CN107161271B - Moped Scooter based on acceleration detection brakes anti-skidding method - Google Patents
Moped Scooter based on acceleration detection brakes anti-skidding method Download PDFInfo
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- CN107161271B CN107161271B CN201710322264.2A CN201710322264A CN107161271B CN 107161271 B CN107161271 B CN 107161271B CN 201710322264 A CN201710322264 A CN 201710322264A CN 107161271 B CN107161271 B CN 107161271B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
- B62L1/02—Brakes; Arrangements thereof in which cycle wheels are engaged by brake elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention discloses the Moped Scooter based on acceleration detection and brakes anti-skidding method, mainly comprise the steps that acquisition driving wheel/driven wheel center acceleration, calculate driving with reference to angular acceleration, the acceleration that obtains Moped Scooter, nominal angular acceleration, the driving wheel angular acceleration for calculating vehicle compare and compared with adjustment, angular acceleration of the driven gear and adjust with compensation torque calculating.Using the Moped Scooter of the method for the present invention, without using wheel speed sensors, reduces Moped Scooter and brake anti-skidding cost, in the low road traveling of attachment coefficient, it can reach and well brake anti-skidding, anti-lock control effect, have broad application prospects in Moped Scooter driving safety field.
Description
Technical field
The present invention relates to a kind of anti-skidding, anti-lock methods of braking for Moped Scooter, and in particular to one kind is based on
The Moped Scooter of acceleration detection brakes anti-skidding method.
Background technique
Moped Scooter is travelled by power drive of Vehicular accumulator cell, has the characteristics that energy-saving and environmental protection, light.In recent years
Rapid growth trend is presented in China in Moped Scooter manufacture and use quantity, improves the air in city to a certain extent and makes an uproar
Sound pollution problem.
With the development of technology, people are higher and higher to the security requirement of Moped Scooter, and the electronic of the prior art helps
Power vehicle is travelled in smooth road, easily leads to wheel skid, and in brake, it will lead to wheel lock up, cause the sliding of vehicle
Phenomenon, especially in case of emergency, this phenomenon is more dangerous.
This technology for all having popularized in automotive field of anti-lock, anti-skid device, is seldom applied on Moped Scooter.
Anti-skidding, anti-lock technical application is braked in the prior art when on automobile, is largely related to the use of wheel speed sensors, at
This is very high.It is lower than automobile additionally, due to Moped Scooter damping performance, and often traveling leads to its working environment in bumpy road
Badly, easily wheel speed sensors is made to break down, therefore, it is few in the application of Moped Scooter field brakes anti-skidding, anti-lock technology.
Summary of the invention
Electric boosted bassinet structure is simpler, and peripheral hardware circuit is less, and should not carry out big change；Moped Scooter
It brakes of less demanding for opposite automobile.For this feature, to overcome the shortcomings of existing technologies, the mesh of first aspect present invention
A kind of Moped Scooter based on acceleration detection of being to provide brake anti-skidding method, including the following steps:
The acceleration a of (1) first acceleration transducer acquisition driving wheel wheel center1, sent by wireless communication mode
To the first data processing chip, first data processing chip calculates driving wheel using radius of wheel r and refers to angular acceleration
ω1；Formula are as follows:
The acceleration a of (2) second acceleration transducers acquisition driven wheel wheel center2, sent by wireless communication mode
To the first data processing chip, first data processing chip calculates driven wheel using radius of wheel r and refers to angular acceleration
ω2；Formula are as follows:
(3) third acceleration transducer obtains acceleration a of the Moped Scooter at mass center3；
The third acceleration transducer is mounted on electric moped storage batteries groove sidewall.
(4) calculating of nominal angular speed:
The dynamic torque exported using driver, is obtained by calculation the nominal angular acceleration values of Moped Scooter vehicle
ω*:
Wherein T*For dynamic torque, M is complete vehicle quality, and r is radius of wheel, JwFor the rotary inertia of wheel, a3For step
(3) acceleration of the Moped Scooter obtained at mass center.
T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp。
The first dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by upper
Layer controller output, the upper controller are one of accelerator pedal, brake pedal, active safety control system or more
Kind；The first dynamic torque TrIt detects to obtain by torque sensor, or the current of electric that is measured by electric machine controller and other
Parameter calculating acquires.
