CN106143486A - A kind of four-wheel drive cars anti-skid control method - Google Patents
A kind of four-wheel drive cars anti-skid control method Download PDFInfo
- Publication number
- CN106143486A CN106143486A CN201610618681.7A CN201610618681A CN106143486A CN 106143486 A CN106143486 A CN 106143486A CN 201610618681 A CN201610618681 A CN 201610618681A CN 106143486 A CN106143486 A CN 106143486A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 241000153246 Anteros Species 0.000 claims abstract description 10
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The present invention relates to a kind of four-wheel drive cars anti-skid control method, the method is: the 4 wheel driven controller of vehicle passes to the actual torque value of torque management device by the axle speed difference of monitoring vehicle antero posterior axis and the electromotor of vehicle, when described axle speed difference exceedes the maximum torque that axle speed difference threshold value and described actual torque value can be transmitted more than torque management device, described 4 wheel driven controller sends the request limiting torque value to the electronic control unit of electromotor, the electronic control unit of described electromotor limits vehicle motor according to the request limiting torque value that 4 wheel driven controller sends and passes to the maximum torque of torque management device.This programme solves danger and torque management device, PTU, the problem of rear-end gear reduction damage that occurring when wheel seriously skids occurs in four-wheel drive cars.
Description
Technical field
The present invention relates to vehicle skidproof control technology, specifically a kind of four-wheel drive cars anti-skid control method.
Background technology
Along with Driving and the continuous of drive safety are pursued by people, 4 wheel driven technology development, more and more
City SUV is configured with four-wheel drive system.Most of four-wheel drive system are intelligent four-wheel drive system based on engine behind front wheel forerunner, have employed
Power transmission (PTU) transmits rear axle power and realizes the torque management device of antero posterior axis differential.At some special operation conditions, as
Front-wheel is positioned at low attached road surface, when trailing wheel is positioned at high attached road surface, owing to the structural parameters of vehicle own limit the (torsion such as torque management device
Square capacity is less), it may occur that the situation that front-wheel seriously skids, lateral direction of car unstability, this situation is extremely dangerous；And to moment of torsion
Manager, PTU and rear-end gear reduction there is also a certain degree of damage.Therefore, in the case, it is necessary to take measures limit
Front-wheel processed skids, and limits torque management device internal friction sheet and skids, it is to avoid occurs big axle speed difference between antero posterior axis.
(as front-wheel is in the road surface that attachment coefficient is low, trailing wheel is in the road surface that attachment coefficient is high) on Special Road, mesh
Forward part intelligence four-wheel drive cars in good time, by increasing the torque capacity of torque management device, holds low noncoupled axle when allowing high noncoupled axle wheel
Wheel, thus avoid skidding.But in some cases, by vehicle structure and related components (torque management device, PTU, back axle
Main reducing gear, variator) restriction, the torque value of torque management device cannot strengthen, (as front-wheel is in attachment under special operation condition
The road surface that coefficient is low, trailing wheel is in the road surface that attachment coefficient is high), wheel-slip just cannot be avoided.
Summary of the invention
It is an object of the invention to provide a kind of four-wheel drive cars anti-skid control method, it is it can be avoided that car occurs in four-wheel drive cars
The danger occurred during the serious skidding of wheel and torque management device, PTU, the problem of rear-end gear reduction damage.
Technical scheme is as follows:
A kind of four-wheel drive cars anti-skid control method, the method is: the 4 wheel driven controller of vehicle is by monitoring vehicle antero posterior axis
Axle speed difference and the electromotor of vehicle pass to the actual torque value of torque management device, exceed axle speed difference door in described axle speed difference
During the maximum torque that limit value and described actual torque value can be transmitted more than torque management device, described 4 wheel driven controller is to starting
The electronic control unit of machine sends the request limiting torque value, and the electronic control unit of described electromotor is sent out according to 4 wheel driven controller
The request limiting torque value gone out limits vehicle motor and passes to the maximum torque of torque management device.
Further, above-mentioned control method specifically includes following steps:
After step S1, described 4 wheel driven controller are according to the near front wheel rotating speed of vehicle, off-front wheel rotating speed, left rear wheel rotating speed, the right side
Wheel speed calculates the axle speed difference of antero posterior axis, and i.e. axle speed difference=(the near front wheel rotating speed+off-front wheel rotating speed-left rear wheel rotating speed-off hind wheel turns
Speed)/2.
Step S2, described 4 wheel driven controller compare the axle speed difference threshold value of axle speed difference and setting, if axle speed difference exceedes axle speed
Difference threshold value, then enter step S3.Remaining situation finishing control.
Step S3, described 4 wheel driven controller calculate electromotor and pass to the actual torque value of torque management device, i.e. actual torsion
Square value=engine torque × torque-converters converter torque ratio × transmission gear ratio × speed ratio of main reducer × PTU speed ratio.
