CN106515509B - A kind of drive system and its torque distribution method of electric four-wheel drive automobile - Google Patents
A kind of drive system and its torque distribution method of electric four-wheel drive automobile Download PDFInfo
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- CN106515509B CN106515509B CN201710001686.XA CN201710001686A CN106515509B CN 106515509 B CN106515509 B CN 106515509B CN 201710001686 A CN201710001686 A CN 201710001686A CN 106515509 B CN106515509 B CN 106515509B
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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
- B60L15/2045—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 for optimising the use of energy
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
The invention discloses a kind of drive system of electric four-wheel drive automobile and its torque distribution methods, go out best torque distribution coefficient according to current speed and operator demand's torque computation of table lookup, reasonable distribution is carried out to the torque of forward and backward drive system to obtain optimum target demand torque；This programme calculates the bias ratio example of forward and backward drive system in real time, compared with the distribution method for using fixed proportion in the prior art, can preferably adapt to different driving situations；By for the front or rear drive system best torque distribution coefficient bivariate table determined without demand, it can be realized corresponding effect, specifically it can be based on vehicle dynamical system efficiency optimization, meet total operator demand's torque while ensuring vehicle dynamical system efficiency optimization, to take into account the economy and dynamic property of vehicle.
Description
Technical field
The present invention relates to the configuration of automobile dynamic system and its energy management methods, and in particular to a kind of electric four-wheel drive automobile
The torque distribution method of forward and backward drive system.
Background technique
Energy crisis and environmental degradation have become an important factor for restricting global economic development, study the new of energy-saving and environmental protection
Energy automobile is to alleviate one of Pressure on Energy, the effective means for reducing environmental pollution, and new-energy automobile also has been cited as state
Family's strategic emerging industries.China's new-energy automobile presents explosive growth trend in recent years, it is contemplated that the coming five years whole nation
New-energy automobile ownership will break through 5,000,000, and major automobile vendor has increased the Innovation Input of new-energy automobile, has
The plug-in hybrid-power automobile and pure electric automobile of pure electric vehicle driving capability have become major automobile production manufacturer and actively strive
The new highland in the market taken by force.
Under the overall situation of industry development, the dynamical system configuration of new-energy automobile is constantly weeded out the old and bring forth the new, and is had good
Passage capacity and cross-country ability the gradually favor by manufacturer and user of electric four-wheel drive automobile.Electric four-wheel drive automobile is usual
Have independent preceding bridge power drive system and rear axle power drive system, forward and backward electric drive system can be in the accounting model of (0~1)
The interior distribution for carrying out operator demand's torque is enclosed, to realize independent forerunner, independent rear-guard or four-wheel drive easily, this just makes
The torque distribution for obtaining the forward and backward drive system of electric four-wheel drive automobile has great flexibility.
The torque distribution method of existing some forward and backward drive systems of electric four-wheel drive automobile, usually to meet total drive
It wherein also mentioning some ideas that take into account dynamical system drive efficiency, but is by certain ratio premised on the person's of sailing demand torque
Example is distributed to carry out the torque of forward and backward drive system, is unable to satisfy driving situation complicated and changeable in real process.
Summary of the invention
In view of this, passing through the present invention provides a kind of drive system of electric four-wheel drive automobile and its torque distribution method
The bias ratio example of forward and backward drive system is calculated, in real time to adapt to different driving situations.
To achieve the above object, the invention provides the following technical scheme:
A kind of torque distribution method of electric four-wheel drive automobile driving system, comprising steps of
B01, current operator demand's torque is gone out according to current vehicle speed and gas pedal aperture computation of table lookup；
B02, front or rear drive system best torque distribution coefficient two is looked into according to current speed and operator demand's torque
Dimension table calculates current front or rear drive system best torque distribution coefficient；
Front or rear drive system best torque distribution coefficient bivariate table: be the operator demand's torque that can respond vehicle most
The travelable vehicle speed range of a wide range of and vehicle is divided according to a fixed spacing respectively, and to operator demand's torque and vehicle
Speed is the optimal allocation of drive motor target requirement torque before or after the different operating points of transverse and longitudinal coordinate carry out than calculating, and is finally obtained
Using operator demand's torque and speed as the bivariate table of transverse and longitudinal coordinate；
B03, current operator demand's torque is multiplied with front or rear drive system best torque distribution coefficient to be obtained
The optimum target demand torque of front or rear drive system.
