CN106314427A - Turning control method and system for four-wheel independently driven automobile - Google Patents
Turning control method and system for four-wheel independently driven automobile Download PDFInfo
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- CN106314427A CN106314427A CN201510405820.3A CN201510405820A CN106314427A CN 106314427 A CN106314427 A CN 106314427A CN 201510405820 A CN201510405820 A CN 201510405820A CN 106314427 A CN106314427 A CN 106314427A
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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
- B60W30/045—Improving turning performance
-
- 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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a turning control method for a four-wheel independently driven automobile. The turning control method comprises the following steps: acquiring automobile condition information parameters of the automobile; receiving a turning radius reducing requirement which is input by a driver; calculating a control yawing moment meeting the turning radius reducing requirement according to the automobile condition information parameters and the turning radius reducing requirement; distributing the control yawing moment to four wheels of the automobile according to the automobile condition information parameters so that the automobile turns in the situation of meeting the turning radius reducing requirement. The invention also discloses a turning control system for the four-wheel independently driven automobile.
Description
Technical field
The present invention relates in automobile, particularly to the Servo Control method and system of a kind of automobile for four motorized wheels.
Background technology
Along with Modern road traffic system and the development of advanced automobile technology, the Active Performance technology of automobile is increasingly subject to pay attention to.But
The domestic research for vehicle with high maneuverability is also in blank.
The factor affecting vehicle mobility is a lot, including overall vehicle design overall dimensions, power-actuated impact, automotive suspension
The problems such as the steering behaviour of structure and automobile.The especially steering behaviour of automobile directly decides the mobility of vehicle.
Low-response when turning to during traditional two-wheel steering (2 ws) automobile low speed, turns to dumb, and during high speed, directional stability is poor.It addition,
Existing wheel steering system is mostly rear wheel drive, front-wheel steer.Therefore, the steering range of vehicle is limited by very large.
Need to turn to certain region.Sometimes, because region is the least, vehicle can not disposably take a turn for the better, after can only stepping back
Turn again.
And four-wheel steering system (four-wheel steering～4WS) is the important component part of automobile actively chassis technology, can
To overcome the some drawbacks of traditional two-wheel steering (2 ws).
Existing a kind of four-wheel steering system includes the wheel hub that motor differential master controller is bi-directionally connected with motor differential master controller
The wheel that the wheel that the wheel hub motor that electric machine controller is connected with hub motor control device is connected with wheel hub motor is connected with wheel
Speed sensor and rotary angle transmitter.Electronic differential master controller receives each wheel steering angle signal, calculates each wheel desired speed,
And be converted into control instruction and be sent to hub motor control device, wheel hub motor performs instruction, it is achieved Vehicular turn.
But, such system is only applicable to four-wheel steering, and application scenario is the most limited, and does not accounts for intact stability etc.
Problem.
Summary of the invention
It is contemplated that at least solve one of technical problem present in prior art.To this end, the present invention needs to provide one to be used for
The Servo Control method and system of the automobile of four motorized wheels.
The Servo Control method of the automobile for four motorized wheels of embodiment of the present invention, comprising:
S1, gathers the vehicle condition information parameter of described automobile；
S2, the radius of turn of the moderate strength receiving driver's input reduces demand；
S3, reduces demand calculating according to described vehicle condition information parameter and described radius of turn and meets described radius of turn reduction demand
Control yaw moment；And
S4, is assigned to four wheels of described automobile so that automobile according to described vehicle condition information parameter by described control yaw moment
Turn in the case of meeting described radius of turn reduction demand.
In some embodiments, described automobile includes four motors, and described four motors are for driving respectively or regenerative braking pair
The described wheel answered, described motor uses wheel motor or wheel hub motor.
In some embodiments, step S4 includes:
S41, calculating Tm3p and Tm4p, Tm3p is to distribute to described rear interior wheel to control yaw moment described in reverse 1/2
After Shi Suoshu in wheel supposition Motor torque, Tm4p be distribute to described rear foreign steamer forward 1/2 described in control yaw moment time
The supposition Motor torque that described rear foreign steamer is corresponding；And
S42, is assigned to described control yaw moment according to the size of Tm3p and Tm4p and Tm3max and Tm4max
Described four wheels, Tm3max be described after in peak-peak Motor torque corresponding to wheel, Tm4p be described after outer corresponding
Peak-peak Motor torque.
In some embodiments, step S42 exist | Tm3p | ＜=Tm3max and | Tm4p | ＜=Tm4max time,
Keep described before in wheel and Motor torque corresponding to described front foreign steamer constant；
Distribute to the described control yaw moment of 1/2 reverse size of described rear interior wheel；And
Distribute to the described control yaw moment of 1/2 size of described rear foreign steamer forward.
In some embodiments, step S42 exist | Tm3p | ＞ Tm3max and | Tm4p | ＜=Tm4max time,
Distribute to the described control yaw moment of reverse (1-k3)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k3/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k3)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k3/2 size of described rear foreign steamer forward；
Wherein, k3 less than 1 and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear interior wheel is corresponding.
