CN106671825A - Distributed electric drive control system and method based on perpendicular load real-time estimation - Google Patents

Distributed electric drive control system and method based on perpendicular load real-time estimation Download PDF

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Publication number
CN106671825A
CN106671825A CN201611046339.0A CN201611046339A CN106671825A CN 106671825 A CN106671825 A CN 106671825A CN 201611046339 A CN201611046339 A CN 201611046339A CN 106671825 A CN106671825 A CN 106671825A
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wheel hub
real
vehicle
hub motor
electric machine
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CN106671825B (en
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朱绍鹏
方子东
梁志伟
林鼎
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Zhejiang University ZJU
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Zhejiang University ZJU
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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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • 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
    • 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
    • B60L2260/40—Control modes
    • B60L2260/42—Control modes by adaptive correction
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a distributed electric drive control system and method based on perpendicular load real-time estimation. A distributed drive controller is connected with an electronic accelerator pedal, a steering wheel angle sensor, an acceleration sensor, a tire pressure sensor, a left front wheel hub motor controller, a right front wheel hub motor controller, a left back wheel hub motor controller and a right back wheel hub motor controller through a CAN communication network. The left front wheel hub motor controller is connected with a left front wheel hub motor. The right front wheel hub motor controller is connected with a right front wheel hub motor. The left back wheel hub motor controller is connected with a left back wheel hub motor. The right back wheel hub motor controller is connected with a right back wheel hub motor. According to the distributed electric drive control system and method based on perpendicular load real-time estimation, the problem that the real-time performance and the accuracy are poor in the traditional vehicle perpendicular load estimation algorithm is broken through, and the handling stability and the driving safety of a distributed drive electric automobile under the actual working conditions are improved.