Preferably, in step B02, the calculating process of front or rear drive system best torque distribution coefficient bivariate table is base
In vehicle dynamical system efficiency optimization.
Preferably, in step B02, the method that obtains of front or rear drive system best torque distribution coefficient bivariate table includes
Step:
The external characteristic curve of A01, precursor motor system and rear-guard electric system according to measured by motor stand test, i.e.,
It can determine operator demand's torque maximum magnitude that vehicle can respond；
A02, it can determine that the travelable vehicle speed range of vehicle according to the max. speed performance indicator of vehicle；
A03, operator demand's torque range is divided at a certain distance；
A04, vehicle speed range is also divided at a certain distance；
It A05, take operator demand's torque as abscissa and speed as multiple and different operating points of ordinate；
A06, one by one invocation step A05 mark off the operating point come；
A07, it carries out driving the optimal allocation ratio calculating that motor target requirement torque obtains before or after current working point.
Preferably, in step B02, the method that obtains of front or rear drive system best torque distribution coefficient bivariate table is also wrapped
Include step:
A08, it is confirmed whether that the operating point divided in all step A05 has calculated completion, if do not completed, jumps to
Step A09, if be completed, go to step A10；
A09, the calling for carrying out next operating point, and carry out the front drive system best torque distribution ratio meter of corresponding operating condition
It calculates, until calculating is completed in all operating points divided in step A05, just go to step A10；
A10, finally just to obtain one using operator demand's torque be abscissa and speed as the front drive system of ordinate
Best torque distribution coefficient bivariate table.
Preferably, in step B02, front drive system best torque is looked into according to current speed and operator demand's torque
Distribution coefficient bivariate table calculates current front drive system best torque distribution coefficient；
Front drive system best torque distribution coefficient bivariate table: being the operator demand's torque maximum model that can respond vehicle
The vehicle speed range that enclosing can travel with vehicle is divided according to a fixed spacing respectively, and is to operator demand's torque and speed
The optimal allocation ratio that the different operating points of transverse and longitudinal coordinate carry out precursor motor target requirement torque calculates, finally obtained to drive
Member's demand torque and speed are the bivariate table of transverse and longitudinal coordinate；
In step B03, by current operator demand's torque with before, the multiplication of drive system best torque distribution coefficient is
Obtain the optimum target demand torque of front drive system.
Preferably, it further comprises the steps of:
B04, the peak torque ability for calculating current front or rear drive system；
B05, the optimum target demand torque of the calculated front or rear drive system of step B03 and step B04 are calculated
The peak torque ability of front or rear drive system be compared, take MIN value to distribute as the potential of front or rear drive system
Torque.
Preferably, it further comprises the steps of:
B06, current operator demand's torque is subtracted step B05 it is calculated before or after the potential of drive system divide
With torque as after or the predistribution torque of front drive system；
B07, current rear or front drive system peak torque ability is calculated；
B08, by step B06 it is calculated after or front drive system predistribution torque and step B07 it is calculated afterwards or it is preceding
The peak torque ability of drive system is compared, and takes MIN value as after or the target requirement torque of front drive system.
Preferably, it further comprises the steps of:
B9, rear or front drive system target requirement torque is sent to rear or precursor motor inverter；
B10, current operator demand's torque is subtracted to the calculated rear or front drive system target requirement torsion of step B08
Predistribution torque of the square as front or rear drive system.
Preferably, it further comprises the steps of:
B11, the maximum for pre-allocating torque and the calculated front or rear drive system of step B04 by front or rear drive system
Torque capability is compared, and takes target requirement torque of the MIN value as front or rear drive system；
B12, motor inverter is driven before or after being sent to the target requirement torque of front or rear drive system.
A kind of drive system of electric four-wheel drive automobile, using above-mentioned torque distribution method, before the drive system includes
Driving unit, rear drive unit, power battery and the entire car controller for controlling front drive unit and rear drive unit；
Front drive unit includes precursor motor inverter, precursor motor and preceding bridge gearbox；
Rear drive unit includes rear-guard motor inverter, rear-guard motor and rear axle gearbox；
Entire car controller is connected with accelerator pedal position sensor, and with power battery control unit, precursor motor inversion
Device and rear-guard motor inverter carry out the interaction of information, and the calculating being able to carry out in the torque distribution method.