In some embodiments, step S42 exist | Tm3p | ＜=Tm3max and | Tm4p | ＞ Tm4max time,
Distribute to the described control yaw moment of reverse (1-k4)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k4/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k4)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k4/2 size of described rear foreign steamer forward；
Wherein, k4 is less than 1, and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear foreign steamer is corresponding.
In some embodiments, step S42 exist | Tm3p | ＞ Tm3max and | Tm4p | ＞ Tm4max time,
Distribute to described front interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described rear interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described front foreign steamer forward 1/4 described control yaw moment；And
Distribute to described rear foreign steamer forward 1/4 described control yaw moment.
The turning control system for the automobile of four motorized wheels of embodiment of the present invention includes:
Vehicle condition information acquisition system, for gathering the vehicle condition information parameter of described automobile,
Turning arranges parts, reduces demand for receiving the radius of turn of the moderate strength of driver's input；And
Servo Control module, meets described turning for reducing demand calculating according to described vehicle condition information parameter and described radius of turn
Radius reduces the control yaw moment of demand, and described Servo Control module is additionally operable to described control according to described vehicle condition information parameter
Yaw moment is assigned to four wheels of described automobile so that automobile is turned in the case of meeting described radius of turn reduction demand.
In some embodiments, described automobile includes four motors, and described four motors are for driving respectively or regenerative braking pair
The described wheel answered, described motor uses wheel motor or wheel hub motor.
In some embodiments, to be used for calculating Tm3p and Tm4p, Tm3p described for distributing to for described Servo Control module
Control described in 1/2 that in rear, wheel is reverse described during yaw moment after in the supposition Motor torque of wheel, Tm4p for distribute to described after
The supposition Motor torque that during yaw moment, described rear foreign steamer is corresponding is controlled described in the 1/2 of foreign steamer forward；Described Servo Control module is also
For described control yaw moment being assigned to described according to the size of Tm3p and Tm4p and Tm3max and Tm4max
Four wheels, Tm3max be described after in peak-peak Motor torque corresponding to wheel, Tm4p be described after outer corresponding maximum
Peak value Motor torque.
In some embodiments, described Servo Control module at | Tm3p | ＜=Tm3max and
During | Tm4p | ＜=Tm4max,
Keep described before in wheel and Motor torque corresponding to described front foreign steamer constant；
Distribute to the described control yaw moment of 1/2 reverse size of described rear interior wheel；And
Distribute to the described control yaw moment of 1/2 size of described rear foreign steamer forward.
In some embodiments, described Servo Control module is at | Tm3p | ＞ Tm3max and | Tm4p | ＜=Tm4max
Time,
Distribute to the described control yaw moment of reverse (1-k3)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k3/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k3)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k3/2 size of described rear foreign steamer forward；
Wherein, k3 less than 1 and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear interior wheel is corresponding.
In some embodiments, described Servo Control module is at | Tm3p | ＜=Tm3max and | Tm4p | ＞ Tm4max
Time,
Distribute to the described control yaw moment of reverse (1-k4)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k4/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k4)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k4/2 size of described rear foreign steamer forward；
Wherein, k4 is less than 1, and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear foreign steamer is corresponding.
In some embodiments, described Servo Control module is used for when | Tm3p | ＞ Tm3max and | Tm4p | ＞ Tm4max,
Distribute to described front interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described rear interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described front foreign steamer forward 1/4 described control yaw moment；And
Distribute to described rear foreign steamer forward 1/4 described control yaw moment.
The Servo Control method and system of the present invention be suitable to each round to radius of turn reduce control.
The additional aspect of the present invention and advantage will part be given in the following description, and part will become apparent from the description below,
Or recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage will be apparent from from combining the accompanying drawings below description to embodiment
With easy to understand, wherein:
Fig. 1 is the automobile of the Servo Control method and system application of the automobile for four motorized wheels of embodiment of the present invention
High-level schematic functional block diagram.
Fig. 2 is that front-wheel steer actively reduces turning radius principle schematic.
Fig. 3 is that rear-axle steering actively reduces turning radius principle schematic.
Fig. 4 is that four-wheel steering actively reduces turning radius principle schematic.
Fig. 5 is that the turning of the Servo Control method and system of the automobile for four motorized wheels of embodiment of the present invention is arranged
The schematic diagram of parts.
Fig. 6 is turning of the Servo Control method and system of the automobile for four motorized wheels of another embodiment of the present invention
The curved schematic diagram that parts are set.
Fig. 7 is the schematic flow sheet of the Servo Control method of the automobile for four motorized wheels of embodiment of the present invention.
