CN106926748A - 8*8轮驱电动车直线行驶转矩分配方法 - Google Patents
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Abstract
为了分配8*8轮驱电动车直线行驶转矩,并兼顾车轮滑转状态管理及轴荷分配,本发明提供了一种8*8轮驱电动车直线行驶转矩分配方法,包括:(1)确定整车驱动转矩数值;(2)对各车轮驱动转矩进行初始分配;(3)各车轮驱动转矩根据轮荷进行二次分配;(4)对各车轮驱动转矩进行校正。本转矩分配方法以油门踏板行程为输入参数,兼顾了车轮滑转状态管理及不同轮荷下转矩分配,能够合理分配各车轮的驱动转矩。各车轮转速受到地面附着条件的自然约束,控制稳定,车轮工作状态理想。
Description
技术领域
本发明涉及电动车驱动控制技术领域,更具体地,涉及一种8*8轮驱电动车直线行驶转矩分配方法。
背景技术
发射车等特定场合中常使用到8*8轮驱车。以往的车辆主要以燃油为燃料和动力源,其驱动和直线行驶时的驱动方式简单而成熟。然而,随着电动车的普及以及多轮电动车在发射车场合中的应用,各个轮之间的驱动转矩分配成为不可避免的和亟待解决的问题。例如,8*8轮驱电动车由8台轮边电机通过相应的减速机构,驱动各个车轮行驶,从而省掉了离合器、变速器、传动桥及差速器等传统的机械传动环节。由于车体每一侧的8个车轮均具有独立的驱动自由度,因此在8*8轮驱电动车直线行驶过程中控制趋于复杂化,需要制定合适的控制策略来协调控制各电机同步工作。
发明内容
为了分配8*8轮驱电动车直线行驶转矩,并兼顾车轮滑转状态管理及轴荷分配,本发明提供了一种8*8轮驱电动车直线行驶转矩分配方法,包括:
(1)确定整车驱动转矩数值;
(2)对各车轮驱动转矩进行初始分配;
(3)各车轮驱动转矩根据轮荷进行二次分配;
(4)对各车轮驱动转矩进行校正。
进一步地,所述步骤(1)进一步包括:获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值。
进一步地,所述步骤(2)进一步包括:根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩。
进一步地,所述步骤(3)进一步包括:根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配。
进一步地,所述步骤(4)进一步包括:根据整车各车轮的滑转状态,对各轮驱动电机进行转矩校正。
进一步地,所述获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值进一步包括:
根据油门踏板行程采用分段控制方式确定整车驱动转矩Tsum:当油门踏板处于0-2/3行程时,整车驱动转矩对应范围为缓行转矩-最大连续转矩,当油门踏板处于2/3行程-满行程时,整车驱动转矩对应最大连续转矩-峰值转矩。
进一步地,所述根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩进一步包括:设整车驱动转矩数值为Tsum,驱动轮组数量为n,则各轮驱动电机的初始分配转矩T1:
T1=Tsum/n,
其中n为正整数。
进一步地,所述根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配进一步包括:设同轴上的两侧驱动电机采用相同的二次分配比例,则该二次分配比例△Ti为
上式中,FZi为第i轴的轴荷,为平均轴荷,k为考虑传动速比及滚动阻力系数之后的比例系数,分配得到的各轴驱动电机分配力矩为Ti1、Ti2,其中,Ti1、Ti2分别表示第i轴两侧电机转矩分配值且i为1≤i≤4的整数;
Ti1=Ti2=T1+△Ti。
进一步地,所述根据整车各车轮的滑转状态包括:通过控制驱动力的分配抑制车轮打滑。
进一步地,通过控制驱动力的分配抑制车轮打滑包括:在制动状态时的滑转控制有ABS模块实现的情况下,仅考虑驱动状态下的滑转控制,包括:
设置各车轮在驱动状态下的滑转率σp:
其中p表示车轮序号,V车轮p表示车轮p的速度,V车轮min表示各车轮中最小的速度;
考虑到滑转率计算误差,滑转率绝对值限定值σ取σ=0.2;若车轮p滑转率>σ,说明车轮打滑;设驱动电机额定转矩为T驱动电机额定,则在驱动状态中,对确定为打滑状态的车轮,按T驱动电机额定/s的速率降低该轮的驱动转矩,减小驱动力,使车轮退出打滑状态。
本发明的有益效果包括:
(1)本转矩分配方法以油门踏板行程为输入参数,兼顾了车轮滑转状态管理及不同轮荷下转矩分配,能够合理分配各车轮的驱动转矩。
(2)该方法下各车轮转速受到地面附着条件的自然约束,控制稳定,车轮工作状态理想。
附图说明
图1示出了根据本发明的8*8轮驱电动车直线行驶转矩分配方法的流程图。
图2示出了驱动转矩分段控制曲线。
具体实施方式
如图1所示,本发明提供了一种8*8轮驱电动车直线行驶转矩分配方法,包括:
(1)确定整车驱动转矩数值;
(2)对各车轮驱动转矩进行初始分配;
(3)各车轮驱动转矩根据轮荷进行二次分配;
(4)对各车轮驱动转矩进行校正。
优选地,所述步骤(1)进一步包括:获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值。
优选地,所述步骤(2)进一步包括:根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩。
优选地,所述步骤(3)进一步包括:根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配。
优选地,所述步骤(4)进一步包括:根据整车各车轮的滑转状态,对各轮驱动电机进行转矩校正。
优选地,所述获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值进一步包括:
