CN107187338A - Road surface model control method based on electric automobile 4 wheel driven drive pattern - Google Patents
Road surface model control method based on electric automobile 4 wheel driven drive pattern Download PDFInfo
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- CN107187338A CN107187338A CN201710425959.3A CN201710425959A CN107187338A CN 107187338 A CN107187338 A CN 107187338A CN 201710425959 A CN201710425959 A CN 201710425959A CN 107187338 A CN107187338 A CN 107187338A
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- electric automobile
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- road surface
- wheel group
- energy
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Classifications
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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
- 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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- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Toys (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention discloses a kind of road surface model control method based on electric automobile 4 wheel driven drive pattern, the fitting of carry out system is supplied by the energy to forerunner's wheel group and rear driving wheel group and reaches optimal cornering ability, initially set up energy requirement relation of the front and rear body wheel group relative to chronomere t, concurrently set dynamic interval unit, then the balanced instantaneous energy demand distributed by the energy in dynamic interval unit in average determination correspondence time interval, and it is separately dispensed into front and back wheel group, then driven before and after setting up and coordinate fit curve equation, and the energy distribution of forerunner's wheel group/rear driving wheel group is adjusted according to drive demand.The present invention can be carried out energy distribution by the front and back wheel group to four-wheel drive system and is fitted, and coordinate the 4 wheel driven energy distribution of the different dynamic modes to electric automobile such as the power of automobile/fuel-efficient and optimize control adjustment, lift road surface driving intelligent, the hommization degree of electric automobile.
Description
Technical field
The present invention relates to technical field of new energy, the especially energy of the electric four-wheel drive automobile based on road surface model technology
Management control method.
Background technology
In general, electric four-wheel drive power vehicle has multiple power parts that can be worked independently, control variable is more, so
The formulation of its integrated vehicle control tactics is a sufficiently complex engineering.Energy management control strategy is played in integrated vehicle control tactics
Basic effect, in stable state control vehicle torque distribution or power distribution, including it is rule-based, based on intelligence and
The difference implementation pattern such as method based on optimization.Power part, gearbox and clutch for automobile etc., it is real with reference to road conditions
It is current study hotspot that condition, driving intention, model prediction and global optimization etc., which carry out overall intelligenceization control,.
Applicant Research Team relies on " national new-energy automobile technical innovating engineering " project, carries new-energy automobile energy
The framework and Optimization Work of intelligent management system are measured, it is that vehicle energy management is carried to build fitting algorithm using the packet intermediate value of system
It is the new technical method that we independently propose for Optimal Control Strategy, international at home there is not been reported.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of road surface model control based on electric automobile 4 wheel driven drive pattern
Method processed, can be fitted by carrying out energy distribution to the front and back wheel group of four-wheel drive system, and coordinate power of automobile/fuel-efficient etc.
4 wheel driven energy distribution of the different dynamic modes to electric automobile optimizes control adjustment, and the road surface of lifting electric automobile drives
Intelligent, hommization degree.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
Based on the road surface model control method of electric automobile 4 wheel driven drive pattern, by forerunner's wheel group and rear driving wheel group
Energy supply carry out system fitting reaches optimal cornering ability, energy of the body wheel group relative to chronomere t before initially setting up
Demand relation f (t), while setting up energy requirement relation b (t) of the rear quarters wheel group relative to chronomere t, sets dynamic time
Spacer unit t2-t1, the equilibrium then distributed by the energy in dynamic interval unit in average determination correspondence time interval
Instantaneous energy demand, is separately dispensed into front and back wheel group, obtains：WithWherein tα
With tβThe minimum time scale divided with instantaneous energy demand of different numerical value, then sets up in correspondence dynamic interval unit
Front and rear drive coordinates fit curve equation：Wherein tγIn correspondence dynamic interval unit with instantaneous
The a certain minimum time scale value that energy requirement is divided, finally, the energy of forerunner's wheel group/rear driving wheel group is adjusted according to drive demand
Distribution causes tγWith tα、tβArithmetic equal value tαβQuite.
As a preferred technical solution of the present invention, under power/driving model, t is keptγ、tαβIn smaller value or
Pioneer's value is constant, and adjustment higher value or lagged value make the two suitable.