Fig. 8 is a sub-process signal of the Servo Control method of the automobile for four motorized wheels of embodiment of the present invention
Figure.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish phase
Same or similar label represents same or similar element or has the element of same or like function.Retouch below with reference to accompanying drawing
The embodiment stated is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as instruction or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " the
The feature of one ", " second " can express or implicitly include one or more described features.In description of the invention
In, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " install ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be fixing connection, it is also possible to it is to removably connect, or connects integratedly
Connect；Can be to be mechanically connected, it is also possible to be to electrically connect maybe can be in communication with each other；Can be to be joined directly together, it is also possible to by centre
Medium is indirectly connected to, and can be connection or the interaction relationship of two elements of two element internals.Common for this area
For technical staff, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
Following disclosure provides many different embodiments or example for realizing the different structure of the present invention.In order to simplify this
Disclosure of the invention, hereinafter to the parts of specific examples be set for describing.Certainly, they are the most merely illustrative, and purpose
Do not lie in the restriction present invention.Additionally, the present invention can in different examples repeat reference numerals and/or reference letter, this heavy
It is for purposes of simplicity and clarity again, the relation between itself not indicating discussed various embodiment and/or setting.This
Outward, the various specific technique that the invention provides and the example of material, but those of ordinary skill in the art it can be appreciated that its
The application of his technique and/or the use of other materials.
Refer to Fig. 1, the Servo Control method and system application of the automobile for four motorized wheels of embodiment of the present invention
Automobile 100 includes 20, four motors 70 of four electric machine controllers and four wheels 90.Each electric machine controller 20 is used for
The independent motor 70 controlling correspondence operates.Each motor 70 is for the wheel 90 independently driven or regenerative braking is corresponding, such as
Wheel 90 is applied positive torque or reactive torque to produce driving force or brake force.Specifically, in present embodiment, motor
70 is wheel motor, corresponding, automobile 100 also includes four variators 80 and four power transmission shafts 81, each motor 70
The wheel 90 of correspondence it is connected to by corresponding variator 80 and power transmission shaft 81.So, automobile 100 can realize independent four-wheel
Drive.
Certainly, motor 70 is not limited to present embodiment, and in other embodiments, motor 70 can be wheel hub motor, as
This, motor 70 can directly couple with corresponding wheel 90, saves variator 80 and power transmission shaft 81.
Four wheels 90 are arranged on antero posterior axis.It addition, definition automobile 100 is turned, for inner side, opposite side is outside in side, example
As, automobile 100 turns left, then left side is inner side, otherwise, right side is inner side.Take turns in before so, four wheels 90 include,
Front foreign steamer, rear interior wheel and rear foreign steamer.
Turning control system includes entire car controller 10, vehicle condition information acquisition system, turning arranges parts 40, electric machine controller
20 and motor 70.In present embodiment, entire car controller 10, vehicle condition information acquisition system, turning arrange parts 40 and electricity
Machine controller 20 can be communicated by controller local area network (controller area network, the CAN) bus of car load.
Vehicle condition information acquisition system is used for gathering vehicle condition information parameter, including gather steering wheel angle signal, yaw rate signal,
Lateral acceleration signal, longitudinal acceleration signal, wheel speed signal and motor speed signal.
Specifically, vehicle condition information acquisition system include steering wheel angle sensor 30, Yaw rate sensor 60, be arranged at each
The wheel speed sensors 91 that rotation at motor 70 becomes sensor 71, is arranged on each wheel 90.Wherein, steering wheel angle passes
Sensor 30 is used for detecting steering wheel angle signal.Yaw rate sensor 60 includes longitudinal acceleration sensor, lateral acceleration
Sensor and yaw-rate sensor.Yaw-rate sensor is used for detecting yaw rate signal.Longitudinal acceleration senses
Device is used for detecting longitudinal acceleration signal, and lateral acceleration sensor is used for detecting lateral acceleration signal.Rotation becomes sensor 71
For detecting the rotationally-varying speed of the motor 70 of correspondence, i.e. motor speed.Wheel speed sensors 91 is for detecting the car of correspondence
The rotating speed of wheel 90, i.e. wheel speed.In present embodiment, corresponding front interior wheel, front foreign steamer, rear interior wheel and the motor speed of rear foreign steamer
For nm1～nm4, front interior take turns, front foreign steamer, rear in the wheel speed of wheel and rear foreign steamer be n1～n4.
It addition, electric machine controller 20 is also by the output of CAN network feedback motor 70, i.e. Motor torque.Present embodiment
In, the Motor torque of corresponding front interior wheel, front foreign steamer, rear interior wheel and rear foreign steamer is Tm1～Tm4.It addition, take turns in before corresponding,
The gear ratio of front foreign steamer, rear interior wheel and rear foreign steamer is i1～i4, and transmission efficiency is respectively η 1～η 4.It is appreciated that and can pass through
Experiment records gear ratio i1～i4 corresponding under different Motor torque Tm1～Tm4 and the size of transmission efficiency η 1～η 4 and deposits
Storage is look-up table.So, by gear ratio i1～i4 in Motor torque Tm1～Tm4 recorded and look-up table and transmission efficiency
η 1～η 4 can obtain front interior wheel, front foreign steamer, rear interior wheel and the wheel end torque T 1～T4 of rear foreign steamer.
