CN106080770A - The analysis of a kind of Electric Motor Wheel electronic differential and control system - Google Patents

The analysis of a kind of Electric Motor Wheel electronic differential and control system Download PDF

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Publication number
CN106080770A
CN106080770A CN201610557423.2A CN201610557423A CN106080770A CN 106080770 A CN106080770 A CN 106080770A CN 201610557423 A CN201610557423 A CN 201610557423A CN 106080770 A CN106080770 A CN 106080770A
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CN
China
Prior art keywords
control
analysis
electronic differential
electric motor
wheel
Prior art date
Application number
CN201610557423.2A
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Chinese (zh)
Inventor
黄力
Original Assignee
黄力
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 黄力 filed Critical 黄力
Priority to CN201610557423.2A priority Critical patent/CN106080770A/en
Publication of CN106080770A publication Critical patent/CN106080770A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003Electric or electronic control systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides

Abstract

The invention discloses analysis and the control system of a kind of Electric Motor Wheel electronic differential, described analysis includes Electronic differential control device and the electric wheel drive vehicle being connected with described Electronic differential control device with control system, described Electronic differential control device includes fuzzy logic control system and E-Gas distribution system, when this system turns to, driving wheel slip rate in medial and lateral keeps consistent, the slip rate achieving both sides wheel is unbalanced, make inboard wheel be not easy abrasion and run the most stable, finally improve automobile stability in the process of moving and safety.

