CN106114287B - A kind of electric automobile antiskid control system and control method - Google Patents
A kind of electric automobile antiskid control system and control method Download PDFInfo
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Classifications
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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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- 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)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of electric automobile antiskid control system, including control unit for vehicle, PID controller, motor, TAmaxMemory and TA value detection modules, control unit for vehicle are connected with PID controller and motor, and TA value detection modules are connected with motor and PID controller, TAmaxMemory is connected with PID controller, and control unit for vehicle is used to encourage motor, and TA values detection module is used for the TA value signals for detecting motor output, and PID controller compares TAmaxValue and TA values simultaneously send a command to control unit for vehicle so that TA values are consistently less than TAmaxValue, TAmaxMemory is used to store TAmaxValue, TA values are equal to the ratio of driving wheel angular acceleration and Motor torque.Electric automobile antiskid control system disclosed by the invention, traditional slip rate is replaced using parameter TA, avoids the measurement to vehicle velocity signal, equipment without vehicle speed measurement, simultaneously without the auxiliary for relying on conventional hydraulic brakes, production cost is reduced, improves the stability of a system.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to an electric automobile anti-skid control system and a control method based on wheel angular acceleration and motor torque ratio.
Background
From a control point of view, the electric motor has the main advantage over the internal combustion engine that it can be used both as a drive and as an actuator. The small size and high power output characteristics of the drive device make it possible to have a wide variety of vehicle drive configurations. As an executing device, the dynamic real-time control device has the advantages of rapid response characteristic and torque information feedback, and more accurate and effective dynamic real-time control. Therefore, the electric vehicle is not only green and environment-friendly, but also can realize driving experience with higher active safety, operation stability and better riding comfort through an advanced electric control technology.
In the safety antiskid control of a vehicle, an anti-lock brake system (ABS) and a Traction Control System (TCS) used in a conventional internal combustion engine car perform related functions. It generally employs a two-parameter control method to assess wheel slip during vehicle operation. The two parameter control method requires measurement of the necessary information of vehicle speed and wheel speed, which is then used to calculate the slip ratio. The slip ratio is one of parameters that are widely used to indicate a locked or slipping state of the wheel, and in the two-parameter control method, it is necessary to prevent the wheel from slipping by limiting the slip ratio. Conventional antiskid controllers use slip rate to indicate a locked or slipping condition of the wheels. When the vehicle accelerates, assuming ω r > v, the slip ratio is defined as:
where v is the longitudinal speed of the vehicle, ω is the angular speed of the wheel, and r is the wheel equivalent radius. When the vehicle is decelerating, since ω r < v, the expression of the slip ratio can be written as:
the relationship between slip ratio and road surface friction coefficient is complex, and road surface friction coefficient is a scalar quantity used for expressing the ratio between friction force and vertical positive pressure, and is defined as follows:
wherein F f Is a friction force, and F n Is a vertical positive pressure.
As shown in fig. 1, the road surface friction coefficient is an increasing function of the slip ratio before it reaches around its maximum value (the maximum value corresponds to a slip ratio of typically between 0.1 and 0.3), which is called the linear region where the running state of the wheel is stably controllable and thus is a stable region. After this region, as the slip ratio becomes larger, not only the road surface friction coefficient starts to become smaller, but also an unstable region is entered. In the unstable region, the running state of the wheels is unstable, and severe slip may occur. Therefore, the slip ratio is usually limited by the antiskid controller of the vehicle to a corresponding safe area.
The conventional slip rate limiting two-parameter control method has been widely used in the industrial field for the controllers of the anti-lock brake system and the traction control system. On one hand, the method depends on a hydraulic braking mechanism to complete the action execution, so that the cost requirement of the brake is increased; on the other hand, the method needs necessary sensing equipment, such as an accelerometer, an optical sensor, a GPS and the like, for completing accurate measurement of the running speed and the like of the vehicle, and the equipment can cause the increase of the cost; the increase of equipment makes the equipment prone to failure or signal failure under certain conditions, such as difficulty in obtaining GPS signals in tunnels. For the motor-driven electric vehicle, the corresponding anti-skid control system can be designed by completely utilizing the advantage of quick response of the motor body and exerting the characteristic of simultaneously serving as an actuator and a sensor.