Electrokinetic cell 50 is again by the charge condition of CAN feedback electrokinetic cell 50.
Turning arranges parts 40 and reduces demand for inputting radius of turn for driver.
Entire car controller 10 is responsible for controlling the operation of automobile 100, it is possible to include Servo Control module 11, Servo Control
Module 11 meets the control yaw of radius of turn reduction demand for reducing demand calculating according to vehicle condition information parameter and radius of turn
Moment also controls to be that main rear wheel is made as auxiliary strategy control yaw moment is assigned to four according to vehicle condition information parameter and front-wheel
Wheel 90 is to complete to turn in the case of meeting radius of turn reduction demand.It is appreciated that in addition to Servo Control module 11,
Entire car controller 10 can also include other control module for realizing other functions of automobile 100.
Concrete, incorporated by reference to Fig. 2～4, automobile 100 is when turning to, and radius of turn is ρ=v/ ψ, and vehicle condition information acquisition system is adopted
Lateral deviation angle beta 0, steering wheel angle δ, each wheel wheel speed n1～n4 and each at the collection current yaw velocity ψ 0 of automobile 100, barycenter
Motor speed nm1～nm4.
It is appreciated that speed v that can calculate automobile 100 based on wheel speed n1～n4 or motor speed nm1～nm4, or
Speed v that body electronics stabilisation systems (electronic stability program, ESP) in entire car controller 10 will calculate
It is sent to turning control 11.
So, can obtain, in conjunction with yaw velocity ψ 0, the current radius of turn ρ 0=v/ ψ 0 that automobile 100 is turned.
On the other hand, driver can arrange parts 40 by turning and input radius of turn reduction demand Δ ρ.Concrete, turn
Arrange parts 40 can be arranged near the steering wheel of automobile 100.Referring to Fig. 5, turning arranges parts 40 and can include
Instrumental panel 41, instrumental panel 41 shows ten scales, and each scale is 0.1m, and the scope that can arrange is 0～1.0m, represents
Wishing that radius of turn reduces 0～1.0m, i.e. radius of turn reduces demand Δ ρ is 0～1.0m, by knob or other input modes
Radius of turn can be set and reduce demand Δ ρ.According to operator demand and vehicle capability, Δ ρ is divided into varying strength.Δ ρ exists
When 0～0.3m, intensity is weak；Δ ρ is when 0.3m～0.6m, and intensity is medium；Δ ρ is when 0.6m～1.0m, and intensity is
By force.
Referring to Fig. 6, in other embodiment, turning arranges parts 40 and is combined with steering wheel, when automobile 100 turns to,
Driver turn steering wheel, corresponding steering wheel angle is occurred to entire car controller 10, car load by steering wheel angle sensor 30
Controller 10 is analyzed and is obtained radius of turn reduction demand Δ ρ.Such as, steering wheel angle is divided into three regions, first region
Being-δ 1～0 and 0～δ 1, Two Areas is-δ 2～-δ 1 and δ 1～δ 2, and the 3rd region is-δ 3～-δ 2 and δ 2～δ 3.
Each region is divided into different little equal portions, the most corresponding 0～1.0m different Δ ρ.Same, steering wheel angle is at-δ 1～0
During with 0～δ 1, it is weak for reducing radius of turn demand intensity, and corresponding scope is 0～0.3m；Steering wheel angle is-δ 2～-δ 1 He
During δ 1～δ 2, it is medium for reducing radius of turn demand intensity, and corresponding scope is 0.3～0.6m；Steering wheel angle is at-δ 3～-δ
When 2 and δ 2～δ 3, it is strong for reducing radius of turn demand intensity, and corresponding scope is 0.6～1.0m.
Certainly, turning arranges parts 40 and is not limited to present embodiment, in other embodiments, can use according to demand
Suitably form.
In present embodiment, it is moderate that radius of turn reduces demand.
So, demand Δ ρ can be reduced according to radius of turn and calculate the control yaw moment Δ M of demand.Calculating process is as follows:
Δ ρ=v/ ψ des-v/ ψ 0.
In formula, v is current vehicle speed；ψ 0 is the current yaw velocity of automobile 100；ψ des is target yaw rate；
Thus derive yaw velocity increment Delta ψ=ψ des～ψ 0=Δ ρ × ψ 02/ (v～Δ ρ × ψ 0).
Known yaw velocity increment Delta ψ, can obtain controlling the relational expression of yaw moment Δ M and yaw velocity increment Delta ψ:
Δ M=F (Δ ψ), is drawn by theoretical formula and experimental data deduction further according to different vehicle.