Description

The analysis of a kind of Electric Motor Wheel electronic differential and control system
Technical field
The invention belongs to vehicle wheel speed and control technical field, be specifically related to analysis and the control of a kind of Electric Motor Wheel electronic differential System.
Background technology
Currently, the most serious atmospheric pollution and energy crisis involve the whole world, and the development situation of conventional vehicles is all the more Sternness, the vehicles of a kind of green low-carbon of society need tackle air and energy crisis.Electric wheel drive vehicle passes because of it The advantages such as defeated efficiency height, space flexible arrangement, the electronization being easily achieved chassis system and activeization, become solution above-mentioned at present The effective way of problem, receives and studies widely, and wherein Electronic differential control is the key technology of Development of Electric Vehicles technology One of.Early stage is concentrated mainly in the control method of wheel parameter for the research of Electronic differential control technology, by core wheel speed The control of degree adjusts differential control parameter, but there is bigger limitation.Owing to automobile produces vertical when upper and lower gradient circuit To speed, causing core wheel asynchronous with body speed of vehicle, parameter controls inaccuracy.Turning to or in roughness pavement traveling, wheel Heart speed is unequal, accordingly, it would be desirable to adjust each wheel speed, with core wheel speed coordination.Due to automobile in this case Driving parameters is difficult to obtain in real time, and exists Parameter Perturbation robustness and load disturbance not strong in wide speed regulating range, with And the problem of bad dynamic performance, it is difficult to meet vehicle stabilization and travel control requirement.For solving these problems, some research worker are tasted Advanced control algorithm is applied in the research of vehicle electrical driving wheel automotive electronics differential control by examination, but these researchs are based primarily upon steady Fixed form state, in actual driving process, due to the complexity of road conditions, the control method of current research limits degree of freedom Extension, particularly complete vehicle quality change, barycenter move down and move forward and backward when, to the control disturbance of system cannot gram Clothes.
It is thus desirable to provide a kind of novel vehicle wheel speed control system overcomes drawbacks described above.
Summary of the invention
For the deficiencies in the prior art, it is an object of the invention to provide analysis and the control system of a kind of Electric Motor Wheel electronic differential System, improves automobile stability in the process of moving and safety.
The analysis of a kind of Electric Motor Wheel electronic differential and control system, described analysis and control system include Electronic differential control Device and the electric wheel drive vehicle being connected with described Electronic differential control device, described Electronic differential control device includes fuzzy logic Control system and E-Gas distribution system.
Preferably, described analysis uses fuzzy logic method with control system.
Preferably, described analysis and control system have a following work process: the same Theoretical Calculation of information that will monitor in real time The average of error and the confidence level of variance that obtain compare, and utilize big according to both consistent degrees of the method for fuzzy logic Little revise weights coefficient in real time.
Preferably, the average of described error and the confidence level of variance are set to:
(1)
(2)
Wherein,For asking mark computing, ideally,,, when observation noise increases, error VarianceBecome big, averageDeviation zero point, the degree of reliability of observation information reduces, and now needs to increase state-noise association side The weights one of difference, and reduce observation noise covarianceWeights two, thus ensure the stability of wave filter;Otherwise, then carry out Contrary adjustment.By weight coefficientWithAs fuzzy input variable, the average of error and the confidence level of variance are carried out mould Gelatinizing processes.
Preferably, described analysis and control system utilize fuzzy controller adjustment real-time to weighting parameter, and determine output The weights one of variable and obscuring of weights two, the Fuzzy control system of proposition is mainly with outboard wheel slip rate balance in vehicle for control Making derived function, calculates acceleration rate by steering angle with speed, and is defined as torque adjustment amount in model analysis.Energy The acceleration distance of amount accelerating module Main Basis accelerator pedal and the output of fuzzy control calculate the separating degree of accelerating throttle, and then The electronic torque of regulation two side electric wheel, and then realize the torque Balance route of electronic differential.
Technical scheme has the advantages that
The analysis of a kind of Electric Motor Wheel electronic differential that the present invention provides and control system, turn for wheel in current electric wheel truck Speed control method limitation in parameter acquiring, establishes analysis and the control method of the fuzzy logic electronic differential of many reference amounts, Thus reduce the electronic differential in the actual dynamic operation of automobile, when this system turns to, driving wheel slip rate in medial and lateral keeps consistent, The slip rate achieving both sides wheel is unbalanced so that inboard wheel is not easy abrasion and runs the most stable, finally improves vapour Car stability in the process of moving and safety.
Accompanying drawing explanation
Below by drawings and Examples, technical scheme is described in further detail.
Fig. 1 is the analysis system framework figure with control system of the present invention a kind of Electric Motor Wheel electronic differential.
Detailed description of the invention
In order to have a clear understanding of technical scheme, its detailed structure be will be set forth in the description that follows.Obviously, originally The concrete also deficiency of implementing of inventive embodiments is limited to the specific details that those skilled in the art is familiar with.The present invention's is preferred real Execute example to be described in detail as follows, in addition to these embodiments described in detail, it is also possible to there is other embodiments.
With embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
The embodiment of the present invention provides analysis and the control system of a kind of Electric Motor Wheel electronic differential, as it is shown in figure 1, described analysis Electronic differential control device and the electric wheel drive vehicle being connected with described Electronic differential control device is included with control system, described Electronic differential control device includes fuzzy logic control system and E-Gas distribution system;Driving wheel sliding in medial and lateral when turning to Rate keeps consistent electronic differential strategy based on direct torque, uses fuzzy logic method for this, shown in include fuzzy logic Control and the electronic differential control system of E-Gas 2 modules of distribution;
Described analysis and control system have following work process: the error information monitored in real time obtained with Theoretical Calculation The confidence level of average and variance compares, and utilizes the method for fuzzy logic to revise in real time according to the size of both consistent degrees Weights coefficient;The average of described error and the confidence level of variance are set to:
(1)
(2)
Wherein,For asking mark computing, ideally,,, when observation noise increases, error VarianceBecome big, averageDeviation zero point, the degree of reliability of observation information reduces, and now needs to increase state-noise association VarianceWeights, and reduce observation noise covarianceWeights, thus ensure the stability of wave filter;Otherwise, Then carry out contrary adjustment.By weight coefficientWithAs fuzzy input variable, average and the confidence level of variance to error Carry out Fuzzy processing.
Utilize fuzzy controller adjustment real-time to weighting parameter, and determine output variableWithFuzzy, propose Fuzzy control system mainly, calculated by steering angle and speed with outboard wheel slip rate balance in vehicle for controlling guidance function Acceleration rate, and in model analysis, it is defined as torque adjustment amount.Energy accelerating module Main Basis accelerator pedal Acceleration distance and fuzzy control exportCalculate the separating degree of accelerating throttle, and then the electronic torque of regulation two side electric wheel, And then realize the torque Balance route of electronic differential.
The analysis of a kind of Electric Motor Wheel electronic differential that the present invention provides and control system, for car in current electric wheel truck Wheel speed control method limitation in parameter acquiring, establishes analysis and the controlling party of the fuzzy logic electronic differential of many reference amounts Method, thus reduce the electronic differential in the actual dynamic operation of automobile, when this system turns to, driving wheel slip rate in medial and lateral keeps one Cause, it is achieved that the slip rate of both sides wheel is unbalanced so that inboard wheel is not easy abrasion and runs the most stable, finally improves Automobile stability in the process of moving and safety.
Finally should be noted that: above example is only in order to illustrate that technical scheme is not intended to limit, to the greatest extent The present invention has been described in detail by pipe with reference to above-described embodiment, and those of ordinary skill in the field still can be to this Bright detailed description of the invention is modified or equivalent, these without departing from spirit and scope of the invention any amendment or Equivalent, all within the claims that application is awaited the reply.