The second dynamic torque TpBy torque sensor detection manpower to Moped Scooter apply torque signal and
?.The second dynamic torque TpThe torque for being achieved in that operator and Moped Scooter being applied.
(5) driving wheel compares and compensation torque calculating and adjustment:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driving wheel1If ω*≈ω1, and the two is not much different
In ω*5%, then without calculate compensation torque；If ω*> ω1, and differ by more than ω*5%, then determine driving wheel skid or
Locking calculates compensation torque Tmc.The calculating compensates torque TmcAlgorithm be selected from pid control algorithm, FUZZY ALGORITHMS FOR CONTROL,
One of optimal control algorithm, sliding mode control algorithm or a variety of combinations.With gained TmcNumerical value, to the first dynamic torque TrIt carries out
It adjusts.It further, is T after the compensated adjustment of the first dynamic torquer-Tmc。
Further, the compensation torque TmcCalculation formula are as follows: Tmc=K (ω*-ω1), wherein K indicates gain coefficient.
(6) driven wheel compares and adjusts:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driven wheel2If ω*≈ω2, and the two is not much different
In ω*5%, then without carrying out control operation；If ω*> ω2, and differ by more than ω*5%, then determine driven wheel skid or
Locking, electric power vehicle using motor MCU send pulse control signal to the control unit of the butterfly of driven wheel brake pump, automatically control braking device
Brake force size, achieve the purpose that anti-skidding anti-lock.
The purpose of second aspect of the present invention is to provide a kind of Moped Scooter brake ski-proof device based on acceleration detection,
Including at least the first acceleration transducer, the second acceleration transducer, third acceleration transducer, the first moment inspecting device,
Two moment inspecting devices, Moped Scooter MCU, the first data processing chip, the second data processing chip, comparator, gain adjustment
Controller, the butterfly brake pump of driving wheel, the butterfly brake pump of driven wheel, brake assembly.
First acceleration transducer is used to obtain the acceleration of driving wheel wheel center；Second acceleration sensing
Device is used to obtain the acceleration of driven wheel wheel center；The third acceleration transducer is for obtaining Moped Scooter close to matter
Acceleration at the heart.
First acceleration transducer, the second acceleration transducer are connected with first data processing chip.Institute
Third acceleration transducer is stated to be connected with second data processing chip.
Further, first acceleration transducer, the second acceleration transducer, third acceleration transducer are
BOSCH SMA130 acceleration transducer.
The first moment inspecting device, the second moment inspecting device are connected with second data processing chip.Described
One moment inspecting device is connected with upper controller simultaneously, and the upper controller is the electronic accelerator pedal for helping vehicle, brakes and step on
One of plate, active safety control system are a variety of；The torque sensor of the second moment inspecting device and Moped Scooter,
Motor control system connection, for detecting the signal that manpower applies torque to vehicle by torque sensor.
First data processing chip is used to receive the number of first acceleration transducer, the second acceleration transducer
According to calculating separately out driving wheel with reference to angular acceleration, driven wheel with reference to angular acceleration in conjunction with radius of wheel, and the data obtained is sent out
It send to comparator.
Second data processing chip is for handling from the first moment inspecting device, the second moment inspecting device, third
The received data of acceleration transducer, are obtained by calculation the nominal angular acceleration values of Moped Scooter vehicle, and by institute's total
According to being sent to comparator.Second data processing chip respectively with the first moment inspecting device, the second moment inspecting device,
Three acceleration transducer communication connections, at the same with comparator communication connection.
The Moped Scooter MCU is used to receive the data information of comparator, gain adjustment controller, and to electric boosted
The motor control system of vehicle sends driving parameters, receives feedback information；The Moped Scooter MCU passes through Moped Scooter
Motor control system is pumped with the butterfly of driving wheel brake respectively, the butterfly of driven wheel is stopped pumps, brake assembly communication connection.
Further, the Moped Scooter MCU is electrically connected with butterfly brake pump and brake assembly, can be stopped to butterfly and be pumped and brake always
At transmission pulse signal.
The brake assembly includes brake and brake disc, the parking brake handle company of the brake assembly and Moped Scooter
It connects.Further, the brake assembly is hydraulic disc brake assembly.