It can be seen from the above technical scheme that the drive system and its torque of electric four-wheel drive automobile provided by the invention point
Method of completing the square goes out best torque distribution coefficient according to current speed and operator demand's torque computation of table lookup, to obtain best
Target requirement torque carries out reasonable distribution to the torque of forward and backward drive system；This programme calculates the torsion of forward and backward drive system in real time
Square allocation proportion can preferably adapt to different driving situations compared with the distribution method for using fixed proportion in the prior art；
By can be realized phase for the determining front or rear drive system best torque distribution coefficient bivariate table of demand is not had to
The effect answered specifically can be based on vehicle dynamical system efficiency optimization, while ensuring vehicle dynamical system efficiency optimization
Meet total operator demand's torque, to take into account the economy and dynamic property of vehicle.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of electric four-wheel drive automobile dynamic system provided in an embodiment of the present invention；
Fig. 2 is forward and backward drive system bias ratio schematic diagram of calculation flow provided in an embodiment of the present invention；
Fig. 3 is forward and backward drive system target requirement torque allocation flow schematic diagram provided in an embodiment of the present invention.
In figure, 1- power battery；2- precursor motor inverter；3- precursor motor；Bridge gearbox before 4-；5- rear-guard motor is inverse
Become device；6- rear-guard motor；7- rear axle gearbox.
Specific embodiment
The invention discloses a kind of drive system of electric four-wheel drive automobile and its torque distribution methods, by calculating in real time
The bias ratio example of forward and backward drive system, to adapt to different driving situations.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The torque distribution method of electric four-wheel drive automobile driving system provided in an embodiment of the present invention, core improvement exist
In, comprising steps of
B01, current operator demand's torque is gone out according to current vehicle speed and gas pedal aperture computation of table lookup, looking into herein
Table is calculated as the common knowledge of this field, and details are not described herein；
B02, front or rear drive system best torque distribution coefficient two is looked into according to current speed and operator demand's torque
Dimension table calculates current front or rear drive system best torque distribution coefficient；
Front or rear drive system best torque distribution coefficient bivariate table: be the operator demand's torque that can respond vehicle most
The travelable vehicle speed range of a wide range of and vehicle is divided according to a fixed spacing respectively, and to operator demand's torque and vehicle
Speed is the optimal allocation of drive motor target requirement torque before or after the different operating points of transverse and longitudinal coordinate carry out than calculating, and is finally obtained
Using operator demand's torque and speed as the bivariate table of transverse and longitudinal coordinate；
B03, current operator demand's torque is multiplied with front or rear drive system best torque distribution coefficient to be obtained
The optimum target demand torque of front or rear drive system distributes front and back drive system torque according to it.
It is understood that above-mentioned " front or rear " statement refers to including two kinds of specific embodiments, it may be assumed that
Front drive system best torque distribution coefficient bivariate table is looked into step B02 calculates current front drive system most
Good ditribution coefficiency, in step B03 with the multiplied optimum target to front drive system of current operator demand's moment of torsion
Demand torque；
Or front drive system best torque distribution coefficient bivariate table is looked into step B02 and calculates current rear driving system
System best torque distribution coefficient, it is multiplied to the best of rear drive system with current operator demand's moment of torsion in step B03
Target requirement torque,
Similarly hereinafter.
It can be seen from the above technical scheme that the drive system of electric four-wheel drive automobile provided in an embodiment of the present invention and its
Torque distribution method goes out best torque distribution coefficient according to current speed and operator demand's torque computation of table lookup, thus
Reasonable distribution is carried out to torque of the optimum target demand torque to forward and backward drive system；This programme calculates forward and backward driving system in real time
The bias ratio example of system can preferably adapt to difference and drive compared with the distribution method for using fixed proportion in the prior art
Sail situation.
By can be realized phase for the determining front or rear drive system best torque distribution coefficient bivariate table of demand is not had to
The effect answered, for example to meet total operator demand's torque or oil consumption optimal.
Specifically, herein, the calculating process of front or rear drive system best torque distribution coefficient bivariate table is based on whole
Vehicle dynamical system efficiency optimization meets total operator demand's torque while ensuring vehicle dynamical system efficiency optimization, from
And take into account the economy and dynamic property of vehicle.
