CN105667341B - A kind of TCS for multiaxis distributed dynamoelectric driving vehicle - Google Patents

A kind of TCS for multiaxis distributed dynamoelectric driving vehicle Download PDF

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Publication number
CN105667341B
CN105667341B CN201610005801.6A CN201610005801A CN105667341B CN 105667341 B CN105667341 B CN 105667341B CN 201610005801 A CN201610005801 A CN 201610005801A CN 105667341 B CN105667341 B CN 105667341B
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wheel
bridge
wheels
vehicle
side wheels
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CN105667341A (en
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胡纪滨
李雪原
彭增雄
魏超
倪俊
唐寿星
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/14—Synchronous machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/18—Acceleration lateral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/20—Acceleration angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a kind of TCS for multiaxis distributed dynamoelectric driving vehicle, it ensure that tire working, in attachment coefficient large area, improves driveability of the vehicle on cross-country road.The system hardware module it is main by preceding two bridges wheel, rear two bridges wheel, 4 permanent-magnet synchronous driving motors, 4 hub reduction gears, yaw-rate sensor, longitudinal acceleration sensor, lateral acceleration sensor, mounting box, entire car controller and steering wheel angle sensor group into.The software module of TCS in the entire car controller includes driver's torque demand translation module, wheel condition judge module, driving moment control module and analysis of wheel vertical load estimation block.

Description

A kind of TCS for multiaxis distributed dynamoelectric driving vehicle
Technical field
The invention belongs to vehicle drive control system field, and in particular to one kind is used for multiaxis distributed dynamoelectric and drives vehicle TCS.
Background technology
All the time, multiple-axle vehicle is so that its load distribution is reasonable, dynamic property strong, by the outstanding advantages such as property is good, by more next More it is widely used in wheel military vehicle and civilian heavily loaded wheeled vehicle field.But, there is conventional multi-axis vehicle structure to answer The shortcomings of driving force is unable to flexible allocation between miscellaneous, between centers wheel, by taking the vehicle of a11wheel drive 8 × 8 as an example, it is at least needed between 4 wheels Differential mechanism and 3 inter-axle differentials could realize a11wheel drive.So occur in that as publication No. CN103587403A is proposed Distributed dynamoelectric drives vehicle scheme, and its preceding two bridges wheel is by engine driving, and rear two bridges wheel is driven by wheel motor, power Can between rear each wheel of two bridges 0-100% flexible allocations, dramatically improve the dynamic property and cross-country ability of vehicle.
TCS is that vehicle prevents driving wheel from occurring excessive slip in starting, acceleration, climbing, to obtain most A kind of active control system of large traction and optimal control stability, it controls automobile driving wheel slip rate attached in stable region Closely, so as to both give full play to the power performance of vehicle, the lateral stability of vehicle can be improved again.Such as publication No. CN101973267A The mixed power electric car traction control method proposed：It utilizes engine target torque algorithm for design and torque dynamic Coordination control strategy, dynamic coordinate has been carried out to engine system and electric system so that actual driving resultant couple can be accurate Ground, which is met, expects driving resultant couple, realizes the precise coordination control of motor torque and motor torque.
But, current existing vehicle traction control system is all based on 4 wheel motor vehicles for civilian use and developed, for 8 × 8 Had not been reported Deng multiple-axle vehicle.For existing TCS, its control targe parameter used All it is single wheel slip, is not covered by the extreme operating condition of wheel lift；Also, existing vehicle traction control at present System is in order to reduce slip rate, and the wheel torque reduced is most and does not increase on other wheels, causes to a certain extent Power performance reduction.
The present invention be applied to 8 × 8 distributeds drive multiple-axle vehicle, when by it is motor-driven after two bridge wheel slips surpass When crossing threshold value, system will normally be skidded by motor feedback angular acceleration and angular acceleration threshold value relatively to judge wheel Or ground is left, it is supplied to the driving moment of only normal slip wheel, by the direct zero setting of the driving moment of liftoff wheel by reducing, To ensure tire working in attachment coefficient large area；Meanwhile, system is by leaving the driving moment acted on the wheel of ground Other vertical loads are distributed to compared with big wheel, to ensure vehicles dynamic performance, so as to improve traveling of the vehicle on cross-country road Ability.
The content of the invention
In view of this, the invention provides a kind of TCS for multiaxis distributed dynamoelectric driving vehicle, The extreme operating mode of wheel lift can be covered, the TCS of 8 × 8 multiaxis distributed dynamoelectrics driving vehicle has been filled up Blank.