根据油门踏板行程采用分段控制方式确定整车驱动转矩Tsum:当油门踏板处于0-2/3行程时,整车驱动转矩对应范围为缓行转矩-最大连续转矩,当油门踏板处于2/3行程-满行程时,整车驱动转矩对应最大连续转矩-峰值转矩,如图2所示。从改善驾驶员体验的角度出发,采用转矩分段控制方法保证了油门踏板短行程加速的有效性。
优选地,所述根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩进一步包括:设整车驱动转矩数值为Tsum,驱动轮组数量为n,则各轮驱动电机的初始分配转矩T1:
T1=Tsum/n,
其中n为正整数。
优选地,所述根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配进一步包括:设同轴上的两侧驱动电机采用相同的二次分配比例,则该二次分配比例△Ti为
上式中,FZi为第i轴的轴荷,为平均轴荷,k为考虑传动速比及滚动阻力系数之后的比例系数,分配得到的各轴驱动电机分配力矩为Ti1、Ti2,其中,Ti1、Ti2分别表示第i轴两侧电机转矩分配值且i为1≤i≤4的整数;
Ti1=Ti2=T1+△Ti。
优选地,所述根据整车各车轮的滑转状态包括:通过控制驱动力的分配抑制车轮打滑。
优选地,通过控制驱动力的分配抑制车轮打滑包括:在制动状态时的滑转控制有ABS模块实现的情况下,仅考虑驱动状态下的滑转控制,包括:
设置各车轮在驱动状态下的滑转率σp:
其中p表示车轮序号,V车轮p表示车轮p的速度,V车轮min表示各车轮中最小的速度;
考虑到滑转率计算误差,滑转率绝对值限定值σ取σ=0.2;若车轮p滑转率>σ,说明车轮打滑;设驱动电机额定转矩为T驱动电机额定,则在驱动状态中,对确定为打滑状态的车轮,按T驱动电机额定/s的速率降低该轮的驱动转矩,减小驱动力,使车轮退出打滑状态。
以上对于本发明的较佳实施例所作的叙述是为阐明的目的,而无意限定本发明精确地为所揭露的形式,基于以上的教导或从本发明的实施例学习而作修改或变化是可能的,实施例是为解说本发明的原理以及让所属领域的技术人员以各种实施例利用本发明在实际应用上而选择及叙述,本发明的技术思想企图由权利要求及其均等来决定。
Claims (10)
1.一种8*8轮驱电动车直线行驶转矩分配方法,其特征在于,包括:
(1)确定整车驱动转矩数值;
(2)对各车轮驱动转矩进行初始分配;
(3)各车轮驱动转矩根据轮荷进行二次分配;
(4)对各车轮驱动转矩进行校正。
2.根据权利要求1所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述步骤(1)进一步包括:获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值。
3.根据权利要求2所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述步骤(2)进一步包括:根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩。
4.根据权利要求3所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述步骤(3)进一步包括:根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配。
5.根据权利要求4所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述步骤(4)进一步包括:根据整车各车轮的滑转状态,对各轮驱动电机进行转矩校正。
6.根据权利要求5所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述获取车辆油门踏板行程,根据车辆油门踏板行程确定整车驱动转矩数值进一步包括:
根据油门踏板行程采用分段控制方式确定整车驱动转矩Tsum:当油门踏板处于0-2/3行程时,整车驱动转矩对应范围为缓行转矩-最大连续转矩,当油门踏板处于2/3行程-满行程时,整车驱动转矩对应最大连续转矩-峰值转矩。
7.根据权利要求6所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述根据整车驱动转矩数值及驱动轮组数量确定各轮驱动电机的初始分配转矩进一步包括:设整车驱动转矩数值为Tsum,驱动轮组数量为n,则各轮驱动电机的初始分配转矩T1:
T1=Tsum/n,
其中n为正整数。
8.根据权利要求7所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述根据整车各车轮轮荷对各轮驱动电机的初始分配转矩进行二次分配进一步包括:设同轴上的两侧驱动电机采用相同的二次分配比例,则该二次分配比例△Ti为
上式中,FZi为第i轴的轴荷,为平均轴荷,k为考虑传动速比及滚动阻力系数之后的比例系数,分配得到的各轴驱动电机分配力矩为Ti1、Ti2,其中,Ti1、Ti2分别表示第i轴两侧电机转矩分配值且i为1≤i≤4的整数;
Ti1=Ti2=T1+△Ti。
9.根据权利要求8所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,所述根据整车各车轮的滑转状态包括:通过控制驱动力的分配抑制车轮打滑。
10.根据权利要求9所述的8*8轮驱电动车直线行驶转矩分配方法,其特征在于,通过控制驱动力的分配抑制车轮打滑包括:在制动状态时的滑转控制有ABS模块实现的情况下,仅考虑驱动状态下的滑转控制,包括:
设置各车轮在驱动状态下的滑转率σp:
其中p表示车轮序号,V车轮p表示车轮p的速度,V车轮min表示各车轮中最小的速度;
考虑到滑转率计算误差,滑转率绝对值限定值σ取σ=0.2;若车轮p滑转率>σ,说明车轮打滑;设驱动电机额定转矩为T驱动电机额定,则在驱动状态中,对确定为打滑状态的车轮,按T驱动电机额定/s的速率降低该轮的驱动转矩,减小驱动力,使车轮退出打滑状态。
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