The peak torque that step S4, described 4 wheel driven controller more described actual torque value and torque management device can transmit
Value, if actual torque value exceedes the maximum torque that torque management device can transmit, then enters step S5；Remaining situation terminates control
System.
Step S5, described 4 wheel driven controller send the request limiting torque value to the electronic control unit of electromotor, and will
The maximum torque that torque management device can transmit sets the torsion desired value that is limited.
Step S6, the electronic control unit response of described electromotor limit the request of torque value, make electromotor pass to turn round
The maximum torque of square manager is that described limit turns round desired value.
This programme is calculated by axle speed difference, it is judged that whether tire slippery conditions occurs, when tire occurs that trace skids, makes
Electromotor can be delivered to the actual torque value of torque management device and be less than the transferable maximum torque of torque management device, so
Torque management device internal friction sheet and tyre slip are efficiently controlled, it is to avoid (as front-wheel is in attachment under special operation condition
The road surface that coefficient is low, trailing wheel is in the road surface that attachment coefficient is high), the wheel of intelligence 4 wheel driven type vehicle in good time serious skidding occur and
Cause danger and torque management device, PTU, the damage of rear-end gear reduction.
Accompanying drawing explanation
Fig. 1 is the control logic chart of the present invention.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
A kind of four-wheel drive cars anti-skid control method, the method is: the 4 wheel driven controller of vehicle is by monitoring vehicle antero posterior axis
Axle speed difference and the electromotor of vehicle pass to the actual torque value of torque management device, exceed axle speed difference door in described axle speed difference
During the maximum torque that limit value and described actual torque value can be transmitted more than torque management device, described 4 wheel driven controller is to starting
The electronic control unit of machine sends the request limiting torque value, and the electronic control unit of described electromotor is sent out according to 4 wheel driven controller
The request limiting torque value gone out limits vehicle motor and passes to the maximum torque of torque management device.
Above-mentioned control method is as it is shown in figure 1, it specifically includes following steps:
After step S1, described 4 wheel driven controller are according to the near front wheel rotating speed of vehicle, off-front wheel rotating speed, left rear wheel rotating speed, the right side
Wheel speed calculates the axle speed difference of antero posterior axis, and i.e. axle speed difference=(the near front wheel rotating speed+off-front wheel rotating speed-left rear wheel rotating speed-off hind wheel turns
Speed)/2.
Step S2, described 4 wheel driven controller compare the axle speed difference threshold value of axle speed difference and setting, if axle speed difference exceedes axle speed
Difference threshold value, then enter step S3；Remaining situation exits control.
Step S3, described 4 wheel driven controller calculate electromotor and pass to the actual torque value of torque management device, i.e. actual torsion
Square value=engine torque × torque-converters converter torque ratio × transmission gear ratio × speed ratio of main reducer × PTU speed ratio.
The peak torque that step S4, described 4 wheel driven controller more described actual torque value and torque management device can transmit
Value, if actual torque value exceedes the maximum torque that torque management device can transmit, then enters step S5；Remaining situation exits control
System.
Step S5, described 4 wheel driven controller send the request limiting torque value to the electronic control unit of electromotor, and will
The maximum torque that torque management device can transmit sets the torsion desired value that is limited.
Step S6, the electronic control unit response of described electromotor limit the request of torque value, make electromotor pass to turn round
The maximum torque of square manager is that described limit turns round desired value.
In this control method, 4 wheel driven controller monitors what axle axle speed difference and electromotor before and after vehicle passed in real time
Actual torque value, when vehicle antero posterior axis occurs small skidding, if the actual torque value that electromotor passes to torque management device surpasses
Cross the torque capacity of torque management device, then proposed to limit asking of torque value to the electronic control unit of electromotor by 4 wheel driven controller
Ask.The electronic control unit response of electromotor limits the request of torque value, makes to be delivered to the actual torque value of torque management device not
Exceed the torque capacity of torque management device, thus control torque management device internal friction sheet and tyre slip, it is to avoid in special work
(as front-wheel is in the road surface that attachment coefficient is low, trailing wheel is in the road surface that attachment coefficient is high) under condition, intelligence 4 wheel driven type vehicle in good time
Wheel serious skidding occur and cause danger and torque management device, PTU, rear-end gear reduction damage.
The maximum torque that above-mentioned torque management device can transmit by vehicle structure and related components (torque management device,
PTU, rear-end gear reduction, variator) determine, axle speed difference and electromotor pass to involved by the actual torque value of torque management device
And parameter, can be obtained by car load CAN.