Moped Scooter of the present invention based on acceleration detection brakes anti-skidding method, does not use wheel speed sensors,
Vehicle smooth road when driving, reach wheel and well brake anti-skidding, anti-lock control effect, reduce Moped Scooter
Brake anti-skidding cost.The present invention combine electric boosted bassinet structure it is relatively simple, it is peripheral hardware circuit it is less, should not carry out it is big
The features such as change, big change is not carried out to hardware circuit, only increase a small amount of hardware, is based on by the way that application is of the present invention
The Moped Scooter of acceleration detection brakes anti-skidding method, so that Moped Scooter is achieved the purpose that braking is anti-skidding, electric boosted
Vehicle traveling security fields have broad application prospects.
Detailed description of the invention
Fig. 1 is the flow chart that embodiment 1 brakes anti-skidding method based on the Moped Scooter of acceleration detection.
Fig. 2 is not apply the Moped Scooter of the embodiment of the present invention 1 to brake the velocity profile of anti-skidding method.
Fig. 3 is that the Moped Scooter of the application embodiment of the present invention 1 brakes the velocity profile of anti-skidding method.
Fig. 4 is that the Moped Scooter of the application embodiment of the present invention 1 brakes the moment variations figure of anti-skidding method.
Specific embodiment
Below by specific embodiment, further technical solution of the present invention is specifically described.It should be understood that below
Embodiment be intended only as illustrating, and do not limit the scope of the invention, while those skilled in the art is according to the present invention
The obvious change and modification made are also contained within the scope of the invention.
Embodiment 1
As shown in Figure 1, a kind of Moped Scooter based on acceleration detection brakes anti-skidding method, including the following steps:
The acceleration a of (1) first acceleration transducer acquisition driving wheel wheel center1, sent by wireless communication mode
To the first data processing chip, first data processing chip calculates driving wheel using radius of wheel r and refers to angular acceleration
ω1；Formula are as follows:
The acceleration a of (2) second acceleration transducers acquisition driven wheel wheel center2, sent by wireless communication mode
To the first data processing chip, first data processing chip calculates driven wheel using radius of wheel r and refers to angular acceleration
ω2；Formula are as follows:
(3) third acceleration transducer obtains acceleration a of the Moped Scooter at mass center3；
The third acceleration transducer is mounted on electric moped storage batteries groove sidewall.
(4) calculating of nominal angular speed:
The dynamic torque exported using driver, is obtained by calculation the nominal angular acceleration values of Moped Scooter vehicle
ω*:
Wherein T*For dynamic torque, M is complete vehicle quality, and r is radius of wheel, JwFor the rotary inertia of wheel, a3For step
(3) acceleration of the Moped Scooter obtained at mass center.
T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp。
The first dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by upper
Layer controller output, the upper controller are one of accelerator pedal, brake pedal, active safety control system or more
Kind；The first dynamic torque TrIt detects to obtain by torque sensor, or the current of electric that is measured by electric machine controller and other
Parameter calculating acquires.
The second dynamic torque TpBy torque sensor detection manpower to Moped Scooter apply torque signal and
?.The second dynamic torque TpThe torque for being achieved in that operator and Moped Scooter being applied.
(5) driving wheel compares and compensation torque calculating and adjustment:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driving wheel1If ω*≈ω1, and the two is not much different
In ω*5%, then without calculate compensation torque；If ω*> ω1, and differ by more than ω*5%, then determine driving wheel skid or
Locking calculates compensation torque Tmc.The calculating compensates torque TmcAlgorithm be selected from pid control algorithm, FUZZY ALGORITHMS FOR CONTROL,
One of optimal control algorithm, sliding mode control algorithm or a variety of combinations.With gained TmcNumerical value, to the first dynamic torque TrIt carries out
It adjusts.
(6) driven wheel compares and adjusts:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driven wheel2If ω*≈ω2, and the two is not much different
In ω*5%, then without carrying out control operation；If ω*> ω2, and differ by more than ω*5%, then determine driven wheel skid or
Locking, electric power vehicle using motor MCU send pulse control signal to the control unit of the butterfly of driven wheel brake pump, automatically control braking device
Brake force size, achieve the purpose that anti-skidding anti-lock.