Preferably, front or rear drive system best torque distribution coefficient bivariate table obtains method packet in step B02
Include step:
The external characteristic curve of A01, precursor motor system and rear-guard electric system according to measured by motor stand test, i.e.,
It can determine operator demand's torque maximum magnitude that vehicle can respond；
A02, it can determine that the travelable vehicle speed range of vehicle according to the max. speed performance indicator of vehicle；
A03, operator demand's torque range is divided at a certain distance；
A04, vehicle speed range is also divided at a certain distance；
It A05, take operator demand's torque as abscissa and speed as multiple and different operating points of ordinate；
A06, one by one invocation step A05 mark off the operating point come；
A07, it carries out driving the optimal allocation ratio calculating that motor target requirement torque obtains before or after current working point；Finally just
It using operator demand's torque is abscissa and speed as the front drive system best torque distribution coefficient two dimension of ordinate to one
Table.
It needs to illustrate to be, above-mentioned bivariate table is can be previously obtained according to the design parameter of vehicle, is not used in and drives
It is obtained in real time during sailing.
In order to advanced optimize above-mentioned technical solution, in step B02, front or rear drive system best torque distribution system
The method that obtains of number bivariate table further comprises the steps of:
A08, it is confirmed whether that the operating point divided in all step A05 has calculated completion, if do not completed, jumps to
Step A09, if be completed, go to step A10；
A09, the calling for carrying out next operating point, and carry out the front drive system best torque distribution ratio meter of corresponding operating condition
It calculates, until calculating is completed in all operating points divided in step A05, just go to step A10；
A10, finally just to obtain one using operator demand's torque be abscissa and speed as the front drive system of ordinate
Best torque distribution coefficient bivariate table.It is referred to shown in Fig. 2, i.e., is answered by increasing each operating point calculating performance
Test process, it is ensured that completely cover all operating points, improve two-dimentional meter accuracy.
Specifically, looking into front drive system best torque according to current speed and operator demand's torque in step B02
Distribution coefficient bivariate table calculates current front drive system best torque distribution coefficient；
Front drive system best torque distribution coefficient bivariate table: being the operator demand's torque maximum model that can respond vehicle
The vehicle speed range that enclosing can travel with vehicle is divided according to a fixed spacing respectively, and is to operator demand's torque and speed
The optimal allocation ratio that the different operating points of transverse and longitudinal coordinate carry out precursor motor target requirement torque calculates, finally obtained to drive
Member's demand torque and speed are the bivariate table of transverse and longitudinal coordinate；
In step B03, current operator demand's torque is multiplied i.e. with front drive system best torque distribution coefficient
Obtain the optimum target demand torque of front drive system.
It is the best torque distribution coefficient and best mesh for calculating front drive system i.e. in this programme preferred embodiment
Demand torque is marked, so during allocation proportion determines, front drive system is preferential rear drive system, thus real
Now stress using front axle, or even be not assigned to rear axle, distributes thinking according to the axle power of " based on forerunner, supplemented by rear-guard ",
To ensure the manipulation consistency of vehicle, optimize performance and oil consumption, this mode is especially suitable at present on the market based on forerunner
Vehicle.
Before or after being obtained in step B03 after the optimum target demand torque of drive system, it can be transmitted directly to
Front or rear drive motor inverter directly distributes front and back drive system torque according to it
In order to advanced optimize above-mentioned technical solution, this torque distribution method is further comprised the steps of:
B04, the peak torque ability for calculating current front or rear drive system；It is dynamic that method specifically can be compositive index
Power battery charging and discharging ability (including remaining capacity and voltage capability), front or rear drive motor external characteristics and front or rear drive motor are inverse
Become the factors such as the peak torque that device allows；
B05, the optimum target demand torque of the calculated front or rear drive system of step B03 and step B04 are calculated
The peak torque ability of front or rear drive system be compared, take MIN value to distribute as the potential of front or rear drive system
Torque distributes front and back drive system torque according to it；So that it is maximum to be no more than it to the torque that respective drive system is distributed
Ability, it is ensured that the normal operation of vehicle.