Description

Distributed electrical driving control system and method based on vertical load real-time estimation
Technical field
It is more particularly to a kind of to be hung down based on wheel for electric automobile the invention belongs to electric vehicle drive system The distributed driving control system and method for straight load real-time estimation.
Background technology
It is following electric automobile important development direction using the distributed-driving electric automobile of wheel hub/wheel motor.Due to Its four-wheel drive torque is individually controllable, torque rotary speed is easy to measure, therefore in stability, active safety control and phase in terms of energy-conservation There is significant control advantage for orthodox car and centralized electric automobile, be research wagon control technology of new generation, explore The ideal carrier of dynamics of vehicle performance.Wherein, in terms of the key technology research of distributed-driving electric automobile full-vehicle control, The correlative studys such as existing many driving force distribution controls, and an existing control strategy important ring therein is then to driving wheel of vehicle The estimation of vertical load, existing evaluation method is generally that presetting system is passively estimated according to vehicle physical model, it is ageing and Accuracy is poor.If being unable to the vertical load of each driving moment of real-time estimation vehicle, it cannot be guaranteed that driving force distribution control Preferable control effect is reached with Anti-slip regulation, distributed-driving electric automobile cannot be met under actual Various Complex operating mode The requirement of normally travel, governs practical application and the development of distributed-driving electric automobile.
The content of the invention
The purpose of the present invention overcomes and can not realize in the prior art preferable driving force distribution control and Anti-slip regulation Deficiency, and a kind of distributed electrical driving control system based on vertical load real-time estimation is provided.
Distributed electrical driving control system based on vertical load real-time estimation, it is characterised in that including left front wheel hub electricity Machine, left front wheel hub electric machine controller, off-front wheel hub motor, off-front wheel hub electric machine controller, left back wheel hub motor, left back wheel hub electricity Machine controller, off hind wheel hub motor, off hind wheel hub electric machine controller, efp, steering wheel angle sensor, acceleration Tyre pressure sensor, distributed driving behind sensor, left front tyre pressure sensor, right preceding tyre pressure sensor, left back tyre pressure sensor, the right side Controller, connection；Distributed drive control device by connection respectively with efp, steering wheel angle sensor, Acceleration transducer, left front wheel hub electric machine controller, off-front wheel hub electric machine controller, left back wheel hub electric machine controller, off hind wheel Tyre pressure sensor is connected behind hub electric machine controller, left front tyre pressure sensor, right preceding tyre pressure sensor, left back tyre pressure sensor, the right side, Constitute CAN communication network；Left front wheel hub electric machine controller is connected with left front wheel hub motor, before off-front wheel hub electric machine controller and the right side Wheel hub motor is connected, and left back wheel hub electric machine controller is connected with left back wheel hub motor, off hind wheel hub electric machine controller and off hind wheel Hub motor is connected.
Described distributed drive control device uses 16 single-chip microcomputers.Further, the main control chip of described single-chip microcomputer Using MC9S12XEP100.
Controlled another object of the present invention is to provide a kind of distributed driving for electric automobile using the system Method processed, in distributed drive control device main control chip including vehicle-state monitoring modular, the real-time vertical load of vehicle Estimation block, driving force distribution control module；
The step of control method, includes：
1) vehicle-state monitoring modular receives input direction disk rotational angle theta and accelerator travel SacWhile, constantly collection With the relevant data for calculating vehicle and wheel, including wheel actual angular speed wi, the real-time tire pressure P of four-wheeli, vehicle centripetal acceleration an, and the real-time vertical load estimation block of vehicle is sent data to respectively in real time with driving force distribution control module；
2) the real-time vertical load estimation block of vehicle is according to real-time tire pressure signal Pi, the real-time vertical load F of estimation vehiclezi, And it is sent to driving force distribution control module；FziComputing formula is as follows：
In formula：FziIt is the vertical load of the i-th wheel, G is gravity, P suffered by vehicleiIt is the real-time tire pressure of the i-th wheel；
3) driving force distributes control module according to step 1) and 2) in interior outside drive when realizing that vehicle is travelled of the parameter that obtains The differential of driving wheel distributes control with driving force, concretely comprises the following steps：
First by steering wheel angle θ and centripetal acceleration anEstimate the real-time speed v of vehicle：
V=(an*((L/tanθ)2+B2)1/2)1/2
In formula：L is vehicle wheelbase, and B is horizontal range of the vehicle rear axle to vehicle centroid；
Then according to accelerator travel SacThe expected driving torque T that signal of change driver is given by accelerator pedalt：
Tt=KSac, in formula：K is constant coefficient
The accelerator travel S for directly being stepped on by driveracTo determine motor output torque Ti：
In formula：TiIt is four actually required torques of wheel, FZiIt is i-th real-time vertical load of wheel；
Meanwhile, the slippage rate λ of each wheel of real-time monitoringi：
If the i-th wheel slip rate λiHigher than system, optimal slippage rate λ is set0When, then adjust motor output torque TiFor：
By motor output torque TiEach hub motor control device is given by CAN communication network delivery, wheel hub is driven.
The present invention is based on vehicle-state monitoring and analysis of wheel vertical load real-time estimation, it is proposed that a kind of novel set electron differential The driving control system and method being integrated with Anti-slip regulation control.By the way that corresponding tire pressure is installed at each wheel respectively Sensor, hub motor control device and wheel hub motor, by each wheel tyre pressure of the real time measure, can estimate hanging down in real time for each wheel Straight load, realizes the distributed AC servo system to vehicle.The system can meet four motorized wheels electric automobile actual various The requirement of normally travel under complex working condition, improves control stability, the traveling economy of electric automobile, improves driving safety Property.
Brief description of the drawings
Fig. 1 is the distributed independent driving control system structural representation for electric automobile；
