CN105799549B - One kind is for electric wheel truck EPS and DYC integrated control system and its method - Google Patents
One kind is for electric wheel truck EPS and DYC integrated control system and its method Download PDFInfo
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- CN105799549B CN105799549B CN201610278791.3A CN201610278791A CN105799549B CN 105799549 B CN105799549 B CN 105799549B CN 201610278791 A CN201610278791 A CN 201610278791A CN 105799549 B CN105799549 B CN 105799549B
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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
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- 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
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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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
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses one kind for electric wheel truck EPS and DYC integrated control system and its method, including steering wheel angle sensor, steering wheel torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, lateral acceleration sensor, integrated manipulator, DYC controller, EPS controller, rear axle hub motor control device, front axle hub motor control device, assist motor, assist motor controller, hub motor.The present invention, which can be good at controlling EPS and DYC, to be integrated, both the plurality of advantages in EPS steering system had been utilized, DYC control is combined again in the advantage of electric wheel truck vehicle stabilization control, to make up the deficiency of independent EPS system, it can improve very well on low attachment road surface, de-stabilise problem is turned to existing for vehicle when limiting condition is such as high speed big corner, it solves the problems, such as to need that stability control is added when motor turning, and by coordinated control, while positive influence is generated to the work of electric wheel truck DYC system.
Description
Technical field
The present invention relates to four In-wheel motor driving electric wheel truck (electric wheel truck) electric boosting steering systems (EPS) with
Field direct yaw moment control (DYC), and in particular to the vehicle equipped with traditional EPS system.
Background technique
In order to solve current energy crisis and serious environmental problem, Electric Motor Wheel vapour has all been invested in the automobile research and development of various countries
Vehicle field, wherein In-wheel motor driving automobile is that hub-type motor is directly installed in automotive wheel to drive running car, for not
Carry out the developing direction of Electric Motor Wheel Automobile drive.Electric wheel truck has the advantage that
1) compared with the electric vehicle of central motor driving, machine driven system is eliminated, transmission efficiency has mentioning for great-leap-forward
Height, controller directly control motor speed and torque, significantly increase to the adaptability of outer work condition, and have almost Perfect
Variable speed performance.
2) from the perspective of arrangement, automobile chassis has obtained greatly simplifying, and can make Automobile Design Shi Gengcong
The design vehicle structure of appearance, keeps automobile general arrangement more reasonable.
3) due to the high efficiency of motor and the low cost of electric power, electric wheel truck also will more be saved than orthodox car
Save the energy.Moreover, the dynamic response of hub motor and tire is almost the same, In-wheel motor driving automobile is made to be easier to realize regeneration
Braking, this reduces energy consumptions.
4) since the torque of each wheel can be with independent control, motor response speed itself is again sufficiently fast, so being applied to
The chassis electrical control technology of orthodox car can be more easily applied on In-wheel motor driving automobile, such as electronic stability control
Technology processed, polling power controlling technology etc..
Automobile steering system is the system that driver is used to control motor racing direction, it is that one substantially and again in automobile
The superiority and inferiority of the system wanted, performance is directly related to the control stability of automobile, for guaranteeing the safety traffic and improvement of automobile
The operating condition of driver plays the role of key.With the continuous development of automobile steering system technology, nowadays steering system
It is divided into: mechanically aided steering, hydraulic power-assist steering system, Electro-Hydraulic Power Steering System, electric boosting steering system
(EPS).Wherein EPS is directly to provide the steering system of power steering using motor, has abandoned hydraulic power-assist steering system
Servomechanism.Compared to conventional hydraulic servo steering system, EPS has the advantages that much to protrude, such as: environmental protection, energy conservation, structure are simple
And automobile is set to have preferably steering behaviour etc., but still remain shortcoming:
One, variable ratio control and active steering intervention be can not achieve to improve the control stability of system；
Two, EPS still can not operation road feel and return performance on the low attachment coefficient road surface of very good solution；
Three, in Vehicular turn, there are destabilization problems, the especially emergencies such as high speed big corner equipped with EPS system for automobile
Under, it needs that stability control is added；
Four, the design philosophy of traditional EPS system does not consider the influence to control stability, and driver is to direction
The operation of disk will have a direct impact on the stability of vehicle driving.