Embodiment 2
A kind of Moped Scooter brake ski-proof device based on acceleration detection, including the first acceleration transducer, second
Acceleration transducer, third acceleration transducer, the first moment inspecting device, the second moment inspecting device, Moped Scooter MCU,
One data processing chip, the second data processing chip, comparator, gain adjustment controller, driving wheel butterfly stop pump, driven wheel
Butterfly brake pump, brake assembly.
First acceleration transducer is used to obtain the acceleration of driving wheel wheel center, is mounted on driving wheel wheel
At axis；Second acceleration transducer is used to obtain the acceleration of driven wheel wheel center, is mounted on driven wheel wheel
At axis；The third acceleration transducer is mounted on electronic help for obtaining acceleration of the Moped Scooter at mass center
Power vehicle cell jar side wall.First acceleration transducer, the second acceleration transducer and first data processing chip
It is connected.The third acceleration transducer is connected with second data processing chip.First acceleration transducer,
Second acceleration transducer, third acceleration transducer are BOSCH SMA130 acceleration transducer.
The first moment inspecting device, the second moment inspecting device are connected with second data processing chip.Described
One moment inspecting device is connected with upper controller simultaneously, and the upper controller is the electronic accelerator pedal for helping vehicle, brakes and step on
One of plate, active safety control system are a variety of；The torque sensor of the second moment inspecting device and Moped Scooter,
Motor control system connection, for detecting the signal that manpower applies torque to vehicle by torque sensor.First number
It is used to receive the data of first acceleration transducer, the second acceleration transducer according to processing chip, in conjunction with radius of wheel point
Driving wheel is not calculated, and the data obtained is sent to comparator with reference to angular acceleration with reference to angular acceleration, driven wheel.Described
One data processing chip and first acceleration transducer, the second acceleration transducer communication connection, at the same it is logical with comparator
News connection.Second data processing chip adds for handling from the first moment inspecting device, the second moment inspecting device, third
The received data of velocity sensor, are obtained by calculation the nominal angular acceleration values of Moped Scooter vehicle, and by the data obtained
It is sent to comparator.Second data processing chip respectively with the first moment inspecting device, the second moment inspecting device, third
Acceleration transducer communication connection, at the same with comparator communication connection.First data processing chip, the second data processing core
Piece passes through the comparator and the Moped Scooter MCU data connection.
The Moped Scooter MCU is used to receive the data information of comparator, gain adjustment controller, and to electric boosted
The motor control system of vehicle sends driving parameters, receives feedback information；The Moped Scooter MCU passes through Moped Scooter
Motor control system is pumped with the butterfly of driving wheel brake respectively, the butterfly of driven wheel is stopped pumps, brake assembly communication connection.
Embodiment 3
L-G simulation test
Simulating scenes: vehicle entered one 30 meters long of low friction road surface from 2.5 seconds or so.
Fig. 2, Fig. 3 illustrate the Contrast on effect braked before and after anti-skidding method using the Moped Scooter of the embodiment of the present invention 1
Figure, wherein Fig. 2 indicates that the Moped Scooter for not applying the embodiment of the present invention 1 brakes anti-skidding method as a result, Fig. 3 indicates to apply this
The Moped Scooter of inventive embodiments 1 brakes the result of anti-skidding method.It is electronic to help as can be seen from Figure 2 in uncontrolled situation
The wheel of power vehicle obviously skids, and in Fig. 3, the wheel of Moped Scooter only has slight skidding.As seen from Figure 4, exist
In the case where implementing the method for the present invention, the output torque of Moped Scooter also changes.