In the specific embodiment that this programme provides, this torque distribution method is further comprised the steps of:
B06, current operator demand's torque is subtracted step B05 it is calculated before or after the potential of drive system divide
With torque as after or the predistribution torque of front drive system；
B07, current rear or front drive system peak torque ability is calculated；
B08, by step B06 it is calculated after or front drive system predistribution torque and step B07 it is calculated afterwards or it is preceding
The peak torque ability of drive system is compared, and takes MIN value as after or the target requirement torque of front drive system；To make
It obtains the torque distributed to respective drive system and is no more than its maximum capacity, it is ensured that the normal operation of vehicle.
It is understood that the statement of " rear or preceding " here refers to including two kinds of specific embodiments, and for it is above-mentioned " after
Or preceding " associated, it may be assumed that
Current operator demand's torque is subtracted into the potential of the calculated front drive system of step B05 in step B06
Predistribution torque of the torque as rear drive system can be distributed；
Or current operator demand's torque is subtracted into the calculated rear drive system of step B05 in step B06
It is potential to distribute preceding predistribution torque of the torque as drive system；Other are similarly.
In order to advanced optimize above-mentioned technical solution, this torque distribution method is further comprised the steps of:
B9, rear or front drive system target requirement torque is sent to rear or precursor motor inverter；
B10, current operator demand's torque is subtracted to the calculated rear or front drive system target requirement torsion of step B08
Predistribution torque of the square as front or rear drive system；Specifically, can be under the preferential distribution thinking of forerunner, after determination
Forerunner is checked after the target requirement torque of drive system.
In the specific embodiment that this programme provides, this torque distribution method is further comprised the steps of:
B11, the maximum for pre-allocating torque and the calculated front or rear drive system of step B04 by front or rear drive system
Torque capability is compared, and takes target requirement torque of the MIN value as front or rear drive system；
B12, motor inverter is driven before or after being sent to the target requirement torque of front or rear drive system；So that giving
The torque of respective drive system distribution is no more than its maximum capacity, it is ensured that the normal operation of vehicle.
The embodiment of the invention also provides a kind of drive systems of electric four-wheel drive automobile, and core improvement is, adopt
The torque distribution method stated, the drive system include front drive unit, rear drive unit, power battery 1 and control forerunner
The entire car controller of moving cell and rear drive unit；
Front drive unit includes precursor motor inverter 2, precursor motor 3 and preceding bridge gearbox 4；
Rear drive unit includes rear-guard motor inverter 5, rear-guard motor 6 and rear axle gearbox 7；
Entire car controller is connected with accelerator pedal position sensor, and with power battery control unit, precursor motor inversion
Device 2 and rear-guard motor inverter 5 carry out the interaction of information, and the calculating being able to carry out in the torque distribution method.
The present invention is further described with reference to the accompanying drawings of the specification:
The electric four-wheel drive automobile dynamic system of the present embodiment as shown in Figure 1 includes front drive unit, rear drive unit, power
The entire car controller (entire car controller not drawn in the figure) of battery and control front drive unit and rear drive unit.
Wherein, front drive unit mainly includes precursor motor inverter 2, precursor motor 3 and preceding bridge gearbox 4, preceding bridging
Fast case 4 is responsible for the power coupling and transmission gear shift of the front drive unit, and precursor motor 3 is real by preceding bridge gearbox 4 and wheel
Now connect.Precursor motor 3 is ISG motor, and precursor motor 3 is electrically connected by precursor motor inverter 2 with the realization of power battery 1.
Wherein, rear drive unit mainly includes rear-guard motor inverter 5, rear-guard motor 6 and rear axle gearbox 7, rear bridging
Fast case 7 is responsible for the power coupling and transmission gear shift of the rear drive unit, and rear-guard motor 6 is real by rear axle gearbox 7 and wheel
Now connect.Rear-guard motor 6 is also ISG motor, and rear-guard motor 6 is electrically connected by rear-guard motor inverter 5 and the realization of power battery 1
It connects.
In addition, entire car controller is also connected with the accelerator pedal position sensor of vehicle, brake pedal position sensor, and
With power battery control unit, precursor motor inverter, rear-guard motor inverter, high-low pressure direct current transducer, electronic stability journey
The vehicle electronics such as sequence management system carries out the interaction (not drawn in the figure) of information by CAN network.