Direct yaw moment (DYC) control is a kind of difference using left and right sides wheel longitudinal force, i.e., to automobile side vehicle
Wheel increases driving or braking moment Δ T, and the other side reduces Δ T, generates yaw moment, improves the method for vehicle handling stability,
With the stability for improving mobility during Vehicular turn and running at high speed, and DYC control has been proved to close to attached
The limit when still have preferable control effect.
The present invention is based on the above analyses, in conjunction with studying now, in order to improve the shortcoming of EPS, with electric wheel truck,
EPS and DYC control system are research object, shared, three single system function optimization, subsystem coordinated control layers from information fusion
Face proposes the control method for coordinating of the two, mainly for two levels of single system function optimization and subsystem coordinated control to the two
Chassis integration coordinated control studied.
Summary of the invention
Existing tradition EPS is fine in terms of improving Automobile operation stability, but still can not the low attachment system of very good solution
Manipulation road feel and return performance on number road surface, the design philosophy of traditional EPS system are not considered to control stability
It influences, and driver will have a direct impact on the stability of vehicle driving to the operation of steering wheel, so in Vehicular turn, especially
High speed big corner etc. in emergency circumstances, needs the problems such as stability control is added, and present invention combination DYC can generate sideway power
Square, and be proved to still have the advantages that preferable control effect when close to limit of adhesion, on electric wheel truck, by EPS with
DYC carries out integrated control.
To achieve the above object, specific technical solution of the present invention is as follows: the system includes steering wheel angle sensor, direction
Disk torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, lateral acceleration sensor,
Integrated manipulator, DYC controller, EPS controller, rear axle hub motor control device, front axle hub motor control device, power-assisted electricity
Machine, assist motor controller, hub motor.
Parameter in the integrated manipulator is the various vehicle parameters of real-time vehicle, and receiving direction disk rotation angular sensing
Device, steering wheel torque sensor, accelerator pedal jaw opening sensor, wheel speed sensors, yaw-rate sensor, side acceleration
The live signal that sensor generates, the driving cycle of vehicle is judged by the vehicle working condition algorithm built in integrated manipulator, by vehicle
Work information is sent to EPS controller, by the judgement of stability algorithm built in integrated manipulator by slip angle estimation
Equistability judges that information is sent to DYC controller；As traditional EPS system, the steering wheel angle sensor, side
To disk torque sensor, wheel speed sensors by steering wheel angle signal, level of torque, direction signal and real-time wheel speed signal are conveyed
It gives EPS controller, and receives additional information transmit by integrated manipulator, after the above-mentioned signal of EPS controller reception, according to can
Become assist characteristic curve, calculates expectation electric current, by closed loop feedback control, target current is conveyed to assist motor control
Device；The DYC controller receives the intact stability information of integrated manipulator transmission, and it is great to calculate vehicle needs at this time
Yaw moment, using corresponding torque allocation algorithm, and its coordinated allocation to rear axle hub motor control device, front axle wheel hub is electric
Machine controller；The rear axle hub motor control device, front axle hub motor control device receive the torque sent by DYC controller
Information is distributed, controls the driving and braking of hub motor by way of controlling current of electric size, and by four hub motors
Size of current feed back to integrated manipulator, four In-wheel motor driving electric wheel trucks generate different torques by four-wheel, complete
At the Handling stability control of electric wheel truck vehicle.