Claims (6)
1. a kind of Moped Scooter brake ski-proof device based on acceleration detection, it is characterised in that: described device is based on one kind
Moped Scooter based on acceleration detection brakes anti-skidding method；A kind of Moped Scooter braking based on acceleration detection
Anti-skidding method includes the following steps:
The acceleration a of (1) first acceleration transducer acquisition driving wheel wheel center1, first is sent to by wireless communication mode
Data processing chip, first data processing chip calculate driving wheel using radius of wheel r and refer to angular acceleration ω1；Formula
Are as follows:
The acceleration a of (2) second acceleration transducers acquisition driven wheel wheel center2, first is sent to by wireless communication mode
Data processing chip, first data processing chip calculate driven wheel using radius of wheel r and refer to angular acceleration ω2；Formula
Are as follows:
(3) third acceleration transducer obtains acceleration a of the Moped Scooter at mass center3；
The third acceleration transducer is mounted on electric moped storage batteries groove sidewall；
(4) calculating of nominal angular speed:
The dynamic torque exported using driver, is obtained by calculation the nominal angular acceleration values ω of Moped Scooter vehicle*:
Wherein T*For dynamic torque, M is complete vehicle quality, and r is radius of wheel, JwFor the rotary inertia of wheel, a3It is obtained for step (3)
Acceleration of the Moped Scooter taken at mass center；
T*Including the first dynamic torque TrAnd/or the second dynamic torque Tp；
The first dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by top level control
Device output, the upper controller are one of accelerator pedal, brake pedal, active safety control system or a variety of；It is described
First dynamic torque TrIt detects to obtain by torque sensor, or the current of electric and other parameters that are measured by electric machine controller calculate
It acquires；
The second dynamic torque TpThe signal of torque is applied to Moped Scooter by the manpower of torque sensor detection and is obtained；Institute
State the second dynamic torque TpThe torque for being achieved in that operator and Moped Scooter being applied；
(5) driving wheel compares and compensation torque calculating and adjustment:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driving wheel1If ω*≈ω1, and the two is not much different in ω*
5%, then without calculate compensation torque；If ω*> ω1, and differ by more than ω*5%, then determine driving wheel skid or locking,
Calculate compensation torque Tmc；The calculating compensates torque TmcAlgorithm be selected from pid control algorithm, FUZZY ALGORITHMS FOR CONTROL, optimal control
One of algorithm processed, sliding mode control algorithm or a variety of combinations；With gained TmcNumerical value, to the first dynamic torque TrIt is adjusted；
(6) driven wheel compares and adjusts:
Compare nominal angular acceleration values ω*Angular acceleration ω is referred to driven wheel2If ω*≈ω2, and the two is not much different in ω*
5%, then without carrying out control operation；If ω*> ω2, and differ by more than ω*5%, then determine driven wheel skid or locking,
Electric power vehicle using motor MCU sends pulse control signal to the control unit of the butterfly of driven wheel brake pump, automatically controls the system of braking device
Power size；
A kind of Moped Scooter brake ski-proof device based on acceleration detection adds including the first acceleration transducer, second
Velocity sensor, third acceleration transducer, the first moment inspecting device, the second moment inspecting device, Moped Scooter MCU, first
The butterfly of data processing chip, the second data processing chip, comparator, gain adjustment controller, the butterfly brake pump of driving wheel, driven wheel
Brake pump, brake assembly；
First acceleration transducer is used to obtain the acceleration of driving wheel wheel center；Second acceleration transducer is used
In the acceleration for obtaining driven wheel wheel center；The third acceleration transducer is for obtaining Moped Scooter at mass center
Acceleration；
First acceleration transducer, the second acceleration transducer are connected with first data processing chip；Described
Three acceleration transducers are connected with second data processing chip；
The first moment inspecting device, the second moment inspecting device are connected with second data processing chip；First power
Square detector is connected with upper controller simultaneously, and the upper controller is the electronic accelerator pedal for helping vehicle, brake pedal, master
One of dynamic safety control system is a variety of；It is the torque sensor of the second moment inspecting device and Moped Scooter, electronic
Machine control system connection, for detecting the signal that manpower applies torque to vehicle by torque sensor；
First data processing chip is used to receive the data of first acceleration transducer, the second acceleration transducer,
Driving wheel is calculated separately out in conjunction with radius of wheel to send the data obtained with reference to angular acceleration with reference to angular acceleration, driven wheel
To comparator；
Second data processing chip accelerates for handling from the first moment inspecting device, the second moment inspecting device, third
The received data of sensor are spent, the nominal angular acceleration values of Moped Scooter vehicle are obtained by calculation, and the data obtained is sent out
It send to comparator；Second data processing chip adds with the first moment inspecting device, the second moment inspecting device, third respectively
Velocity sensor communication connection, at the same with comparator communication connection；
The Moped Scooter MCU is used to receive the data information of comparator, gain adjustment controller, and to Moped Scooter
Motor control system sends driving parameters, receives feedback information；The Moped Scooter MCU is electronic by Moped Scooter
Machine control system is pumped with the butterfly of driving wheel brake respectively, the butterfly of driven wheel is stopped pumps, brake assembly communication connection；
The brake assembly includes brake and brake disc, the parking brake handle connection of the brake assembly and Moped Scooter.