In figure, left front wheel hub motor 1, left front wheel hub electric machine controller 2, right front and rear wheel hub motor 3, off-front wheel hub motor control Device processed 4, left back wheel hub motor 5, left back wheel hub electric machine controller 6, off hind wheel hub motor 7, off hind wheel hub electric machine controller 8, electricity Electronic throttle pedal 9, steering wheel angle sensor 10, acceleration transducer 11, left front tyre pressure sensor 12, right preceding tyre pressure sensor 13rd, tyre pressure sensor 15, distributed drive control device 16, CAN communication network 17 behind left back tyre pressure sensor 14, the right side.
Specific embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims Multitude of different ways with covering is implemented.
As shown in figure 1, a kind of distributed electrical driving control system based on vertical load real-time estimation, including left front wheel hub Motor 1, left front wheel hub electric machine controller 2, off-front wheel hub motor 3, off-front wheel hub electric machine controller 4, left back wheel hub motor 5, a left side Rear-wheel hub electric machine controller 6, off hind wheel hub motor 7, off hind wheel hub electric machine controller 8, efp 9, steering wheel angle Sensor 10, acceleration transducer 11, left front tyre pressure sensor 12, right preceding tyre pressure sensor 13, left back tyre pressure sensor 14, the right side Tyre pressure sensor 15, distributed drive control device 16, connection 17 afterwards.Distributed drive control device 16 is distinguished by connection 17 With efp 9, steering wheel angle sensor 10, acceleration transducer 11, left front wheel hub electric machine controller 2, off-front wheel Hub electric machine controller 4, left back wheel hub electric machine controller 6, off hind wheel hub electric machine controller 8, left front tyre pressure sensor 12, right front tyre Tyre pressure sensor 15 is connected behind pressure sensor 13, left back tyre pressure sensor 14, the right side, constitutes CAN communication network；Left front wheel hub motor Controller 2 is connected with left front wheel hub motor 1, and off-front wheel hub electric machine controller 4 is connected with off-front wheel hub motor 3, left back wheel hub electricity Machine controller 6 is connected with left back wheel hub motor 5, and off hind wheel hub electric machine controller 8 is connected with off hind wheel hub motor 7.E-Gas Pedal 9 can be using pedal be carried originally in vehicle, acceleration transducer 11 is installed at vehicle centroid as far as possible.Left front tire pressure Tyre pressure sensor 15 is respectively arranged in left front car behind sensor 12, right preceding tyre pressure sensor 13, left back tyre pressure sensor 14, the right side At wheel, right front wheel, rear left wheel, right rear wheel, the tire pressure of correspondence wheel is respectively induced.
Distributed drive control device 16 uses 16 single-chip microcomputers, the main control chip of single-chip microcomputer to use MC9S12XEP100.Should Can burned corresponding control strategy algorithm, driving of the realization to each wheel hub in distributed drive control device 16.4 wheel hub motors are equal Using rated voltage 72V, the permanent-magnet brushless DC electric machine of rated power 8kW, 4 motor controls of sine wave vector control of configuration Device.Distributed drive control device 16 is based on steering wheel angle signal, the electricity that received steering wheel angle sensor 10 is detected The signal for faster of electronic throttle pedal 9, the acceleration signal of acceleration transducer 11, left front tyre pressure sensor 12, right preceding tire pressure are passed Sensor 13, left back tyre pressure sensor 14 and the tire pressure signal that tyre pressure sensor 15 feeds back behind the right side, according to four motorized wheels control Method formulates each motor target torque, by CAN communication controls each hub motor control device to realize the reasonable distribution of driving force.
The present invention at each wheel by installing corresponding tyre pressure sensor, hub motor control device and wheel hub respectively Motor, by each wheel tyre pressure of the real time measure, can estimate the real-time vertical load of each wheel, realize the distribution to vehicle Control.
Control strategy algorithm in distributed drive control device 16 can realize the control to each wheel using existing algorithm. A kind of algorithm of optimization is additionally provided in the present invention, it is implemented as follows：
A kind of distributed drive control method for electric automobile using the system, positioned at distributed drive control Multiple functional modules are set in advance in the main control chip of device 16, the real-time vertical load of vehicle-state monitoring modular, vehicle is specifically included Estimation block, driving force distribution control module.
The specific steps of drive control method include：
1) vehicle-state monitoring modular receives input direction disk rotational angle theta and accelerator travel SacWhile, constantly collection With the relevant data for calculating vehicle and wheel, including wheel actual angular speed wi, the real-time tire pressure P of four-wheeli, vehicle centripetal acceleration an(being obtained by the sensing of acceleration transducer 11), and send data to the real-time vertical load estimation block of vehicle respectively in real time and drive Power distributes control module；
2) the real-time vertical load estimation block of vehicle is according to real-time tire pressure signal Pi, the real-time vertical load F of estimation vehiclezi, And it is sent to driving force distribution control module；FziComputing formula is as follows：
In formula：FziIt is the vertical load of the i-th wheel, G is gravity, P suffered by vehicleiIt is the real-time tire pressure of the i-th wheel；
3) driving force distributes control module according to step 1) and 2) in interior outside drive when realizing that vehicle is travelled of the parameter that obtains The differential of driving wheel distributes control with driving force, concretely comprises the following steps：
First by steering wheel angle θ and centripetal acceleration anEstimate the real-time speed v of vehicle：
V=(an*((L/tanθ)2+B2)1/2)1/2
In formula：L is vehicle wheelbase, and B is horizontal range of the vehicle rear axle to vehicle centroid；
Then according to accelerator travel SacThe expected driving torque T that signal of change driver is given by accelerator pedalt：
Tt=KSac, in formula：K is constant coefficient
The accelerator travel S for directly being stepped on by driveracTo determine motor output torque Ti：
In formula：TiIt is four actually required torques of wheel, FZiIt is i-th real-time vertical load of wheel；
Meanwhile, the slippage rate λ of each wheel of real-time monitoringi：
If the i-th wheel slip rate λiHigher than system, optimal slippage rate λ is set0When, then adjust motor output torque TiFor：
By motor output torque TiEach hub motor control device is given by CAN communication network delivery, wheel hub is driven, Realize each motor torque of reasonable distribution.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (4)