The present invention provides a kind of EPS and DYC integrated control method, packet under the premise of based on EPS system work is not influenced
Include following steps:
The first step, signal acquisition, steering wheel angle sensor, steering wheel torque sensor, accelerator pedal jaw opening sensor,
Wheel speed sensors, yaw-rate sensor, lateral acceleration sensor are responsible for the various signals of acquisition vehicle in real time, integrate control
Device processed receives signal, analyzes the real time running operating condition of vehicle using the control algolithm built in it and carries out stability to vehicle and sentences
It is disconnected, and the driving cycle information of vehicle is sent to EPS controller, judgement of stability information is sent to DYC controller.
Second step, the angular signal of EPS controller receiving direction disk rotary angle transmitter, the torque of steering wheel torque sensor
The additional information that size and Orientation signal, the wheel speed signal of wheel speed sensors, integrated manipulator transmit, calculates assist motor control
Expectation electric current needed for device processed, is controlled by PWM, conveys target current to assist motor, and carry out closed loop feedback control.
Third step, DYC controller receive the judgement of stability information transmitted by integrated manipulator, are based on the control of DYC stability
System, yaw moment needed for calculating electric wheel truck at this time, and corresponding torque allocation algorithm is utilized, its coordinated allocation is arrived
Rear axle hub motor control device and front axle hub motor control device, rear axle are controlled with front axle hub motor control device, reception by DYC
The torque distribution information that device is sent controls the driving and braking of hub motor by way of controlling current of electric size, and will
The size of current of four hub motors feeds back to integrated manipulator, and electric wheel truck generates different torques by four-wheel, completes
The Handling stability control of electric wheel truck vehicle.
Further, the detailed process of the third step are as follows:
One, when electric wheel truck is under unstability operating condition, DYC controller is for electric wheel truck under high speed big corner operating condition
Integrated control process, electric wheel truck is first with certain initial velocity straight-line travelling, and integrated manipulator is always to steering wheel angle
Signal is detected, when steering wheel angle determines | θ | > θ1(θ1For big corner lower limit decision content, it is assumed that θ1=90 °) when, it integrates
Controller determines that electric wheel truck is carrying out big corner steering, wheel speed size is continued to test, as V > V2When, then it is judged as electricity
Driving wheel automobile is in high speed big corner emergency work condition, starts integrated control of the DYC and EPS in high speed big corner, and examine
Whether the yaw velocity ω surveyed at this time is less than ω1, if it is not, then continuing the collection of DYC and EPS in high speed big corner
At control, until reaching desired stable yaw velocity.As V < V2When, integrated manipulator determines that electric wheel truck is low in being
Fast big corner turns to, starting DYC and EPS coordinated control, and detects whether yaw velocity ω is less than ω1, if it is not, then continue into
Row DYC and EPS coordinated control, until reaching desired stable yaw velocity.When steering wheel determines | θ | < θ1When, then start
Conventional DYC and EPS integrated control.