On the basis of electric four-wheel drive automobile dynamic system, this application provides a kind of forward and backward drivings of electric four-wheel drive automobile
The torque distribution method of system, comprising:
1, the optimal bias ratio of forward and backward drive system as shown in Figure 2 calculates:
In step A01, bench test is carried out to precursor motor system and rear-guard electric system respectively, is tested out accordingly
Different demands torque point and precursor motor system effectiveness and rear-guard electric system efficiency under revolving speed point, i.e. precursor motor system effect
Rate Map and rear-guard electric system efficiency Map, while the external characteristics for testing out precursor motor system and rear-guard electric system respectively is bent
Line；The external characteristic curve of precursor motor system and rear-guard electric system according to measured by motor stand test, it can determine
Vehicle can respond out operator demand's torque maximum magnitude (such as: -3200Nm~3200Nm).In step A02, according to whole
The max. speed performance indicator of vehicle be can determine that vehicle is travelable vehicle speed range (such as: 0Km/h~180Km/h).In step
In rapid A03, operator demand's torque range is divided at a certain distance (such as: 50Nm, i.e., -3200Nm: 50Nm:
3200Nm, then available 129 torque points).In step A04, vehicle speed range is also divided into (example at a certain distance
Such as: 37 speed points then can be obtained in 5Km/h, i.e., 0Km/h: 5Km/h: 180Km/h), it is obtained in step A05 in this way to drive
Member's demand torque is abscissa and speed is 129*37 different operating point of ordinate.
In step A06, invocation step A05 marks off the operating point come one by one, and current working is carried out in step A07
The forward and backward optimal allocation ratio calculating driving motor target requirement torque and obtaining of point.For each operating point, certain speed is corresponded to
With operator demand's torque, drive system after operator demand's torque is distributed to front drive system and distributed under the speed
Ratio can be arbitrary, but have and only a component proportion example makes dynamical system efficiency optimization.Here with vehicle velocity V 1,
For the operating point of operator demand's torque T qReq1, the revolving speed which respectively corresponds precursor motor is n1, rear-guard motor
Revolving speed is n2, according to precursor motor revolving speed n1 table look-up (external characteristic curve of precursor motor system) can determine current precursor motor
External characteristics torque FM_TqMax1, by the external characteristics torque FM_TqMax1 two of operator demand's torque T qReq1 and precursor motor
The torque range FM_TqReq1 that person takes MIN value to can be performed as current precursor motor, it is similar that current precursor motor can be performed
Torque range divided at a certain distance (such as: 5Nm, i.e., 0Nm: 5Nm: FM_TqReq1Nm, then it is available it is multiple not
Same torque point), precursor motor is distributed to using the torque point that precursor motor is divided as target requirement torque one by one, it is remaining
Operator demand's torque then distributes to rear-guard motor, is utilized respectively precursor motor target requirement torque and revolving speed n1 looks into precursor motor
System effectiveness Map (as measured by motor stand test) and rear-guard motor target requirement torque and revolving speed n2 look into rear-guard electric system
Efficiency Map (as measured by motor stand test) can respectively obtain precursor motor under the method for salary distribution of different target torque
The system effectiveness RM_ of system effectiveness FM_eff1, FM_eff2, FM_eff3, FM_eff4......FM_effn and rear-guard motor
Eff1, RM_eff2, RM_eff3, RM_eff4......RM_effn take forward and backward drive electricity under the method for salary distribution of different target torque
Reference (i.e. FM_eff1*RM_eff1, FM_eff2*RM_eff2, the FM_ of the product of machine system effectiveness as dynamical system efficiency
Eff3*RM_eff3, FM_eff4*RM_eff4......FM_effn*RM_effn), the more big then dynamical system efficiency of product more
Height finds out the maximum value of product, then to reach system effectiveness optimal for the torque method of salary distribution of forward and backward drive axle at this time, and can be with
Calculate accordingly front drive system best torque distribution ratio (such as: precursor motor system is assigned with XNm at this time, then before driving
System best torque distribution ratio are as follows: X/TqReq1).
In step A08, it is confirmed whether that the operating point divided in all step A05 has calculated completion? if do not completed,
Then go to step A09, carries out the calling of next operating point, and carries out the front drive system best torque distribution of corresponding operating condition
Than calculating, until calculating is completed in all operating points divided in step A05, just go to step A10, finally just obtains one
Opening using operator demand's torque is abscissa and speed as the front drive system best torque distribution coefficient bivariate table of ordinate.