A kind of TCS for multiaxis distributed dynamoelectric driving vehicle, it is characterised in that the system hardware Module is main by preceding two bridges wheel, rear two bridges wheel, engine, generator, 4 permanent-magnet synchronous driving motors, 4 hub reductions Device, yaw-rate sensor, longitudinal acceleration sensor, lateral acceleration sensor, mounting box (13), entire car controller (14) constituted with steering wheel angle sensor (15)；
Two bridge wheels include afterwards：Three bridge right side wheels, four bridge right side wheels, three bridge left side wheels and four bridge left side wheels；
4 hub reduction gears include：Right side hub reduction gear I, right side hub reduction gear II, left side hub reduction gear I and Left side hub reduction gear II；
4 Direct wheel drives motors include：Right side permanent-magnet synchronous driving motor I, right side permanent-magnet synchronous driving motor II, left side Permanent-magnet synchronous driving motor I and left side permanent-magnet synchronous driving motor II；
Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle centroid In the mounting box of position；
Driven by engine electrical power generators to 4 Direct wheel drives motors, 4 Direct wheel drives motors passes through hub reduction Two bridge wheels after device driving；Entire car controller is arranged on car body center, and steering wheel angle sensor is fixed on steering column, real When measure steering wheel angle, pass through steering system ratio conversion obtain front wheel angle；Steering wheel angle sensor, yaw velocity Realized and communicated by CAN network between sensor, longitudinal acceleration sensor and lateral acceleration sensor and entire car controller.
Further, the software module of the TCS in the entire car controller includes driver's torque demand Translation module, wheel condition judge module, driving moment control module and analysis of wheel vertical load estimation block；
Driver's torque demand translation module, the accelerator open degree fed back using accelerator pedal sensor and speed, Two bridge Direct wheel drives motor driving torque demands after being determined according to the MAP formulated, and the value of motor driving torque is issued Electric machine controller；
The wheel condition judge module, utilizes right side permanent-magnet synchronous driving motor I, right side permanent-magnet synchronous driving motor II, left side permanent-magnet synchronous driving motor I and left side permanent-magnet synchronous driving motor II feedbacks rotating speed, angular acceleration and speed, root Two bridge wheels, which are in, after judging according to decision algorithm does not slide, normal slip or leaves the state of ground；
The driving moment control module, the result judged according to the wheel condition judge module, to non-slipping wheels Motor is not processed；For normal slip, reduce normal slip wheel drive motors torque, until the wheel slip is low In set slip rate judgment threshold；The direct zero setting of wheel drive motors torque to leaving ground, while by the power of reduction Square is superimposed upon another and not left in ground and the maximum wheel drive motors of vertical load, if the torque after superposition is beyond electricity The torque capacity of machine, electric machine controller will carry out amplitude limit intervention；
The analysis of wheel vertical load estimation block, the longitudinal direction fed back by longitudinal acceleration and lateral acceleration sensor Acceleration and side acceleration values, based on the assumption that wheel does not leave ground, each analysis of wheel vertical load of two bridges after qualitative sequence Size.
Further, the foundation of the qualitative sequence is：
When longitudinal direction of car acceleration is just, i.e., vehicle accelerates, the vertical load of four bridge right side wheels and four bridge left side wheels Lotus is to should be greater than the vertical loads of three bridge right side wheels and three bridge left side wheels；When longitudinal direction of car acceleration is negative, i.e., vehicle subtracts When fast, the vertical loads of three bridge right side wheels and three bridge left side wheels is to should be greater than four bridge right side wheels and four bridge left side wheels Vertical load；When vehicle side acceleration is just, i.e., vehicle turns left, the vertical load of three bridge right side wheels and four bridge right side wheels Vertical load of the lotus to should be greater than three bridge left side wheels and four bridge left side wheels；When vehicle side acceleration is negative, i.e. vehicle During right-hand rotation, the vertical load of three bridge left side wheels and four bridge left side wheels is to should be greater than car on the right side of three bridge right side wheels and four bridges The vertical load of wheel.
Further, the decision algorithm is：
In formula：niRotating speed is fed back for rear two bridges motor, i is hub reduction gear gearratio, and R is radius of wheel, and V is car Speed, STFor slip rate judgment threshold；
When decision algorithm expression formula is not set up, the wheel is in non-slip state；
When decision algorithm expression formula is set up, the wheel is in slip state；After judging that wheel produces sliding, then carry out It is following to judge, i.e.,
αi＞ αT
In formula：αiFor motor feedback angular acceleration；αTFor angular acceleration threshold value；Work as αi＞ αTDuring establishment, the wheel is in The state of ground is left, otherwise, wheel is in normal slip state.