Two, when electric wheel truck in normal conditions, electric wheel truck integrates initially with certain initial velocity straight-line travelling
Controller always detects steering wheel angular signal, when | θ | < θ0When, for example, system design enable θ0=5 °, i.e., steering wheel exists
Rotation system is defaulted as electric wheel truck and does not carry out steering operation within 5 °, and electric wheel truck carries out normal DYC control.When | θ
| > θ0, and maintaining regular hour t, then integrated manipulator determines that electric wheel truck is carrying out steering operation, first Electric Motor Wheel
Automobile utilizes coefficient of road adhesion estimating algorithm, estimates coefficient of road adhesion f, judges whether f is less than fr(wherein frIt is low attached
Coefficient decision upper limit value, it is assumed that fr=0.3), as f < frWhen, integrated manipulator determines electric wheel truck just on low attachment road surface
Upper carry out steering operation, the wheel speed V then measured according to wheel speed sensors determine whether V is less than V1(wherein V1For low speed judgement
Upper limit value, it is assumed that V1=20km/h), as V < V1When, it is low that integrated manipulator judges that electric wheel truck carries out on low attachment road surface
Fast steering operation, then system will be controlled using DYC, control the driving and braking moment of four hub motors, and automobile is made to generate one
Fixed additional yaw moment Δ T assists assist motor to complete steering operation, as V > V in the form of power steering square1When, it utilizes
DYC and EPS integrated control carry out Anti-slip regulation control to improve the dynamic property and stability of automobile.If f > frWhen, integrate control
Device processed is judged to not carrying out steering operation under low attachment road surface, then detects the traveling work of four-wheel hub motor electric wheel truck
Whether condition, that is, the practical yaw velocity measured and estimation yaw velocity desired value are more than a certain threshold value ω1, to judge vehicle
It whether is unstability situation.As ω > ω1When, show that unstability operating condition occurs at this time in electric wheel truck, utilizes DYC control and EPS
Integrated control starting driving turns to integrated control, improves the operational stability of electric wheel truck.As ω < ω1When, Electric Motor Wheel vapour
Vehicle is stable turning, is at this moment judged again electric wheel truck wheel speed, as judgement wheel speed V and V2(V2For high speed lower limit value,
Assuming that V2=60km/h) size, as V > V2When, integrated system determines that electric wheel truck for high stability steering, passes through DYC
Control provides part in the form of generating additional yaw moment and turns to damping torque；As V < V2When, integrated manipulator determines electronic
Wheel automobile is low-speed stable sexual deviation, is controlled DYC and provides part power steering square in the form of generating additional yaw moment.
It is integrated the invention has the benefit that the present invention can be good at controlling EPS and DYC, EPS is both utilized
Plurality of advantages in steering system, and DYC control is combined in the advantage of electric wheel truck vehicle stabilization control, to make up
The deficiency of independent EPS system can improve the vehicle on low attachment road surface, in limiting condition such as high speed big corner very well
Existing steering de-stabilise problem solves the problems, such as to need to be added when motor turning stability control, and by coordinated control, together
When positive influence is generated to the work of electric wheel truck DYC system.
Detailed description of the invention
Fig. 1 is that EPS and DYC integrated control system framework is built；
Fig. 2 is EPS and DYC system integration control block diagram；
Fig. 3 is EPS and DYC hierarchy system structure chart；
Fig. 4 is EPS and DYC muti-layer control tactics structure chart；
Fig. 5 is the nominal situation control strategy flow chart of EPS and DYC integrated control system；
Fig. 6 is control strategy flow chart in the case of EPS and DYC integrated control system high speed big corner.
In figure: 1- steering wheel angle sensor；2- steering wheel torque sensor；3- accelerator pedal jaw opening sensor；4- wheel
Fast sensor；5- yaw-rate sensor；6- lateral acceleration sensor；7- integrated manipulator；8-DYC controller；9-EPS
Controller；10- rear axle hub motor control device；11- front axle hub motor control device；12- assist motor；13- assist motor control
Device processed；14- hub motor.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
The present invention be based on the electric wheel truck of EPS system is mounted on the basis of, carry out integrated control with DYC control system
System, had not only been utilized the plurality of advantages in EPS steering system, but also combined DYC control in electric wheel truck vehicle stabilization control
Advantage can improve electric wheel truck very well on low attachment road surface, in the limit to compensate for the deficiency of independent EPS system
Operating condition turns to de-stabilise problem as existing for vehicle in the case of high speed big corner, solves to need to be added stability control when motor turning
The problem of processed, and positive influence is generated by coordinated control, while to the work of electric wheel truck DYC system.Fig. 1 be EPS with
DYC integrated control system framework is built, which includes steering wheel angle sensor 1, steering wheel torque sensing
Device 2, accelerator pedal jaw opening sensor 3, four wheel speed sensors 4, yaw-rate sensor 5 and lateral acceleration sensor 6；
Controller part includes integrated manipulator 7, DYC controller 8, EPS controller 9, rear axle hub motor control device 10, front axle wheel hub
Electric machine controller 11 and assist motor controller 13；Actuator part includes assist motor 12 and four hub motors 14.Vehicle
In operational process, DYC system passes through four according to the steering wheel angle, pedal operation and car status information of driver
Hub motor 14 controls the driving of vehicle with brake force；EPS system according to the steering wheel torque of driver operate and
Car status information controls assist torque by assist motor；Integrated manipulator 7 in the whole process drive by real-time monitoring
The operation for the person of sailing and the motion state of vehicle carry out coordinated control to DYC and EPS system work if necessary.