1. a kind of distributed electrical driving control system based on vertical load real-time estimation, it is characterised in that including left front wheel hub electricity Machine (1), left front wheel hub electric machine controller (2), off-front wheel hub motor (3), off-front wheel hub electric machine controller (4), left back wheel hub electricity Machine (5), left back wheel hub electric machine controller (6), off hind wheel hub motor (7), off hind wheel hub electric machine controller (8), E-Gas are stepped on Plate (9), steering wheel angle sensor (10), acceleration transducer (11), left front tyre pressure sensor (12), right preceding tyre pressure sensor (13), tyre pressure sensor (15), distributed drive control device (16), connection (17) behind left back tyre pressure sensor (14), the right side；Point Cloth drive control device (16) by connection (17) respectively with efp (9), steering wheel angle sensor (10), plus Velocity sensor (11), left front wheel hub electric machine controller (2), off-front wheel hub electric machine controller (4), left back wheel hub electric machine controller (6), off hind wheel hub electric machine controller (8), left front tyre pressure sensor (12), right preceding tyre pressure sensor (13), left back tire pressure sensing Tyre pressure sensor (15) is connected behind device (14), the right side, constitutes CAN communication network；Left front wheel hub electric machine controller (2) and left front wheel hub Motor (1) is connected, and off-front wheel hub electric machine controller (4) is connected with off-front wheel hub motor (3), left back wheel hub electric machine controller (6) It is connected with left back wheel hub motor (5), off hind wheel hub electric machine controller (8) is connected with off hind wheel hub motor (7).
2. the distributed electrical driving control system of vertical load real-time estimation is based on as claimed in claim 1, it is characterised in that Described distributed drive control device (16) uses 16 single-chip microcomputers.
3. the distributed electrical driving control system of vertical load real-time estimation is based on as claimed in claim 2, it is characterised in that The main control chip of described single-chip microcomputer uses MC9S12XEP100.
4. a kind of distributed drive control method for electric automobile using system as claimed in claim 1, its feature exists In：In distributed drive control device (16) main control chip including vehicle-state monitoring modular, the real-time vertical load of vehicle Estimation block, driving force distribution control module；
The step of control method, includes：
1) vehicle-state monitoring modular receives input direction disk rotational angle theta and accelerator travel SacWhile, constantly gather and count Calculate the relevant data of vehicle and wheel, including wheel actual angular speed wi, the real-time tire pressure P of four-wheeli, vehicle centripetal acceleration an, and Send data to the real-time vertical load estimation block of vehicle respectively in real time and distribute control module with driving force；
2) the real-time vertical load estimation block of vehicle is according to real-time tire pressure signal Pi, the real-time vertical load F of estimation vehiclezi, concurrently Give driving force distribution control module；FziComputing formula is as follows：
F z i = P i / Σ i = 1 4 P i * G , i = 1 , 2 , 3 , 4
In formula：FziIt is the vertical load of the i-th wheel, G is gravity, P suffered by vehicleiIt is the real-time tire pressure of the i-th wheel；
3) driving force distributes control module according to step 1) and 2) in the parameter that obtains realize interior outside driven wheel during vehicle traveling Differential and driving force distribute control, concretely comprise the following steps：
First by steering wheel angle θ and centripetal acceleration anEstimate the real-time speed v of vehicle：
V=(an*((L/tanθ)2+2)1/2)1/2
In formula：L is vehicle wheelbase, and B is horizontal range of the vehicle rear axle to vehicle centroid；
Then according to accelerator travel SacThe expected driving torque T that signal of change driver is given by accelerator pedalt：
Tt=KSac, in formula：K is constant coefficient
The accelerator travel S for directly being stepped on by driveracTo determine motor output torque Ti：
T i = F Z i Σ i = 1 4 F z i T t
In formula：TiIt is four actually required torques of wheel, FZiIt is i-th real-time vertical load of wheel；
Meanwhile, the slippage rate λ of each wheel of real-time monitoringi：
λ i = ω i - v ω i
If the i-th wheel slip rate λiHigher than system, optimal slippage rate λ is set0When, then adjust motor output torque TiFor：
T i = F Z i Σ i = 1 4 F z i T t * λ 0 λ i
By motor output torque TiEach hub motor control device is given by CAN communication network delivery, wheel hub is driven.
CN201611046339.0A 2016-11-22 2016-11-22 Distributed electric drive control system and method based on vertical load real-time estimation Active CN106671825B (en)

