motor;
If described current drive pattern is four wheel drive pattern, and the wheel being in slipping state described in judging is trailing wheel, be then the demand torque of described driving engine and described default adjustment moment of torsion sum by the current demand torque adjustment of described driving engine, and be the demand torque of described drive motor and the difference of described default adjustment moment of torsion by the current demand torque adjustment of described drive motor.
12. Anti-slip regulation control setups as claimed in claim 7, is characterized in that, described control module specifically for:
The demand torque of the demand torque of the driving engine after described adjustment and drive motor is carried out synthesizing and arbitrates, obtain the demand output torque of driving engine and the demand output torque of drive motor, and control the driving of described four-drive hybrid electric vehicle according to the demand output torque of described driving engine and the demand output torque of drive motor.
13. 1 kinds of four-drive hybrid electric vehicles, is characterized in that, comprising: the Anti-slip regulation control setup according to any one of claim 7-12.
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| WO2021249556A1 (en) * | 2020-06-12 | 2021-12-16 | 长城汽车股份有限公司 | Method and apparatus for controlling interference torque, controller, device, program, and medium |
| CN111746300A (en) * | 2020-06-19 | 2020-10-09 | 智新控制系统有限公司 | Anti-skid control method for driving centralized driving electric automobile and storage medium |
| CN111746300B (en) * | 2020-06-19 | 2021-11-12 | 智新控制系统有限公司 | Anti-skid control method for driving centralized driving electric automobile and storage medium |
| CN113895235A (en) * | 2021-11-15 | 2022-01-07 | 奇瑞新能源汽车股份有限公司 | Control method and device for four-wheel drive vehicle, new energy automobile and storage medium |
| CN113895235B (en) * | 2021-11-15 | 2023-08-15 | 奇瑞新能源汽车股份有限公司 | Control method and device for four-wheel drive vehicle, new energy automobile and storage medium |
| CN115157998A (en) * | 2022-06-29 | 2022-10-11 | 中国第一汽车股份有限公司 | Hybrid system of vehicle, vehicle and control method of vehicle |
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