Fig. 2 is DYC and EPS system integrated control block diagram, steering wheel angle sensor 1, and steering wheel torque sensor 2 adds
Speed pedal jaw opening sensor 3, wheel speed sensors 4, yaw-rate sensor 5, lateral acceleration sensor 6 are responsible for acquisition in real time
The various signals of vehicle, integrated manipulator 7 receive signal, utilize the real time running operating condition of the control algolithm analysis vehicle built in it
And judgement of stability is carried out to vehicle, and additional information is sent to EPS controller 9, judgement of stability information is sent to DYC
Controller 8.EPS controller 9 receives the angular signal of the wheel speed signal of vehicle wheel speed sensor 4, steering wheel angle sensor 1,
The additional information of level of torque and direction signal and integrated manipulator 7 transmission of steering wheel torque sensor 2, calculates power-assisted
Expectation electric current needed for motor 12, is controlled using PWM, conveys target current to assist motor 12, and carry out closed loop feedback control.
DYC controller 8 receives the judgement of stability information transmitted by integrated manipulator 7, is based on DYC stability control, calculates at this time
Yaw moment needed for electric wheel truck, and corresponding torque allocation algorithm is utilized, and by its coordinated allocation to rear axle and front axle
Hub motor control device 10,11, hub motor control device 10,11 receive the torque distribution information sent by DYC controller 8, lead to
The mode for crossing control current of electric size controls the driving and braking of hub motor, and the size of current of hub motor 14 is fed back
To integrated manipulator 7, electric wheel truck generates different torques by four-wheel, completes the control stability of electric wheel truck vehicle
Control.
Fig. 3 is EPS and DYC hierarchy system structure chart, which uses layering-Supervised Control structure.It should
In system, the component parts such as DYC and the original sensor of two sets of subsystems of EPS, controller, actuator all retain, by adding
Enter upper layer integrated manipulator 7, coordinated control is carried out to the work of two systems.On the upper layer of system structure, integrated manipulator 7 is logical
The shared obtained car status information of sensor is crossed, to whether coordinated control being needed to judge, and makes coordinated control life
It enables；Coordinated control order is sent to the subsystem controller in middle layer, obtains revised actuator control command；The execution of lower layer
Device is responsible for executing the control command that middle layer is made.A feature in the hierarchy system structure is coordinated control life
(additional information) is enabled to be served only for the work of amendment EPS system, without directly affecting ESP system work.
Fig. 4 is EPS and DYC muti-layer control tactics structure chart, which is divided into driver's operation and work identification layer and association
Regulate and control two layers of logical construction of preparative layer, driver operation and operating mode's switch layer in, pass through the signal of sensor and the vehicle shape of estimation
State parameter operates according to vehicle-state and driver, the operating condition for needing coordinated control is divided into driver's maloperation and driver
Normal operating.In coordinated control layer, coordinated control is carried out respectively for two class operating conditions.For driver's maloperation, need from son
System coordination control plane is coordinated；For driver's normal operating, the function of EPS system can be optimized.