Control yaw moment is assigned to four wheels 90 and is adjusted to according to the Motor torque of the wheel 90 of rear axle main, front axle
The Motor torque of wheel 90 is adjusted to auxiliary strategy to be carried out.In other words, yaw moment distribution will be controlled in most cases
To trailing wheel, and distribution portion yaw control moment while yaw control moment is distributed to trailing wheel in certain circumstances
To front-wheel, concrete condition is as described below:
Concrete, Servo Control module 11 is taken turns reverse half in calculating after distributing to and is controlled yaw moment and distribute to rear foreign steamer
Take turns and the supposition Motor torque of rear foreign steamer in after when the half of forward controls yaw moment:
Tm3p=Tm30-Δ M*R/lw/i3/ η 3；And
Tm4p=Tm40+ Δ M*R/lw/i4/ η 4.
Wherein, wheel and supposition Motor torque corresponding to rear foreign steamer in after Tm3p, Tm4p are respectively；Tm30, Tm40 are respectively
Interior take turns and current motor moment of torsion that rear foreign steamer is corresponding for rear；R is the rolling radius of wheel 90, and lw is the two of front axle or rear axle
Distance between individual wheel 90.
From the point of view of being appreciated that for Tm3p, after-Δ M*R/lw/i3/ η 3 applies, the wheel moment of torsion that obtains of end for-
Δ M*R/lw/i3/ η 3* η 3/i3=-Δ M*R/lw, the active force that wheel end obtains is (-Δ M*R/lw)/R=-Δ M/lw, therefore,
The wheel control moment that obtains of end be active force-Δ M/lw be multiplied by rotary shaft to impetus distance vector (i.e. (lw/2): (-
Δ M/lw) * (lw/2)=-Δ M/2, wherein "-" represent reversely, i.e. contrary with the rotating direction of wheel.
Then, Servo Control module 11 judges the relation of | Tm3p | and | Tm4p | and Tm3max and Tm4max, wherein,
The peak-peak Motor torque that Tm3max with Tm4max takes turns in being respectively afterwards and rear foreign steamer is corresponding.
Judged result has a following four situation:
(1), during | Tm3p | ＜=Tm3max and | Tm4p | ＜=Tm4max, front interior take turns, front foreign steamer, rear in wheel and rear foreign steamer
Target motor torque is as follows:
Tm1=Tm10；
Tm2=Tm20；
Tm3=Tm30-Δ M*R/lw/i3/ η 3；And
Tm4=Tm40+ Δ M*R/lw/i4/ η 4.
Wherein, Tm10, Tm20 be interior wheel, the current motor moment of torsion of front foreign steamer, Tm1, Tm2, Tm3 and Tm4 before being respectively
It is respectively the target motor torque that front interior wheel, front foreign steamer, rear interior wheel and rear foreign steamer are corresponding.In other words, Servo Control module 11
Rear interior take turns and rear foreign steamer is corresponding suppose Motor torque respectively less than peak-peak Motor torque time distribute to after in wheel reverse one
Half control yaw moment and distribute to the control yaw moment of half of rear foreign steamer forward.
(2), during | Tm3p | ＞ Tm3max& | Tm4p | ＜=Tm4max, front interior take turns, front foreign steamer, rear in wheel and rear foreign steamer
Target motor torque is as follows:
Tm1=Tm10-(1-k3) * Δ M*R/lw/i1/ η 1；
Tm2=Tm20+ (1-k3) * Δ M*R/lw/i2/ η 2；
Tm3=Tm30-k3* Δ M*R/lw/i3/ η 3；And
Tm4=Tm40+k3* Δ M*R/lw/i4/ η 4.
Wherein, k3=Tm3max*i3* η 3/R*lw/2/ Δ M.
In other words, the control yaw moment of (1-k3)/2 size that wheel is reverse in before Servo Control module 11 is distributed to；Distribution
To the rear interior control yaw moment taking turns reverse k3/2 size；Distribute to the control yaw of (1-k3)/2 size of front foreign steamer forward
Moment and distribute to the control yaw moment of k3/2 size of rear foreign steamer forward.Wherein, k3 less than 1 and depends on that rear interior wheel is right
The peak-peak Motor torque answered, transmission when transmission efficiency.
(3), during | Tm3p | ＜=Tm3max& | Tm4p | ＞ Tm4max, front interior take turns, front foreign steamer, rear in wheel and rear foreign steamer
Target motor torque is as follows:
Tm1=Tm10-(1-k4) * Δ M*R/lw/i1/ η 1；
Tm2=Tm20+ (1-k4) * Δ M*R/lw/i2/ η 2；
Tm3=Tm30-k4* Δ M*R/lw/i3/ η 3；And
Tm4=Tm40+k4* Δ M*R/lw/i4/ η 4.
Wherein, k4=Tm4max*i4* η 4/R*lw/2/ Δ M.
In other words, the control yaw moment of (1-k4)/2 size that wheel is reverse in before Servo Control module 11 is distributed to；Distribution
To the rear interior control yaw moment taking turns reverse k4/2 size；Distribute to the control yaw of (1-k4)/2 size of front foreign steamer forward
Moment and distribute to the control yaw moment of k4/2 size of rear foreign steamer forward.Wherein, k4 is less than 1, and depends on rear foreign steamer
The peak-peak Motor torque of correspondence, transmission when transmission efficiency.