Claims (7)

1. the analysis of an Electric Motor Wheel electronic differential and control system, it is characterised in that described analysis and control system include electricity Sub-differential controller and the electric wheel drive vehicle being connected with described Electronic differential control device, described Electronic differential control device bag Include fuzzy logic control system and E-Gas distribution system.
The analysis of Electric Motor Wheel electronic differential the most according to claim 1 and control system, it is characterised in that described analysis with Control system uses fuzzy logic method.
The analysis of Electric Motor Wheel electronic differential the most according to claim 2 and control system, it is characterised in that described analysis with Control system has a following work process: the average of the error information monitored in real time obtained with Theoretical Calculation and putting of variance Reliability compares, and utilizes the method for fuzzy logic to revise weights coefficient in real time according to the size of both consistent degrees.
The analysis of Electric Motor Wheel electronic differential the most according to claim 3 and control system, it is characterised in that described error The confidence level of average and variance is set to:(1)
(2)
Wherein,For asking mark computing, ideally,,, when observation noise increases, the side of error DifferenceBecome big, averageDeviation zero point, the degree of reliability of observation information reduces, and now needs to increase state-noise covariance Weights one, and reduce observation noise covarianceWeights two, thus ensure the stability of wave filter;Otherwise, then phase is carried out Anti-adjustment.
5. by weight coefficientWithAs fuzzy input variable, the average of error and the confidence level of variance are carried out at obfuscation Reason.
The analysis of Electric Motor Wheel electronic differential the most according to claim 4 and control system, it is characterised in that described analysis with Control system utilizes fuzzy controller adjustment real-time to weighting parameter, and determines weights one and the mould of weights two of output variable Stick with paste, the Fuzzy control system of proposition mainly with in vehicle outboard wheel slip rate balance for control guidance function, by steering angle with Speed calculates acceleration rate, and is defined as torque adjustment amount in model analysis.
7. the acceleration distance of energy accelerating module Main Basis accelerator pedal and the output of fuzzy control calculate dividing of accelerating throttle From degree, and then the electronic torque of regulation two side electric wheel, and then realize the torque Balance route of electronic differential.
CN201610557423.2A 2016-07-15 2016-07-15 The analysis of a kind of Electric Motor Wheel electronic differential and control system CN106080770A (en)

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Application Number Priority Date Filing Date Title
CN201610557423.2A CN106080770A (en) 2016-07-15 2016-07-15 The analysis of a kind of Electric Motor Wheel electronic differential and control system

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Application Number Priority Date Filing Date Title
CN201610557423.2A CN106080770A (en) 2016-07-15 2016-07-15 The analysis of a kind of Electric Motor Wheel electronic differential and control system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108599663A (en) * 2018-05-07 2018-09-28 上海金脉电子科技有限公司 Automobile motor torque estimation algorithm and system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168352A (en) * 2006-10-23 2008-04-30 上海燃料电池汽车动力系统有限公司 Multiple motor wheel edge separated driving electric vehicle propulsion control system and method
WO2014154639A1 (en) * 2013-03-25 2014-10-02 Continental Teves Ag & Co. Ohg Method for determining a vehicle reference speed and vehicle controller having such a method
CN105667343A (en) * 2016-03-16 2016-06-15 吉林大学 Traction control method for electric automobile

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168352A (en) * 2006-10-23 2008-04-30 上海燃料电池汽车动力系统有限公司 Multiple motor wheel edge separated driving electric vehicle propulsion control system and method
WO2014154639A1 (en) * 2013-03-25 2014-10-02 Continental Teves Ag & Co. Ohg Method for determining a vehicle reference speed and vehicle controller having such a method
CN105667343A (en) * 2016-03-16 2016-06-15 吉林大学 Traction control method for electric automobile

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108599663A (en) * 2018-05-07 2018-09-28 上海金脉电子科技有限公司 Automobile motor torque estimation algorithm and system

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