Beneficial effect：
1. the present invention has filled up the blank of the TCS of 8 × 8 multiaxis distributed dynamoelectrics driving vehicle, meanwhile, Two bridge Direct wheel drives motor driving torque demands after the MAP provided is determined, to cover the operating mode that wheel lift is extreme.
2. the present invention, which is applied to 8 × 8 distributeds, drives multiple-axle vehicle, judged by Integrated comparative slip rate and slip rate Threshold value, motor feedback angular acceleration and angular acceleration threshold value, judge wheel condition, according to wheel condition controlled motor driving force Square, reduces the driving moment for being supplied to the wheel in slip state, and angular acceleration is exceeded to the wheel of threshold value (i.e. liftoff) The direct zero setting of driving moment, it is ensured that tire working is in attachment coefficient large area, while the driving moment of reduction is distributed To other wheels to ensure that vehicles dynamic performance.
3. the present invention is in driving moment allocation algorithm, it is contemplated that the vertical load size of rear two bridges, 4 electrically driven wheels Relation, is transferred to vertical load compared with the motor of big wheel, so that preferably profit by the torque reduced on the wheel for leaving ground With the adhesive ability of each wheel, driveability of the vehicle on cross-country road is improved.
Brief description of the drawings
Fig. 1 is a kind of TCS hardware architecture diagram for multiaxis distributed dynamoelectric driving vehicle.
Fig. 2 is a kind of TCS software configuration schematic diagram for multiaxis distributed dynamoelectric driving vehicle.
Fig. 3 for driver's torque demand translation module institute foundation MAP.
Wherein, the bridge right side wheels of 1- tri-；The bridge right side wheels of 2- tetra-；The bridge left side wheels of 3- tri-；The bridge left side wheels of 4- tetra-；5- is right Side wheel side reducer I；Hub reduction gear III on the right side of 6-；Hub reduction gear I on the left of 7-；Hub reduction gear II on the left of 8-；On the right side of 9- Permanent-magnet synchronous driving motor I；Permanent-magnet synchronous driving motor II on the right side of 10-；Permanent-magnet synchronous driving motor I on the left of 11-；On the left of 12- Permanent-magnet synchronous driving motor II；13- mounting boxs；14- entire car controllers；15- steering wheel angle sensors；16- gas pedals position Put sensor.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
A kind of TCS for multiaxis distributed dynamoelectric driving vehicle, the system module is main by preceding two bridge Wheel, rear two bridges wheel, 4 Direct wheel drives motors, 4 hub reduction gears, yaw-rate sensor, longitudinal acceleration sensings Device, lateral acceleration sensor, mounting box 13, entire car controller 14 and steering wheel angle sensor 15 are constituted.
Two bridge wheels include afterwards：Three bridge right side wheels 1；Four bridge right side wheels 2；Three bridge left side wheels 3；Four bridge left side wheels 4；；
4 hub reduction gears include：Right side hub reduction gear I5, right side hub reduction gear II6, left side hub reduction gear I 7 and left side hub reduction gear II8；
4 Direct wheel drives motors include：Right side permanent-magnet synchronous driving motor I9, right side permanent-magnet synchronous driving motor II10, Left side permanent-magnet synchronous driving motor I 11 and left side permanent-magnet synchronous driving motor II12；
The invention provides a kind of TCS for multiaxis distributed dynamoelectric driving vehicle, Fig. 1 is use 8 × 8 vehicles of distributed dynamoelectric drive scheme, the power of engine is divided into two-way through transfer case, leads to all the way after gearbox Cross between centers inter-wheel differential and drive preceding two bridges wheel；Another road drives electrical power generators to 4 Direct wheel drives motors, described 4 Direct wheel drives motor two bridge wheels after 4 hub reduction gear drivings；Entire car controller 14 is arranged on car body center, turns to Disk rotary angle transmitter (15) is fixed on steering column, and steering wheel angle is measured in real time, can be obtained by steering system ratio conversion Front wheel angle；Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle matter In the mounting box 13 of heart position, yaw velocity, longitudinal acceleration and the side acceleration at vehicle centroid are measured in real time；Turn to Disk rotary angle transmitter, yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor and entire car controller Between by CAN network realize communicate.
As shown in Fig. 2 the software module of the TCS in entire car controller 14 includes driver's torque demand Translation module, wheel condition judge module, driving moment control module and analysis of wheel vertical load estimation block.
In vehicle travel process, driver's torque demand translation module is fed back by accelerator pedal sensor 16 Accelerator open degree and speed, right side permanent-magnet synchronous driving motor I9 and right side permanent magnetism are determined according to the MAP formulated (see Fig. 3) Synchronous driving motor II10 driving torque demands.