Fig. 5 is the nominal situation control strategy flow chart of EPS and DYC integrated control system, and electric wheel truck is initially with one
Fixed initial velocity straight-line travelling, system always detect steering wheel angular signal, when | θ | < θ0When, such as integrated control
The design of device 7 enables θ0=5 °, i.e. steering wheel rotation system within 5 ° is defaulted as electric wheel truck and does not carry out steering operation, electronic
It takes turns automobile and carries out normal DYC control.When | θ | > θ0, and maintain regular hour t, then system determine electric wheel truck into
Row steering operation, first electric wheel truck utilize coefficient of road adhesion estimating algorithm, estimate coefficient of road adhesion f, judge that f is
It is no to be less than fr(wherein frUpper limit value is determined for low attachment coefficient, it is assumed that fr=0.3), as f < frWhen, integrated manipulator 7 determines electricity
Driving wheel automobile just carries out steering operation on low attachment road surface, the wheel speed V then measured according to wheel speed sensors 4, whether determines V
Less than V1(wherein V1Upper limit value is determined for low speed, it is assumed that V1=20km/h), as V < V1When, system judges electric wheel truck low
Adhere on road surface and carry out low speed rotation to operation, then integrated manipulator 7 will be controlled using DYC, control the drive of four hub motors 14
Dynamic and braking moment makes automobile generate certain additional yaw moment Δ T, assists EPS motor complete in the form of power steering square
At steering operation, work as V > V1When, carry out Anti-slip regulation control using DYC and EPS integrated control improve the dynamic property of automobile and
Stability.If f > frWhen, system is judged to not carrying out steering operation under low attachment road surface, then detects electric wheel truck
Whether driving cycle, that is, the practical yaw velocity measured and estimation yaw velocity desired value are more than a certain threshold value ω1, come
Judge vehicle for unstability situation.As ω > ω1When, show that unstability operating condition occurs at this time in electric wheel truck, using DYC control with
EPS integrated control starting driving turns to integrated control, improves the operational stability of electric wheel truck.As ω < ω1When, Electric Motor Wheel
Automobile is stable turning, is at this moment judged again electric wheel truck wheel speed, determines wheel speed V and V2(V2For high speed lower limit value,
Assuming that V2=60km/h) size, as V > V2When, integrated system determines that electric wheel truck for high stability steering, passes through DYC
Control provides part in the form of generating additional yaw moment and turns to damping torque；As V < V2When, integrated system determines Electric Motor Wheel
Automobile is low-speed stable sexual deviation, is controlled DYC and provides part power steering square in the form of generating additional yaw moment.
Fig. 6 is control strategy flow chart, first Electric Motor Wheel vapour under EPS and DYC integrated control system high speed big corner operating condition
Vehicle always detects steering wheel angular signal with certain initial velocity straight-line travelling, integrated manipulator 7, when steering wheel angle is believed
Number determine | θ | > θ1(θ1For big corner lower limit decision content, it is assumed that θ1=90 °) when, integrated manipulator 7 is determining electric wheel truck just
Big corner steering is being carried out, wheel speed size is being continued to test, as V > V2When, then it is tight to determine that electric wheel truck is in high speed big corner
Whether anxious operating condition, integrated control of the starting DYC and EPS in high speed big corner, and the yaw velocity ω of detection at this time
Less than ω1, if it is not, then continue the integrated control of DYC and EPS in high speed big corner, it is desired steady until reaching
Determine yaw velocity.As V < V2When, integrated manipulator 7 determine electric wheel truck be middle low speed big corner turn to, start DYC and
EPS coordinated control, and detect whether yaw velocity ω is less than ω1, if it is not, then continuing DYC and EPS coordinated control, directly
Reach desired stable yaw velocity.When steering wheel determines | θ | < θ1When, then start normal DYC and EPS integrated control.