2, forward and backward drive system target requirement torque as shown in Figure 3 distribution:
In step B01, entire car controller goes out current driving according to current speed, gas pedal aperture computation of table lookup
Member's demand torque；Speed is sent to entire car controller by CAN by electronic stability program in real time.In step B02, vehicle control
The front drive system best torque distribution coefficient bivariate table that device processed acquires before being looked into according to current speed, operator demand's torque
Calculate current front drive system best torque distribution coefficient.In step B03, by current operator demand's torque with before
Drive system best torque distribution coefficient, which is multiplied, obtains the optimum target demand torque of front drive system.It is whole in step B04
The peak torque that vehicle controller allows according to power battery charging and discharging capabilities, precursor motor external characteristics and precursor motor inverter
Etc. combined factors calculate the peak torque ability of current front drive system.In step B05, entire car controller is by step B03
The optimum target demand torque of calculated front drive system and the peak torque of the calculated current front drive system of step B04
Ability is compared, and MIN value is taken to distribute torque as the potential of front drive system.
In step B06, current operator demand's torque is subtracted the calculated preceding driving of step B05 by entire car controller
The potential of system distributes predistribution torque of the torque as rear drive system.In step B07, entire car controller is according to power
The combined factors such as the peak torque that battery charging and discharging ability, rear-guard motor external characteristics and rear-guard motor inverter allow calculate
The peak torque ability of drive system after current.In step B08, the calculated rear driving of step B06 is by entire car controller
System predistribution torque is compared with the peak torque ability of the calculated current rear drive system of step B07, takes MIN value conduct
The target requirement torque of drive system afterwards, and rear-guard motor inverter is sent it to by CAN in step B9.
In step B10, current operator demand's torque is subtracted the calculated rear driving of step B08 by entire car controller
Predistribution torque of the aims of systems demand torque as front drive system.In step B11, preceding driving is by entire car controller again
The predistribution torque of system is compared with the peak torque ability of the calculated current front drive system of step B04, and MIN value is taken to make
For the target requirement torque of front drive system, and precursor motor inverter is sent it to by CAN in step B12.
In conclusion the embodiment of the invention provides a kind of drive system of electric four-wheel drive automobile and its torque distribution sides
Method goes out best torque distribution coefficient according to current speed and operator demand's torque computation of table lookup, to obtain optimum target
Demand torque carries out reasonable distribution to the torque of forward and backward drive system；This programme calculates the torque point of forward and backward drive system in real time
Different driving situations can be preferably adapted to compared with the distribution method for using fixed proportion in the prior art with ratio；Pass through
For the determining front or rear drive system best torque distribution coefficient bivariate table of demand is not had to, it can be realized corresponding effect, have
Body can be based on vehicle dynamical system efficiency optimization, meet total driving while ensuring vehicle dynamical system efficiency optimization
Member's demand torque, to take into account the economy and dynamic property of vehicle.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of torque distribution method of electric four-wheel drive automobile driving system, which is characterized in that comprising steps of
B01, current operator demand's torque is gone out according to current vehicle speed and gas pedal aperture computation of table lookup；
B02, front or rear drive system best torque distribution coefficient bivariate table is looked into according to current speed and operator demand's torque
Calculate current front or rear drive system best torque distribution coefficient；
Front or rear drive system best torque distribution coefficient bivariate table: being the operator demand's torque maximum model that can respond vehicle
The vehicle speed range that enclosing can travel with vehicle is divided according to a fixed spacing respectively, and is to operator demand's torque and speed
The different operating points of transverse and longitudinal coordinate drive the optimal allocation of motor target requirement torque than calculating before or after carrying out, it is finally obtained with
Operator demand's torque and speed are the bivariate table of transverse and longitudinal coordinate；Front or rear drive system best torque distribution coefficient bivariate table
Obtain method comprising steps of A01, precursor motor system and rear-guard electric system according to measured by motor stand test outer spy
Linearity curve, it can determine operator demand's torque maximum magnitude that vehicle can respond；A02, the max. speed according to vehicle
Performance indicator is the vehicle speed range that can determine that vehicle is travelable；A03, operator demand's torque range is carried out at a certain distance
It divides；A04, vehicle speed range is also divided at a certain distance；A05, it is using operator demand's torque as abscissa and speed
Multiple and different operating points of ordinate；A06, one by one invocation step A05 mark off the operating point come；A07, current working is carried out
The optimal allocation ratio that motor target requirement torque obtains is driven before or after point to calculate；
B03, current operator demand's torque is multiplied with front or rear drive system best torque distribution coefficient obtain before or
The optimum target demand torque of drive system afterwards.