Compared with the traditional double-parameter anti-skid control, the method disclosed by the invention has the advantages that the unique advantage of the electric automobile can be quickly and accurately obtained by fully utilizing the motor torque, and a new parameter TA is designed to replace the traditional slip rate method for carrying out anti-skid control on the automobile. In the new parameter TA, two parameters, namely a torque value of a motor and an acceleration value of wheels, are used for calculation, and the two parameters are very easy to obtain on the electric automobile without an additional sensor; meanwhile, the motor body is directly used as an actuating mechanism without the cooperation of a hydraulic braking system. Therefore, the efficient anti-skid control method is lower in cost and suitable for the electric automobile.
Disclosure of Invention
The invention aims to solve the technical problem that a new parameter TA is used to replace the traditional slip ratio method, and in order to solve the problem, the invention provides an electric automobile anti-slip control system which comprises a vehicle control unit, a PID controller, a driving motor and the TA max Memory, TA value detection module and vehicle control unitConnected with PID controller and drive motor, TA value detection module connected with drive motor and PID controller, TA max The storage is connected with the PID controller, the vehicle control unit is used for exciting the driving motor, the TA value detection module is used for detecting a TA value signal output by the driving motor, and the PID controller compares the TA value signal max The value and TA value and sending a command to the vehicle control unit to cause the TA value to be less than TA at all times max Value, TA max The memory is used for storing TA max The value of TA is equal to the ratio of the drive wheel angular acceleration to the motor torque.
Further, the PID controller includes a PI controller.
Further, the antiskid control system further includes a low-pass filter for removing high-frequency noise generated in the calculation of the angular acceleration of the driving wheel.
The invention also discloses a control method of the electric automobile anti-skid control system, which comprises the following steps:
the method comprises the following steps: the TA value detection module detects a TA value in the running process of the driving motor and transmits the TA value to the PID controller;
step two: the PID controller compares the TA value with the TA max Value when TA is greater than TA max When the value is positive, the PID controller transmits a command to reduce the torque to the vehicle control unit;
step three: the vehicle control unit applies the torque required to be output to the driving motor, the angular acceleration of the driving wheel is reduced, and therefore the TA value is smaller than the TA value max The value is obtained.
Further, in step two, the TA value is calculated by the following formula (4):
wherein T is motor torque; ω is the angular velocity of the driving wheel,is the drive wheel angular acceleration.
Further, TA max Calculated by the following equation (7):
where α is the ratio of the vehicle travel acceleration to the wheel equivalent linear acceleration, M is the vehicle mass, J is the wheel moment of inertia, and r is the wheel radius.
The invention has the following beneficial effects:
1. according to the electric vehicle antiskid control method based on the ratio of the angular acceleration of the wheels to the torque of the motor, the traditional slip rate is replaced by the parameter TA, equipment for accurately measuring the running speed of the whole vehicle is not needed, the production cost is reduced, and the system stability is improved.
2. According to the electric automobile anti-skid control system based on the wheel angular acceleration and the motor torque ratio, the motor body is used as the actuator, the driving torque is adjusted rapidly in real time, the cooperation of a hydraulic brake of a traditional anti-skid system is not needed, and the equipment dependence is further reduced.
3. The TA single parameter control used in the electric vehicle antiskid control method based on the wheel angular acceleration and the motor torque ratio fully utilizes the unique advantage that the motor torque can be quickly and accurately obtained, and the algorithm is simple and easy to realize.
Drawings
Fig. 1 is a graph showing the relationship between the friction coefficient and the slip ratio.
FIG. 2 is a schematic diagram of electric vehicle wheel dynamics.
Fig. 3 is a schematic structural diagram of an electric vehicle antiskid control system based on the ratio of the angular acceleration of the wheel to the torque of the motor.