Claims (3)
1. one kind is for electric wheel truck EPS and DYC integrated control system, it is characterised in that: including steering wheel angle sensor
(1), steering wheel torque sensor (2), accelerator pedal jaw opening sensor (3), wheel speed sensors (4), yaw-rate sensor
(5), lateral acceleration sensor (6), integrated manipulator (7), DYC controller (8), EPS controller (9), rear axle hub motor
Controller (10), front axle hub motor control device (11), assist motor (12), assist motor controller (13), hub motor
(14)；
Parameter in the integrated manipulator (7) is the various vehicle parameters of real-time vehicle, and receiving direction disk rotation angular sensing
Device (1), steering wheel torque sensor (2), accelerator pedal jaw opening sensor (3), wheel speed sensors (4), yaw velocity sensing
The live signal that device (5), lateral acceleration sensor (6) generate, is sentenced by the vehicle working condition algorithm built in integrated manipulator (7)
The driving cycle of disconnected vehicle, is sent to EPS controller (9) for vehicle working condition information, passes through the stabilization built in integrated manipulator (7)
Property judge algorithm by slip angle estimation and yaw velocity estimation be sent to DYC controller (8)；The steering wheel angle
Sensor (1), steering wheel torque sensor (2), wheel speed sensors (4) are by steering wheel angle signal, level of torque, direction signal
It is conveyed to EPS controller (9) with real-time wheel speed signal, and receives the additional information transmitted by integrated manipulator (7), EPS control
After device (9) receives above-mentioned signal, according to variable assist characteristic curve, expectation electric current is obtained, by closed loop feedback control, by target
Current transmission gives assist motor controller (13)；The DYC controller (8) receives the stability of integrated manipulator (7) transmission
Judge information, show that vehicle needs great yaw moment at this time, using torque allocation algorithm, and by its coordinated allocation to rear axle
Hub motor control device (10), front axle hub motor control device (11)；The rear axle hub motor control device (10), front axle wheel
Hub electric machine controller (11) receives the torque distribution information sent by DYC controller, by way of controlling current of electric size
The driving and braking of hub motor are controlled, and the size of current of four hub motors is fed back into integrated manipulator (7), four wheel hubs
Motor driven electric wheel truck generates different torques by four-wheel, completes the Handling stability control of electric wheel truck vehicle.
2. a kind of method for electric wheel truck EPS and DYC integrated control system, it is characterised in that: the following steps are included:
Step 1: signal acquisition, steering wheel angle sensor (1), steering wheel torque sensor (2), accelerator pedal aperture sensing
Device (3), wheel speed sensors (4), yaw-rate sensor (5), lateral acceleration sensor (6) are responsible for acquiring vehicle in real time
Various signals, integrated manipulator (7) receive signal, utilize the control algolithm analysis real time running operating condition of vehicle built in it and right
Vehicle carries out judgement of stability, and the driving cycle information of vehicle is sent to EPS controller (9), by judgement of stability information
It is sent to DYC controller (8)；
Step 2: the angular signal of EPS controller (9) receiving direction disk rotary angle transmitter (1), steering wheel torque sensor (2)
Level of torque and direction signal, the wheel speed signal of wheel speed sensors (4), integrated manipulator (7) transmission additional information, calculate
Expectation electric current needed for assist motor controller (13) out, is controlled by PWM, conveys target current to assist motor (12), and
Carry out closed loop feedback control；
Step 3: DYC controller (8) receives the judgement of stability information transmitted by integrated manipulator (7), is based on DYC stability
Control, yaw moment needed for calculating electric wheel truck at this time, and corresponding torque allocation algorithm is utilized, by its coordinated allocation
To rear axle hub motor control device (10) and front axle hub motor control device (11), rear axle hub motor control device (10), front axle
Hub motor control device (11) receives the torque distribution information sent by DYC controller (8), passes through control current of electric size
Mode controls the driving and braking of hub motor (14), and the size of current of four hub motors (14) is fed back to integrated control
Device (7), electric wheel truck generate different torques by four-wheel, complete the Handling stability control of electric wheel truck vehicle.