(4), during | Tm3p | ＞ Tm3max& | Tm4p | ＞ Tm4max, front interior take turns, front foreign steamer, rear in wheel and the mesh of rear foreign steamer
Mark Motor torque is as follows:
Tm1=Tm10-0.5* Δ M*R/lw/i1/ η 1；
Tm2=Tm20+0.5* Δ M*R/lw/i2/ η 2；
Tm3=Tm30-0.5* Δ M*R/lw/i3/ η 3；And
Tm4=Tm40+0.5* Δ M*R/lw/i4/ η 4.
In other words, the 1/4 control yaw moment that in before Servo Control module 11 is distributed to, wheel is reverse；In after distributing to, wheel is anti-
To 1/4 control yaw moment；Distribute to front foreign steamer forward 1/4 control yaw moment and distribute to rear foreign steamer forward
The control yaw moment of 1/4.
In present embodiment, body electronics stabilisation systems in entire car controller 10 (electronic stability program,
ESP) according to each wheel slip rate S collected, current side slip angle β, current yaw velocityAnd current lateral acceleration
The signals such as ay carry out vehicle body stability contorting in real time, it is ensured that the safety of vehicle.Turning control needs to accept the limit torsion that ES P sends
Signal also responds, to ensure the driving safety of vehicle.The ESP priority class of traffic is more than turning control signal.
Certainly, in other embodiments, it is also possible to save ESP stability contorting as desired.
Refer to Fig. 7, the Servo Control method of the automobile for four motorized wheels of embodiment of the present invention, including:
S1, gathers the vehicle condition information parameter of automobile 100；
S2, the radius of turn receiving driver's input reduces demand；
S3, reduces demand calculating according to vehicle condition information parameter and radius of turn and meets the control yaw power of radius of turn reduction demand
Square；And
S4, is assigned to four wheels 90 by control yaw moment so that automobile 100 is in satisfied turning according to vehicle condition information parameter
Turn in the case of radius reduction demand.
Referring to Fig. 8, concrete, step S4 includes:
S41, the calculating half that after distributing to, interior wheel is reverse controls yaw moment and distributes to the half control yaw of rear foreign steamer forward
Wheel and supposition Motor torque corresponding to rear foreign steamer in after during moment；
S42, interior takes turns and rear foreign steamer is corresponding supposes that the Motor torque size with peak-peak Motor torque is by described control according to rear
Yaw moment is assigned to four wheels 90；
S43, rear interior take turns and distribute to during supposition Motor torque respectively less than peak-peak Motor torque that rear foreign steamer is corresponding after in take turns
The controlling yaw moment and distribute to the control yaw moment of half of rear foreign steamer forward of reverse half；
S44, turns round at the rear interior supposition motor taking turns corresponding supposition Motor torque corresponding more than peak-peak Motor torque and rear foreign steamer
The control yaw moment of (1-k3)/2 size that wheel is reverse in before distributing to when square is less than peak-peak Motor torque；In after distributing to
Take turns the control yaw moment of reverse k3/2 size；Distribute to (1-k3)/2 size of front foreign steamer forward control yaw moment and
Distribute to the control yaw moment of the k3/2 size of rear foreign steamer forward, wherein, k3 less than 1 and after depending in wheel corresponding
Big peak value Motor torque, transmission when transmission efficiency.
S45, turns round at the rear interior supposition motor taking turns corresponding supposition Motor torque corresponding less than peak-peak Motor torque and rear foreign steamer
The control yaw moment of (1-k4)/2 size that wheel is reverse in before distributing to when square is more than peak-peak Motor torque；In after distributing to
Take turns the control yaw moment of reverse k4/2 size；Distribute to (1-k4)/2 size of front foreign steamer forward control yaw moment and
Distribute to the control yaw moment of the k4/2 size of rear foreign steamer forward.Wherein, k4 is less than 1, and depends on that rear foreign steamer is corresponding
Peak-peak Motor torque, transmission when transmission efficiency.
S46, rear interior take turns and distribute to time supposition Motor torque that rear foreign steamer is corresponding is all higher than peak-peak Motor torque before in take turns
1/4 reverse control yaw moment；The 1/4 control yaw moment that in after distributing to, wheel is reverse；Distribute to front foreign steamer forward
1/4 control yaw moment and distribute to rear foreign steamer forward 1/4 control yaw moment.
Other parts not deployed in the Body Control method of present embodiment, can join the turning control system of embodiment of above
Corresponding part, is no longer developed in details at this.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implement
The description of the concrete example of mode ", " example ", " " or " some examples " etc. means to combine described embodiment or example
The specific features, structure, material or the feature that describe are contained at least one embodiment or the example of the present invention.In this theory
In bright book, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, description concrete
Feature, structure, material or feature can combine in any one or more embodiments or example in an appropriate manner.