Fig. 4 is a map showing the correspondence relationship between the single parameter TA in the antiskid control system and the ratio between the vehicle running acceleration and the wheel equivalent linear acceleration.
Detailed Description
The invention is described in further detail below with reference to the data in conjunction with the figures. It should be understood that the embodiments are merely illustrative of the present invention and do not limit the scope of the invention in any way.
As shown in figure 3, the anti-skid control system and method for the electric automobile comprises a vehicle control unit, a PID controller, a driving motor and a TA value detection module, wherein the vehicle control unit is connected with the PID controller and the driving motor, the TA value detection module is connected with the driving motor and the PID controller, the vehicle control unit is used for exciting the driving motor, the TA value detection module is used for detecting a TA value signal output by the driving motor, and the PID controller compares the TA value signal with the TA value signal output by the driving motor max The value and TA value and sending a command to the vehicle control unit to cause the TA value to be less than TA at all times max Value, TA max Memory for storing TA max The value of TA is equal to the ratio of the drive wheel angular acceleration to the motor torque. When the driver of the vehicle depresses the accelerator pedal, a torque command is sent to the vehicle control unit. The PID controller applies the required output torque to the drive motor through a typical Proportional Integral Derivative (PID) control, and is used for limiting the monitoring parameter TA of wheel slip and keeping the monitoring parameter TA stable within a safe region of the PID controller so as to prevent the wheel slip; in one embodiment the PID controller is a PI controller.
The definition of TA in the present invention is expressed by formula (4):
wherein T is motor torque; ω is the angular velocity of the driving wheel,is the drive wheel angular acceleration;
as shown in fig. 2, the dynamic expression in running of the vehicle tire is as follows:
where M is the vehicle mass, v is the vehicle speed of travel, f is the road resistance, ω is the drive wheel angular velocity, J is the tire moment of inertia, T is the motor torque, and r is the wheel radius.
If the definition α is a ratio of the vehicle running acceleration to the wheel equivalent linear acceleration, the following equation is given:
further, in conjunction with the derivation of equations (4), (5), and (6), TA can be derived by the following equation (7):
wherein TA max The value of (a) can be obtained according to the value range of alpha.
The invention also discloses an electric automobile anti-skid control method based on the wheel angular acceleration and the motor torque ratio, which comprises the following steps of:
the method comprises the following steps: the TA value detection module detects a TA value in the running process of the driving motor and transmits the TA value to the PID controller;
step two: PID controller compares TA value with TA max Value when TA is greater than TA max When the value is positive, the PID controller transmits a command for reducing the torque to a vehicle control unit;
step three: the vehicle control unit applies the torque required to be output to the driving motor, the angular acceleration of the driving wheel is reduced, and therefore the TA value is smaller than the TA value max The value is obtained.
In the embodiment shown in fig. 3, the first step requires an evaluation of the magnitude of the TA value while the vehicle is in motion. Motor torque T fed back by driving motor itself in real time and driving wheel angular acceleration transmitted by driving motorThe corresponding evaluation value can be obtained in real time when the evaluation value is input to the TA value detection module. Since vehicle dynamics control, including anti-skid control, is generally required to be performed in a relatively low frequency range (100-1000 hz), a low-pass filter may be used to remove high-frequency noise that may be generated in the calculation of the angular acceleration of the driving wheel.
The second step of implementation requires evaluation of the TA value tolerance range for maintaining safe slip while the vehicle is in motion. During the design of the antiskid controller, the TA value is limited to its safety range, and in FIG. 3, the TA limit is used as the TA limit max And (4) showing.