As a preferred technical solution of the present invention, under fuel-efficient/steady pattern, t is keptγ、tαβIn higher value or
Lagged value is constant, and adjustment smaller value or pioneer's value make the two suitable.
As a preferred technical solution of the present invention, the dynamic interval unit t2- t1It is set as variate, according to
FormulaWherein, l is electric automobile vehicle commander, and v is the average speed of electric automobile.
As a preferred technical solution of the present invention, the v takes consecutive mean speed of the automobile in 0.1s-5s.
As a preferred technical solution of the present invention, the v takes consecutive mean speed of the automobile in 1s-2s.
As a preferred technical solution of the present invention, the dynamic interval unit t2- t1It is set as fixed value.
As a preferred technical solution of the present invention, the dynamic interval unit t2- t1Value is 0.1s-5s.
As a preferred technical solution of the present invention, the dynamic interval unit t2- t1Value is 1s-2s.
It is using the beneficial effect produced by above-mentioned technical proposal：According to the road surface model controlling party of electric four-wheel drive automobile
Method present Research, especially becoming increasingly popular with reference to AC induction motor, applicant Research Team proposes " nested design intermediate value
Fitting algorithm ", by seclected time/vehicle energy distribution in section and value in control progress, then in
The anti-energy for shifting vehicle onto of coordination matching of value numerical value is distributed, and the latter is adjusted as data basis, realize with
Coordination effect is the system balancing adjusting method that is oriented to, and the characteristics of due to middle value process itself and advantage, can be natural
And right realization is steadily fitted.This technology displays that amount of calculation is small, calculating process is easy in laboratory's modeling system,
The characteristics of energy management and control distribution is efficiently rapid, is with a wide range of applications.
Embodiment
The present invention devises a kind of road surface model control method based on electric automobile 4 wheel driven drive pattern, by forerunner
The energy supply carry out system fitting of wheel group and rear driving wheel group reaches optimal cornering ability, before initially setting up body wheel group relative to
Chronomere t energy requirement relation f (t), while setting up energy requirement relation b of the rear quarters wheel group relative to chronomere t
(t) dynamic interval unit, is setWherein, l is electric automobile vehicle commander, and v is the average speed in electric automobile 1s
Degree, then distributes average by the energy in dynamic interval unit and determines that the balanced instantaneous energy in correspondence time interval is needed
Ask, be separately dispensed into front and back wheel group, obtain：WithWherein tαWith tβCorrespondence is dynamic
The minimum time scale divided with instantaneous energy demand of different numerical value in state time interval unit, is driven before and after then setting up and coordinated
Fit curve equation：Wherein tγBeing drawn with instantaneous energy demand in correspondence dynamic interval unit
The a certain minimum time scale value divided, finally, the energy for adjusting forerunner's wheel group/rear driving wheel group according to drive demand, which is distributed, causes tγ
With tα、tβArithmetic equal value tαβQuite；Specifically, under power/driving model, keeping tγ、tαβIn smaller value or pioneer value
Constant, adjustment higher value or lagged value make the two quite, under fuel-efficient/steady pattern, keep tγ、tαβIn higher value or delayed
Value is constant, and adjustment smaller value or pioneer's value make the two suitable.
The control method that the present embodiment is provided by the vehicle energy distribution to seclected time/in section with control into
Value in row, is then distributed by the anti-energy for shifting vehicle onto of coordination matching of intermediate value numerical value, and as data basis to rear
Person is adjusted, and realizes using coordination effect as the system balancing adjusting method being oriented to, and due to middle value process itself
Feature and advantage, can naturally realize steady fitting.This technology displays meter in laboratory's modeling system
The characteristics of calculation amount is small, calculating process is easy, energy management and control distribution is efficiently rapid, is with a wide range of applications.
Foregoing description only proposes as enforceable technical scheme of the invention, not as to its technical scheme single in itself
Restrictive condition.