Fig. 3 is the MAP, and x coordinate is speed, and y-coordinate is accelerator open degree, and z coordinate is rear two bridges motor torque, It expresses the motor torque demand under a certain speed, a certain accelerator open degree, and the method for formulating the MAP is：100% In accelerator open degree plane, when speed is in 0-30km/h, the torque of motor demand input reaches peak value；Work as 30km/h-60km/ During h, the torque linear reduction of motor demand input；When speed, which is in, is more than 60km/h, the torque of motor demand input is zero, Now vehicle enters 8 × 4 patterns, as accelerator open degree by 100% is reduced to 0%, MAP linear reduction.
Wheel condition judge module passes through right side permanent-magnet synchronous driving motor I9 and right side permanent-magnet synchronous driving motor II10 Rotating speed, angular acceleration and the speed fed back, judge according to following decision algorithm：Two bridge wheels are in and do not slide, normally slide afterwards Move or leave the state of ground.
Decision algorithm：
In formula：niRotating speed is fed back for rear two bridges motor；I is hub reduction gear gearratio；R is radius of wheel；V is car Speed；STFor slip rate judgment threshold.
When decision algorithm expression formula is not set up, the wheel is in non-slip state, is
When decision algorithm expression formula is set up, the wheel is in slip state.After judging that wheel produces sliding, then carry out It is following to judge.
αi＞ αT
In formula：αiFor motor feedback angular acceleration；αTFor angular acceleration threshold value.When above formula is set up, the wheel be in from Turn up the soil surface state, otherwise, wheel is in normal slip state.
Driving moment control module is according to wheel condition judge module judged result：Non- slipping wheels motor is not done Processing；For normal slip, reduce normal slip wheel drive motors torque, until the wheel slip is less than set door Limit value ST；
The direct zero setting of wheel drive motors torque to leaving ground, at the same by the torque of reduction be superimposed upon another not from Turn up the soil in face and the maximum wheel drive motors of vertical load, if the torque after superposition exceeds the torque capacity of motor, motor Controller will carry out amplitude limit intervention；Wherein, the judgement of each analysis of wheel vertical load of rear two bridge is complete by analysis of wheel vertical load estimation block Into.
The longitudinal direction that the analysis of wheel vertical load estimation block is fed back by longitudinal acceleration, lateral acceleration sensor adds Speed and side acceleration values, based on the assumption that wheel does not leave ground, each analysis of wheel vertical load of two bridges is big after qualitative sequence It is small.Its sort by is：When longitudinal direction of car acceleration is just, i.e., when vehicle accelerates, quadr--axle vehicle wheel vertical load is more than three bridge cars Take turns vertical load；When longitudinal direction of car acceleration be it is negative, i.e., vehicle deceleration when, three bridge analysis of wheel vertical load be more than quadr--axle vehicle wheel it is vertical Load；When vehicle side acceleration is just, i.e., when vehicle turns left, right side wheels vertical load is more than left side wheel vertical load； When vehicle side acceleration is negative, i.e., when vehicle is turned right, left side wheel vertical load is more than right side wheels vertical load.
After the completion of analysis of wheel vertical load estimation block, after the qualitative sequence of vertical load size of each wheel of left and right sides, Ground and the maximum wheel of vertical load are not left in the selection of driving moment control module, and the motor for leaving ground wheel is driven Torque transfer is so far in wheel drive motors.
Finally, realize that each wheel is operated in normal slip state.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention. Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's Within protection domain.