3. a kind of method for electric wheel truck EPS and DYC integrated control system according to claim 2, feature
Be: step 3 is further divided into following steps:
Step 3.1: when electric wheel truck is under unstability operating condition, DYC controller (8) is for electric wheel truck in high speed big corner work
Integrated control process under condition, first electric wheel truck are with certain initial velocity straight-line travelling, and integrated manipulator (7) is always to direction
Disk angular signal is detected, if θ1For big corner lower limit decision content, when steering wheel angle Pan Dings ∣ θ ∣ > θ1When, integrated manipulator
(7) determine that electric wheel truck is carrying out big corner steering, wheel speed size is continued to test, if V2For high speed lower limit value, work as V > V2
When, then it is judged as that electric wheel truck is in high speed big corner emergency work condition, starts DYC and EPS in high speed big corner
Integrated control, and whether the yaw velocity ω detected at this time is less than a certain threshold value ω1, if it is not, then continue DYC with
Integrated control of the EPS in high speed big corner, until reaching desired stable yaw velocity；As V < V2When, integrate control
Device (7) processed determines that electric wheel truck for the steering of middle low speed big corner, starts DYC and EPS coordinated control, and detect yaw velocity
Whether ω is less than ω1, if it is not, then continuing DYC and EPS coordinated control, until reaching desired stable yaw velocity；When
Steering wheel Pan Dings ∣ θ ∣ < θ1When, then start conventional DYC and EPS integrated control；
Step 3.2: when electric wheel truck in normal conditions, electric wheel truck is initially with certain initial velocity straight-line travelling, collection
Steering wheel angular signal is detected always at controller (7), as ∣ θ ∣ < θ0When, system design enables θ0=5 °, i.e., steering wheel exists
Rotation system is defaulted as electric wheel truck and does not carry out steering operation within 5 °, and electric wheel truck carries out normal DYC control；Dang ∣ θ
∣>θ0, and maintaining regular hour t, then integrated manipulator (7) determines that electric wheel truck is carrying out steering operation, electronic first
It takes turns automobile and utilizes coefficient of road adhesion estimating algorithm, estimate coefficient of road adhesion f, judge whether f is less than fr, wherein frIt is low
Attachment coefficient determines upper limit value, as f < frWhen, integrated manipulator (7) determines that electric wheel truck is just turned on low attachment road surface
To operation, the wheel speed V then measured according to wheel speed sensors (4), if V1Upper limit value is determined for low speed, determines whether V is less than V1,
As V < V1When, integrated manipulator (7) judges that electric wheel truck carries out low speed rotation to operation on low attachment road surface, then system will be sharp
It is controlled with DYC, controls the driving and braking moment of four hub motors, automobile is made to generate certain additional yaw moment Δ T, with
Form auxiliary assist motor (12) of power steering square completes steering operation, works as V > V1When, using DYC and EPS integrated control into
Row Anti-slip regulation controls to improve the dynamic property and stability of automobile；If f > frWhen, integrated manipulator (7) is determined as not low
Attachment carries out steering operation under road surface, then detects the driving cycle of four-wheel hub motor electric wheel truck, that is, the practical cross measured
Whether pivot angle speed and estimation yaw velocity desired value are more than a certain threshold value ω1, to judge whether vehicle is unstability situation；
Work as ω > ω1When, show that unstability operating condition occurs at this time in electric wheel truck, is turned using DYC control and EPS integrated control starting driving
To integrated control, the operational stability of electric wheel truck is improved；As ω < ω1When, electric wheel truck is stable turning, at this moment again
It is secondary that electric wheel truck wheel speed is judged, as judgement wheel speed V and V2Size, work as V > V2When, integrated system determines Electric Motor Wheel vapour
Vehicle is high stability steering, and the offer part in the form of generating additional yaw moment is controlled DYC and turns to damping torque；When
V<V2When, integrated manipulator (7) determines that electric wheel truck is low-speed stable sexual deviation, is controlled by DYC to generate additional sideway
The form of torque provides part power steering square.
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