2. a kind of Moped Scooter brake ski-proof device based on acceleration detection according to claim 1, feature exist
In: after step (5) the compensated adjustment of the first dynamic torque are as follows: Tr-Tmc。
3. a kind of Moped Scooter brake ski-proof device based on acceleration detection according to claim 1, feature exist
In: step (5) the compensation torque TmcCalculation formula are as follows: Tmc=K (ω*-ω1), wherein K indicates gain coefficient.
4. a kind of Moped Scooter brake ski-proof device based on acceleration detection according to claim 3, feature exist
In: first acceleration transducer, the second acceleration transducer, third acceleration transducer are BOSCH SMA130 acceleration
Sensor.
5. a kind of Moped Scooter brake ski-proof device based on acceleration detection according to claim 3, feature exist
In: the Moped Scooter MCU is electrically connected with butterfly brake pump and brake assembly, is stopped and is pumped and brake assembly transmission pulse signal to butterfly.
6. a kind of Moped Scooter brake ski-proof device based on acceleration detection according to claim 3, feature exist
In: the brake assembly is hydraulic disc brake assembly.
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| CN201710322264.2A CN107161271B (en) | 2017-05-09 | 2017-05-09 | Moped Scooter based on acceleration detection brakes anti-skidding method |
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| CN201710322264.2A CN107161271B (en) | 2017-05-09 | 2017-05-09 | Moped Scooter based on acceleration detection brakes anti-skidding method |
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| CN108909931B (en) * | 2018-05-28 | 2021-01-05 | 纳恩博（北京）科技有限公司 | Method, device and system for realizing assistance of bicycle |
| CN110893774B (en) * | 2018-09-12 | 2023-05-05 | 南京理工大学 | Wheel anti-skid control method and system based on energy distribution model |
| CN111717040B (en) * | 2019-03-22 | 2022-06-28 | 长沙智能驾驶研究院有限公司 | Torque control method, device, electronic equipment and storage medium |
| CN110001836A (en) * | 2019-04-25 | 2019-07-12 | 深圳市瑞能德电子有限公司 | A kind of electrombile control method and electric vehicle |
| CN110527530B (en) * | 2019-08-30 | 2021-05-25 | 中冶焦耐(大连)工程技术有限公司 | Control method of distributed power type coke tank carrying vehicle |
| CN112896408B (en) * | 2021-02-03 | 2022-01-18 | 五羊—本田摩托（广州）有限公司 | Electric motorcycle riding method, system, electronic equipment and storage medium |
| CN113147420A (en) * | 2021-03-12 | 2021-07-23 | 南京理工大学 | Target optimization torque distribution method based on road adhesion coefficient identification |
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| US5608631A (en) * | 1993-03-16 | 1997-03-04 | Mitsubishi Denki Kabushiki Kaisha | Apparatus and method for detecting acceleration of motor vehicle with high accuracy and anti-skid control apparatus using the same |
| JP3138603B2 (en) * | 1994-11-30 | 2001-02-26 | 三菱電機株式会社 | Anti-skid control device |
| DE60018150T2 (en) * | 1999-12-21 | 2005-12-29 | Denso Corp., Kariya | Anti-lock brake control system for motor vehicles |
| JP5038837B2 (en) * | 2007-10-01 | 2012-10-03 | 富士重工業株式会社 | Vehicle tuck-in prevention control device |
| CN105946826B (en) * | 2016-05-10 | 2018-07-06 | 南京理工大学 | Vehicle limited slip control method, control system and vehicle without wheel speed information |
| CN105882634B (en) * | 2016-05-13 | 2018-06-12 | 南京理工大学 | High robust vehicle wheel non-slip control method, antiskid control system and vehicle |
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