Claims (9)
1. based on the road surface model control method of electric automobile 4 wheel driven drive pattern, pass through the energy to forerunner's wheel group and rear driving wheel group
Amount supply carry out system fitting reaches optimal cornering ability, it is characterised in that：Body wheel group is single relative to the time before initially setting up
Position t energy requirement relation f (t), while setting up energy requirement relation b (t) of the rear quarters wheel group relative to chronomere t, setting is dynamic
State time interval unit t2- t1, then distribute average by the energy in dynamic interval unit and determine in correspondence time interval
Balanced instantaneous energy demand, be separately dispensed into front and back wheel group, obtain：With
Wherein tαWith tβThe minimum time scale divided with instantaneous energy demand of different numerical value in correspondence dynamic interval unit, so
Driven before and after setting up afterwards and coordinate fit curve equation：Wherein tγIn correspondence dynamic interval unit
The a certain minimum time scale value divided with instantaneous energy demand, finally, forerunner's wheel group/rear driving wheel group is adjusted according to drive demand
Energy distribute cause tγWith tα、tβArithmetic equal value tαβQuite.
2. the road surface model control method according to claim 1 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：Under power/driving model, t is keptγ、tαβIn smaller value or pioneer value it is constant, adjustment higher value or lagged value make the two
Quite.
3. the road surface model control method according to claim 1 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：Under fuel-efficient/steady pattern, t is keptγ、tαβIn higher value or lagged value it is constant, adjustment smaller value or pioneer's value make the two
Quite.
4. the road surface model control method according to claim 1 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The dynamic interval unit t2- t1It is set as variate, according to formulaWherein, l is electric automobile vehicle commander,
V is the average speed of electric automobile.
5. the road surface model control method according to claim 4 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The v takes consecutive mean speed of the automobile in 0.1s-5s.
6. the road surface model control method according to claim 4 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The v takes consecutive mean speed of the automobile in 1s-2s.
7. the road surface model control method according to claim 1 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The dynamic interval unit t2- t1It is set as fixed value.
8. the road surface model control method according to claim 7 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The dynamic interval unit t2- t1Value is 0.1s-5s.
9. the road surface model control method according to claim 7 based on electric automobile 4 wheel driven drive pattern, its feature exists
In：The dynamic interval unit t2- t1Value is 1s-2s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710425959.3A CN107187338B (en) | 2017-06-08 | 2017-06-08 | Road surface model control method based on electric car 4 wheel driven drive mode |
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| CN201710425959.3A CN107187338B (en) | 2017-06-08 | 2017-06-08 | Road surface model control method based on electric car 4 wheel driven drive mode |
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| CN107187338A true CN107187338A (en) | 2017-09-22 |
| CN107187338B CN107187338B (en) | 2019-04-30 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1609662A1 (en) * | 2004-06-24 | 2005-12-28 | Nissan Motor Company, Limited | Drive control apparatus and method for vehicles |
| JP2006304392A (en) * | 2005-04-15 | 2006-11-02 | Toyota Motor Corp | Hybrid car and its control method |
| CN101341058A (en) * | 2005-12-27 | 2009-01-07 | 本田技研工业株式会社 | Controller of vehicle |
| CN103303157A (en) * | 2013-06-19 | 2013-09-18 | 电子科技大学 | Torque distribution method of four-wheel drive electric vehicle |
| CN106394311A (en) * | 2016-10-14 | 2017-02-15 | 清华大学 | Torque on-line calibration allocation control method for four-wheel drive electric automobile |
-
2017
- 2017-06-08 CN CN201710425959.3A patent/CN107187338B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1609662A1 (en) * | 2004-06-24 | 2005-12-28 | Nissan Motor Company, Limited | Drive control apparatus and method for vehicles |
| JP2006304392A (en) * | 2005-04-15 | 2006-11-02 | Toyota Motor Corp | Hybrid car and its control method |
| CN101341058A (en) * | 2005-12-27 | 2009-01-07 | 本田技研工业株式会社 | Controller of vehicle |
| CN103303157A (en) * | 2013-06-19 | 2013-09-18 | 电子科技大学 | Torque distribution method of four-wheel drive electric vehicle |
| CN106394311A (en) * | 2016-10-14 | 2017-02-15 | 清华大学 | Torque on-line calibration allocation control method for four-wheel drive electric automobile |
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| CN107187338B (en) | 2019-04-30 |
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Effective date of registration: 20220106 Address after: 454750 industrial cluster of Mengzhou City, Jiaozuo City, Henan Province Patentee after: HENAN YUJIE TIMES AUTOMOBILE Co.,Ltd. Address before: 054800 West Wagong Avenue South of Fengharvest Canal, Qinghe County, Xingtai City, Hebei Province Patentee before: HEBEI YUJIE TIMES AUTOMOBILE CO.,LTD. |
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