Any process described otherwise above or method describe and are construed as in flow chart or at this, represent include one or
The module of code, fragment or the part of the executable instruction of the more steps for realizing specific logical function or process, and
The scope of the preferred embodiment of the present invention includes other realization, wherein can not be by order that is shown or that discuss, including root
According to involved function by basic mode simultaneously or in the opposite order, performing function, this should be by embodiments of the invention institute
Belong to those skilled in the art to be understood.
Represent in flow charts or the logic described otherwise above at this and/or step, for example, it is possible to be considered as reality
The sequencing list of the executable instruction of existing logic function, may be embodied in any computer-readable medium, holds for instruction
Row system, device or equipment (system such as computer based system, including processor or other can from instruction execution system,
Device or equipment instruction fetch also perform the system of instruction) use, or combine these instruction execution systems, device or equipment and use.
For the purpose of this specification, " computer-readable medium " can be any can comprise, store, communicate, propagate or transmission procedure with
For instruction execution system, device or equipment or combine these instruction execution systems, device or equipment and device.Computer
The more specifically example (non-exhaustive list) of computer-readable recording medium includes following: have electrical connection section (the electronics dress of one or more wiring
Put), portable computer diskette box (magnetic device), random access memory (RAM), read only memory (ROM), erasable compile
Collect read only memory (EPROM or flash memory), fiber device, and portable optic disk read only memory (CDROM).
It addition, computer-readable medium can even is that paper or other the suitable media that can print described program thereon, because permissible
Such as by paper or other media are carried out optical scanning, then carry out editing, interpret or carrying out with other suitable methods if desired
Process and electronically obtain described program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize by hardware, software, firmware or combinations thereof.In above-mentioned enforcement
In mode, multiple steps or method can be with storing the software or firmware that in memory and be performed by suitable instruction execution system
Realize.Such as, if realized with hardware, with the most the same, available following technology well known in the art
In any one or their combination realize: have and patrol for the discrete of logic gates that data signal is realized logic function
Collect circuit, there is the special IC of suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate
Array (FPGA) etc..
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is can
Completing instructing relevant hardware by program, described program can be stored in a kind of computer-readable recording medium, should
Program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, each functional unit in each embodiment of the present invention can be integrated in a processing module, it is also possible to be each
Unit is individually physically present, it is also possible to two or more unit are integrated in a module.Above-mentioned integrated module is the most permissible
The form using hardware realizes, it would however also be possible to employ the form of software function module realizes.If described integrated module is with software merit
Can the form of module realize and as independent production marketing or when using, it is also possible to be stored in the storage of embodied on computer readable and be situated between
In matter.
Storage medium mentioned above can be read only memory, disk or CD etc..Although above it has been shown and described that this
Inventive embodiment, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as limitation of the present invention, ability
Above-described embodiment can be changed, revises, replace and modification by the those of ordinary skill in territory within the scope of the invention.
Claims (14)
1. the Servo Control method for the automobile of four motorized wheels, it is characterised in that including:
S1, gathers the vehicle condition information parameter of described automobile；
S2, the radius of turn of the moderate strength receiving driver's input reduces demand；
S3, reduces demand calculating according to described vehicle condition information parameter and described radius of turn and meets described radius of turn reduction demand
Control yaw moment；And
S4, is assigned to four wheels of described automobile so that automobile according to described vehicle condition information parameter by described control yaw moment
Turn in the case of meeting described radius of turn reduction demand.
2. the Servo Control method of the automobile for four motorized wheels as claimed in claim 1, it is characterised in that described
Automobile includes four motors, and described four motors use for the described wheel driven respectively or regenerative braking is corresponding, described motor
Wheel motor or wheel hub motor.
3. the Servo Control method of the automobile for four motorized wheels as claimed in claim 2, it is characterised in that step
S4 includes:
S41, calculating Tm3p and Tm4p, Tm3p is to distribute to described rear interior wheel to control yaw moment described in reverse 1/2
After Shi Suoshu in wheel supposition Motor torque, Tm4p be distribute to described rear foreign steamer forward 1/2 described in control yaw moment time
The supposition Motor torque that described rear foreign steamer is corresponding；And
S42, is assigned to described control yaw moment according to the size of Tm3p and Tm4p and Tm3max and Tm4max
Described four wheels, Tm3max be described after in peak-peak Motor torque corresponding to wheel, Tm4p be described after outer corresponding
Peak-peak Motor torque.
4. the Servo Control method of the automobile for four motorized wheels as claimed in claim 3, it is characterised in that step
S42 exist | Tm3p | ＜=Tm3max and | Tm4p | ＜=Tm4max time,
Keep described before in wheel and Motor torque corresponding to described front foreign steamer constant；
Distribute to the described control yaw moment of 1/2 reverse size of described rear interior wheel；And
Distribute to the described control yaw moment of 1/2 size of described rear foreign steamer forward.