Claims (2)

1. a kind of TCS for multiaxis distributed dynamoelectric driving vehicle, it is characterised in that the system hardware mould Block is main by preceding two bridges wheel, rear two bridges wheel, engine, generator, 4 Direct wheel drives motors, 4 hub reduction gears, horizontal strokes Pivot angle velocity sensor, longitudinal acceleration sensor, lateral acceleration sensor, mounting box (13), entire car controller (14) and Steering wheel angle sensor (15) is constituted；
Two bridge wheels include afterwards：On the left of three bridge right side wheels (1), four bridge right side wheels (2), three bridge left side wheels (3) and four bridges Wheel (4)；
4 hub reduction gears include：Right side hub reduction gear I (5), right side hub reduction gear II (6), left side hub reduction gear I And left side hub reduction gear II (8) (7)；
4 Direct wheel drives motors include：Right side permanent-magnet synchronous driving motor I (9), right side permanent-magnet synchronous driving motor II (10), Left side permanent-magnet synchronous driving motor I (11) and left side permanent-magnet synchronous driving motor II (12)；
Yaw-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor are mounted on vehicle centroid position Mounting box (13) in；
Driven by engine electrical power generators to 4 Direct wheel drives motors, 4 Direct wheel drives motors drives by hub reduction gear Two bridge wheels after dynamic；Entire car controller (14) is arranged on car body center, and steering wheel angle sensor (15) is fixed on steering column On, steering wheel angle is measured in real time, and front wheel angle is obtained by steering system ratio conversion；Steering wheel angle sensor, yaw Realized between angular-rate sensor, longitudinal acceleration sensor and lateral acceleration sensor and entire car controller by CAN network Communication；
The software module of TCS in the entire car controller (14) include driver's torque demand translation module, Wheel condition judge module, driving moment control module and analysis of wheel vertical load estimation block；
Driver's torque demand translation module, the accelerator open degree fed back using accelerator pedal sensor and speed, according to Two bridge Direct wheel drives motor driving torque demands after the MAP formulated is determined, and the value of motor driving torque is issued motor Controller；
The wheel condition judge module, utilizes right side permanent-magnet synchronous driving motor I (9), right side permanent-magnet synchronous driving motor II (10), rotating speed, the angular acceleration of left side permanent-magnet synchronous driving motor I (11) and left side permanent-magnet synchronous driving motor II (12) feedbacks And speed, two bridge wheels, which are in, after being judged according to decision algorithm does not slide, normal slip or leaves the state of ground；
The decision algorithm is：
<mrow> <mfrac> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>i</mi> </msub> <mo>/</mo> <mi>i</mi> <mo>)</mo> <mo>&amp;CenterDot;</mo> <mi>R</mi> <mo>-</mo> <mi>V</mi> </mrow> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mi>i</mi> </msub> <mo>/</mo> <mi>i</mi> <mo>)</mo> <mo>&amp;CenterDot;</mo> <mi>R</mi> </mrow> </mfrac> <mo>&lt;</mo> <msub> <mi>S</mi> <mi>T</mi> </msub> </mrow>
In formula：niRotating speed is fed back for rear two bridges motor, i is hub reduction gear gearratio, and R is radius of wheel, and V is speed, ST For slip rate judgment threshold；
When decision algorithm expression formula is not set up, the wheel is in non-slip state；
When decision algorithm expression formula is set up, the wheel is in slip state；After judging that wheel produces sliding, then carry out as follows Judge, i.e.,
αi＞ αT
In formula：αiFor motor feedback angular acceleration；αTFor angular acceleration threshold value；Work as αi＞ αTDuring establishment, the wheel is in and left The state of ground, otherwise, wheel are in normal slip state；
The driving moment control module, the result judged according to the wheel condition judge module drives to non-slipping wheels Motor is not processed；For normal slip, reduce normal slip wheel drive motors torque, until the wheel slip is less than institute The slip rate judgment threshold of setting；The direct zero setting of wheel drive motors torque to leaving ground, while the torque of reduction is folded It is added in another not leaving in ground and the maximum wheel drive motors of vertical load, if the torque after superposition is beyond motor Torque capacity, electric machine controller will carry out amplitude limit intervention；
The analysis of wheel vertical load estimation block, the longitudinal direction fed back by longitudinal acceleration and lateral acceleration sensor accelerates Degree and side acceleration values, based on the assumption that wheel does not leave ground, the size of each analysis of wheel vertical load of two bridges after qualitative sequence.
2. a kind of as claimed in claim 1 be used for the TCS that multiaxis distributed dynamoelectric drives vehicle, its feature exists In the foundation of the qualitative sequence is：
When longitudinal direction of car acceleration is just, i.e., vehicle accelerates, four bridge right side wheels (2) and four bridge left side wheels (4) it is vertical Load is to should be greater than the vertical loads of three bridge right side wheels (1) and three bridge left side wheels (3)；When longitudinal direction of car acceleration be it is negative, I.e. vehicle deceleration when, the vertical load of three bridge right side wheels (1) and three bridge left side wheels (3) is to should be greater than four bridge right side wheels (2) and four bridge left side wheels (4) vertical load；When vehicle side acceleration is just, i.e., vehicle turns left, three bridge right side wheels (1) hung down with the vertical loads of four bridge right side wheels (2) to should be greater than three bridge left side wheels (3) and four bridge left side wheels (4) Straight load；When vehicle side acceleration is negative, i.e., when vehicle is turned right, three bridge left side wheels (3) and four bridge left side wheels (4) it is vertical Straight vertical load of the load to should be greater than three bridge right side wheels (1) and four bridge right side wheels (2).
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