2. torque distribution method according to claim 1, which is characterized in that in step B02, front or rear drive system is most
The calculating process of good ditribution coefficiency bivariate table is based on vehicle dynamical system efficiency optimization.
3. torque distribution method according to claim 1, which is characterized in that in step B02, front or rear drive system is most
The method that obtains of good ditribution coefficiency bivariate table further comprises the steps of:
A08, it is confirmed whether that the operating point divided in all step A05 has calculated completion, if do not completed, gos to step
A09, if be completed, go to step A10；
A09, the calling for carrying out next operating point, and the front drive system best torque distribution ratio for carrying out corresponding operating condition calculates,
Until calculating is completed in all operating points divided in step A05, just go to step A10；
A10, finally just to obtain one using operator demand's torque be that abscissa and speed are best as the front drive system of ordinate
Ditribution coefficiency bivariate table.
4. torque distribution method according to claim 1, which is characterized in that in step B02, according to current speed and
Operator demand's torque, which looks into front drive system best torque distribution coefficient bivariate table and calculates current front drive system, most preferably to be turned round
Square distribution coefficient；
Front drive system best torque distribution coefficient bivariate table: be the operator demand's torque maximum magnitude that can respond vehicle and
The travelable vehicle speed range of vehicle is divided according to a fixed spacing respectively, and to using operator demand's torque and speed as transverse and longitudinal
The optimal allocation ratio that the different operating points of coordinate carry out precursor motor target requirement torque calculates, finally obtained to be needed with driver
It seeks torque and speed is the bivariate table of transverse and longitudinal coordinate；
In step B03, current operator demand's torque is multiplied with front drive system best torque distribution coefficient and is obtained
The optimum target demand torque of front drive system.
5. torque distribution method according to any one of claims 1-4, which is characterized in that further comprise the steps of:
B04, the peak torque ability for calculating current front or rear drive system；
B05, by step B03 it is calculated before or after drive system optimum target demand torque and step B04 it is calculated before
Or the peak torque ability of rear drive system is compared, and MIN value is taken to distribute torque as the potential of front or rear drive system.
6. torque distribution method according to claim 5, which is characterized in that further comprise the steps of:
B06, current operator demand's torque is subtracted step B05 it is calculated before or after the potential of drive system distribute torsion
Square is as after or the predistribution torque of front drive system；
B07, current rear or front drive system peak torque ability is calculated；
B08, the calculated rear or front drive system of step B06 is pre-allocated to torque and the calculated rear or preceding driving of step B07
The peak torque ability of system is compared, and takes MIN value as after or the target requirement torque of front drive system.
7. torque distribution method according to claim 6, which is characterized in that further comprise the steps of:
B9, rear or front drive system target requirement torque is sent to rear or precursor motor inverter；
B10, current operator demand's torque is subtracted to the calculated rear or front drive system target requirement torque work of step B08
For the predistribution torque of front or rear drive system.
8. torque distribution method according to claim 7, which is characterized in that further comprise the steps of:
B11, the peak torque for pre-allocating torque and the calculated front or rear drive system of step B04 by front or rear drive system
Ability is compared, and takes target requirement torque of the MIN value as front or rear drive system；
B12, motor inverter is driven before or after being sent to the target requirement torque of front or rear drive system.
9. a kind of drive system of electric four-wheel drive automobile, which is characterized in that using the torsion as described in claim 1-8 any one
Square distribution method, the drive system include that front drive unit, rear drive unit, power battery (1) and the preceding driving of control are single
The entire car controller of member and rear drive unit；
Front drive unit includes precursor motor inverter (2), precursor motor (3) and preceding bridge gearbox (4)；
Rear drive unit includes rear-guard motor inverter (5), rear-guard motor (6) and rear axle gearbox (7)；
Entire car controller is connected with accelerator pedal position sensor, and with power battery control unit, precursor motor inverter (2)
The interaction of information, and the calculating being able to carry out in the torque distribution method are carried out with rear-guard motor inverter (5).
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