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CN108528226A (en) * 2018-03-23 2018-09-14 北汽福田汽车股份有限公司 Drive system, control method and the vehicle of freight truck
CN108859862A (en) * 2018-03-22 2018-11-23 武汉理工大学 A kind of adaptive driving control system of distributed driving off-road vehicle

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CN103879307A (en) * 2014-03-13 2014-06-25 浙江大学 Rear wheel independent drive control system and method for electric automobile
CN104504191A (en) * 2014-12-21 2015-04-08 吉林大学 Four-wheel-drive electric vehicle simulation modeling method based on AMESim
CN206938507U (en) * 2016-11-22 2018-01-30 浙江大学 A kind of distributed electrical driving control system based on vertical load real-time estimation

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Publication number Priority date Publication date Assignee Title
CN1746064A (en) * 2004-09-09 2006-03-15 比亚迪股份有限公司 Steering system and method for electric vehicle
CN101767535A (en) * 2008-12-30 2010-07-07 比亚迪股份有限公司 Driving/braking system and method of independent four-wheel electric automobile
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Publication number Priority date Publication date Assignee Title
CN108859862A (en) * 2018-03-22 2018-11-23 武汉理工大学 A kind of adaptive driving control system of distributed driving off-road vehicle
CN108859862B (en) * 2018-03-22 2021-08-10 武汉理工大学 Self-adaptive drive control system of distributed drive cross-country vehicle
CN108528226A (en) * 2018-03-23 2018-09-14 北汽福田汽车股份有限公司 Drive system, control method and the vehicle of freight truck

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