Claims (2)
1. a four-wheel drive cars anti-skid control method, it is characterised in that: the 4 wheel driven controller of vehicle is by monitoring vehicle antero posterior axis
Axle speed difference and the electromotor of vehicle pass to the actual torque value of torque management device, exceed axle speed difference door in described axle speed difference
During the maximum torque that limit value and described actual torque value can be transmitted more than torque management device, described 4 wheel driven controller is to starting
The electronic control unit of machine sends the request limiting torque value, and the electronic control unit of described electromotor is sent out according to 4 wheel driven controller
The request limiting torque value gone out limits vehicle motor and passes to the maximum torque of torque management device.
A kind of four-wheel drive cars anti-skid control method the most according to claim 1, it is characterised in that specifically include following step
Rapid:
Step S1, described 4 wheel driven controller turn according to the near front wheel rotating speed of vehicle, off-front wheel rotating speed, left rear wheel rotating speed, off hind wheel
Speed calculate antero posterior axis axle speed difference, i.e. axle speed difference=(the near front wheel rotating speed+off-front wheel rotating speed-left rear wheel rotating speed-off hind wheel rotating speed)/
2；
Step S2, described 4 wheel driven controller compare the axle speed difference threshold value of axle speed difference and setting, if axle speed difference exceedes axle speed difference door
Limit value, then enter step S3；Remaining situation exits control；
Step S3, described 4 wheel driven controller calculate electromotor and pass to the actual torque value of torque management device, i.e. actual torque value
=engine torque × torque-converters converter torque ratio × transmission gear ratio × speed ratio of main reducer × PTU speed ratio；
The maximum torque that step S4, described 4 wheel driven controller more described actual torque value and torque management device can transmit,
If actual torque value exceedes the maximum torque that torque management device can transmit, then enter step S5；Remaining situation exits control；
Step S5, described 4 wheel driven controller send the request limiting torque value to the electronic control unit of electromotor, and by moment of torsion
The maximum torque that manager can transmit sets the torsion desired value that is limited；
Step S6, the electronic control unit response of described electromotor limit the request of torque value, make electromotor pass to torque tube
The maximum torque of reason device is that described limit turns round desired value.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610618681.7A CN106143486B (en) | 2016-07-29 | 2016-07-29 | A kind of four-wheel drive cars anti-skid control method |
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|---|---|---|---|
| CN201610618681.7A CN106143486B (en) | 2016-07-29 | 2016-07-29 | A kind of four-wheel drive cars anti-skid control method |
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| CN106143486A true CN106143486A (en) | 2016-11-23 |
| CN106143486B CN106143486B (en) | 2019-08-02 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953841A (en) * | 2017-12-18 | 2018-04-24 | 广州汽车集团股份有限公司 | A kind of automobile chassis integrated control method and system |
| CN108001448A (en) * | 2017-11-29 | 2018-05-08 | 重庆长安汽车股份有限公司 | The control method that a kind of 4 wheel driven moment of torsion transfinites |
| CN110435628A (en) * | 2018-05-04 | 2019-11-12 | 长城汽车股份有限公司 | A kind of automobile four-wheel-driven control system and method |
| CN110775061A (en) * | 2018-07-25 | 2020-02-11 | 广州汽车集团股份有限公司 | Control method and device for inhibiting slip of front wheel of four-wheel drive vehicle and four-wheel drive power automobile |
| CN111452624A (en) * | 2019-01-22 | 2020-07-28 | 上海汽车集团股份有限公司 | Low-attachment starting and escaping control method and device |
| CN112519591A (en) * | 2019-08-27 | 2021-03-19 | 上海汽车集团股份有限公司 | Control method and control system for power battery discharge power |
| WO2023222095A1 (en) * | 2022-05-20 | 2023-11-23 | 比亚迪股份有限公司 | Vehicle torque control method and apparatus, electronic device and storage medium |
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| CN110775061A (en) * | 2018-07-25 | 2020-02-11 | 广州汽车集团股份有限公司 | Control method and device for inhibiting slip of front wheel of four-wheel drive vehicle and four-wheel drive power automobile |
| CN110775061B (en) * | 2018-07-25 | 2021-07-02 | 广州汽车集团股份有限公司 | Control method and device for inhibiting slip of front wheel of four-wheel drive vehicle and four-wheel drive power automobile |
| CN111452624A (en) * | 2019-01-22 | 2020-07-28 | 上海汽车集团股份有限公司 | Low-attachment starting and escaping control method and device |
| CN111452624B (en) * | 2019-01-22 | 2023-02-03 | 上海汽车集团股份有限公司 | Low-attachment starting and escaping control method and device |
| CN112519591A (en) * | 2019-08-27 | 2021-03-19 | 上海汽车集团股份有限公司 | Control method and control system for power battery discharge power |
| CN112519591B (en) * | 2019-08-27 | 2022-01-25 | 上海汽车集团股份有限公司 | Control method and control system for power battery discharge power |
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