According to the standard definition of the slip ratio, which is calculated as the ratio of the vehicle running speed v to the tire linear velocity, one expression thereof is as follows (8):
definition α is a ratio of a vehicle running acceleration to a wheel equivalent linear acceleration, as expressed by the following equation (9):
in conjunction with the above two equations, the slip ratio λ can be derived as the following equation (10):
the control limit of alpha is related to the slip ratio lambda, and the value of alpha is assumed to be bounded, and the upper limit is alpha H The lower limit is α L Then, the range of the slip ratio λ in the above formula can be expressed by the following formula:
from the empirical range of the allowable slip ratio of the tire during running of the vehicle, it can be known that the slip ratio λ is generally between 0.1 and 0.3 to achieve safe running. From the above equation it can be derived that the safety range of α is between 0.7 and 0.9. From equation (7), the maximum value limit of TA can be obtained as follows:
the third step is carried out, in fig. 3, when the measured TA value exceeds TA max When the vehicle is running, the controller considers that the wheel slips. At this time, the PID controller calculates a torque value to be output such that the TA value is smaller than the TA value max The reduction of the angular acceleration of the drive wheel is achieved by a control command that reduces the torque. It will be readily appreciated by those skilled in the art that as the motor torque T decreases, the drive wheel angular accelerationAnd consequently the angular acceleration of the drive wheel due to the slipping conditionThe magnitude of the reduction is larger, thereby controlling the TA value to be reduced so as to achieve not exceeding TA max The value is obtained. During this control, TA will be maintained within a reasonable range to ensure that the driven wheels do not enter a slip condition.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (5)
1. Electric steamThe vehicle antiskid control system is characterized by comprising a vehicle control unit, a PID controller, a driving motor and a TA max The vehicle control unit is connected with the PID controller and the driving motor, the TA value detection module is connected with the driving motor and the PID controller, and the TA value detection module is connected with the driving motor and the PID controller max The storage is connected with the PID controller, the vehicle control unit is used for exciting the driving motor, the TA value detection module is used for detecting a TA value signal output by the driving motor, and the PID controller compares the TA value signal max Value and TA value and sending a command to the vehicle control unit to cause the TA value to be less than the TA at all times max Value, said TA max A memory for storing the TA max A value, said TA value being equal to the ratio of the drive wheel angular acceleration and the motor torque.
2. The anti-skid control system for electric vehicle of claim 1, wherein said PID controller comprises a PI controller.
3. An electric vehicle antiskid control system according to claim 1, wherein said antiskid control system further comprises a low-pass filter for removing high-frequency noise generated in calculation of angular acceleration of said driving wheel.
4. A control method of an electric automobile antiskid control system is characterized by comprising the following steps:
the method comprises the following steps: the TA value detection module detects a TA value in the running process of the driving motor and transmits the TA value to the PID controller, wherein the TA value is obtained by calculating according to the following formula (4):
wherein T is motor torque; omega is the angular velocity of the drive wheel,is the drive wheel angular acceleration;
step two: the PID controller compares the TA value with the TA max Value when TA is greater than TA max When the value is positive, the PID controller transmits a command to reduce the torque to the vehicle control unit;
step three: the vehicle control unit applies the torque required to be output to the driving motor, the angular acceleration of the driving wheel is reduced, and therefore the TA value is smaller than TA max The value is obtained.
5. The control method of claim 4, wherein the TA max Calculated by the following equation (7):
wherein alpha is the ratio of the vehicle running acceleration to the wheel equivalent linear acceleration, the value of alpha is assumed to be bounded, and the lower limit is alpha L M is the vehicle mass, J is the wheel moment of inertia, and r is the wheel radius.
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| JP6716831B2 (en) * | 2016-12-05 | 2020-07-01 | 日立オートモティブシステムズ株式会社 | Electric vehicle control device, electric vehicle control system, and electric vehicle control method |
| CN107215244B (en) * | 2017-06-29 | 2019-07-16 | 合肥巨一动力系统有限公司 | A kind of the electric drive system for electric vehicles torque control system and method on low attached road surface |
| CN110893774B (en) * | 2018-09-12 | 2023-05-05 | 南京理工大学 | Wheel anti-skid control method and system based on energy distribution model |
| CN111169467B (en) * | 2020-01-08 | 2021-10-26 | 新石器慧通（北京）科技有限公司 | Control method and device for unmanned vehicle, vehicle-mounted equipment and storage medium |
| CN111746300B (en) * | 2020-06-19 | 2021-11-12 | 智新控制系统有限公司 | Anti-skid control method for driving centralized driving electric automobile and storage medium |
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