5. the Servo Control method of the automobile for four motorized wheels as claimed in claim 3, it is characterised in that step
S42 exist | Tm3p | ＞ Tm3max and | Tm4p | ＜=Tm4max time,
Distribute to the described control yaw moment of reverse (1-k3)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k3/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k3)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k3/2 size of described rear foreign steamer forward；
Wherein, k3 less than 1 and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear interior wheel is corresponding.
6. the Servo Control method of the automobile for four motorized wheels as claimed in claim 3, it is characterised in that step
S42 exist | Tm3p | ＜=Tm3max and | Tm4p | ＞ Tm4max time,
Distribute to the described control yaw moment of reverse (1-k4)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k4/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k4)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k4/2 size of described rear foreign steamer forward；
Wherein, k4 is less than 1, and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear foreign steamer is corresponding.
7. the Servo Control method of the automobile for four motorized wheels as claimed in claim 3, it is characterised in that step
S42 exist | Tm3p | ＞ Tm3max and | Tm4p | ＞ Tm4max time,
Distribute to described front interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described rear interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described front foreign steamer forward 1/4 described control yaw moment；And
Distribute to described rear foreign steamer forward 1/4 described control yaw moment.
8. the turning control system for the automobile of four motorized wheels, it is characterised in that including:
Vehicle condition information acquisition system, for gathering the vehicle condition information parameter of described automobile,
Turning arranges parts, reduces demand for receiving the radius of turn of the moderate strength of driver's input；And
Servo Control module, meets described turning for reducing demand calculating according to described vehicle condition information parameter and described radius of turn
Radius reduces the control yaw moment of demand, and described Servo Control module is additionally operable to described control according to described vehicle condition information parameter
Yaw moment is assigned to four wheels of described automobile so that automobile is turned in the case of meeting described radius of turn reduction demand.
9. the turning control system of the automobile for four motorized wheels as claimed in claim 8, it is characterised in that described
Automobile includes four motors, and described four motors use for the described wheel driven respectively or regenerative braking is corresponding, described motor
Wheel motor or wheel hub motor.
10. the turning control system of the automobile for four motorized wheels as claimed in claim 8, it is characterised in that described
It is to distribute to described rear interior wheel to control horizontal stroke described in reverse 1/2 that Servo Control module is used for calculating Tm3p and Tm4p, Tm3p
Pendulum moment time described after in wheel supposition Motor torque, Tm4p be distribute to described rear foreign steamer forward 1/2 described in control yaw
The supposition Motor torque that during moment, described rear foreign steamer is corresponding；Described Servo Control module be additionally operable to according to Tm3p and Tm4p with
Described control yaw moment is assigned to described four wheels by the size of Tm3max and Tm4max, Tm3max be described after
Inside taking turns the peak-peak Motor torque of correspondence, Tm4p is described rear outer corresponding peak-peak Motor torque.
The turning control system of 11. automobiles being used for four motorized wheels as claimed in claim 10, it is characterised in that institute
State Servo Control module for when | Tm3p | ＜=Tm3max and | Tm4p | ＜=Tm4max,
Keep described before in wheel and Motor torque corresponding to described front foreign steamer constant；
Distribute to the described control yaw moment of 1/2 reverse size of described rear interior wheel；And
Distribute to the described control yaw moment of 1/2 size of described rear foreign steamer forward.
The turning control system of 12. automobiles being used for four motorized wheels as claimed in claim 10, it is characterised in that institute
State Servo Control module for when | Tm3p | ＞ Tm3max and | Tm4p | ＜=Tm4max,
Distribute to the described control yaw moment of reverse (1-k3)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k3/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k3)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k3/2 size of described rear foreign steamer forward；
Wherein, k3 less than 1 and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear interior wheel is corresponding.
The turning control system of 13. automobiles being used for four motorized wheels as claimed in claim 10, it is characterised in that institute
State Servo Control module for when | Tm3p | ＜=Tm3max and | Tm4p | ＞ Tm4max,
Distribute to the described control yaw moment of reverse (1-k4)/2 size of described front interior wheel；
Distribute to the described control yaw moment of the reverse k4/2 size of described rear interior wheel；
Distribute to the described control yaw moment of (1-k4)/2 size of described front foreign steamer forward；And
Distribute to the described control yaw moment of the k4/2 size of described rear foreign steamer forward；
Wherein, k4 is less than 1, and depends on peak-peak Motor torque, the transmission when transmission efficiency that described rear foreign steamer is corresponding.
The turning control system of 14. automobiles being used for four motorized wheels as claimed in claim 10, it is characterised in that institute
State Servo Control module for when | Tm3p | ＞ Tm3max and | Tm4p | ＞ Tm4max,
Distribute to described front interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described rear interior wheel and described in reverse 1/4, control yaw moment；
Distribute to described front foreign steamer forward 1/4 described control yaw moment；And
Distribute to described rear foreign steamer forward 1/4 described control yaw moment.
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| CN106314427B (en) | 2019-01-11 |
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