CN107472082A - Driving moment distribution method, system and the electric automobile of four-drive electric car - Google Patents
Driving moment distribution method, system and the electric automobile of four-drive electric car Download PDFInfo
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- CN107472082A CN107472082A CN201710596797.XA CN201710596797A CN107472082A CN 107472082 A CN107472082 A CN 107472082A CN 201710596797 A CN201710596797 A CN 201710596797A CN 107472082 A CN107472082 A CN 107472082A
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- 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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/463—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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- 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
Abstract
The present invention proposes a kind of driving moment distribution method, system and the electric automobile of four-drive electric car, and method comprises the following steps：During a traveling, the aggregate demand driving moment of vehicle corresponding to target vehicle speed under its straight line driving operating mode is obtained respectively, the adjustment yaw moment of vehicle, low attachment road wheel drive the additional adjustment driving moment for each wheel under operating mode of trackslipping under Vehicular turn driving operating mode；The vertical load of each wheel and total vertical load of vehicle are obtained respectively；According to total vertical load of aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel, the vertical load of each wheel and vehicle, Torque distribution is driven to each wheel respectively according to default torque distribution mode.The present invention can improve energy utilization efficiency in real time according to vehicle dynamic travel situations and wheel different load to each wheel reasonable distribution driving moment, and effectively can prevent driving wheel from skidding, and improve vehicle safety.
Description
Technical field
The present invention relates to automobile technical field, the driving moment distribution method of more particularly to a kind of four-drive electric car, it is
System and electric automobile.
Background technology
At present there is the defects of very big in the driving moment method of salary distribution of electric automobile, i.e., is assigned to each wheel when turning to
Driving moment it is unreasonable, or most of torque for being assigned to each wheel is four wheel deciles, or be front and back wheel by
According to certain proportion point, and left and right wheels are equal, it is impossible in real time according to vehicle dynamic travel situations and wheel different load reasonable distribution
Torque, so as to cause vehicle, driving moment can not rationally play its effect, finally lead during driving or turning driving is accelerated
Cause energy utilization efficiency low, driving wheel skidding occur, even resulting in vehicle can not travel according to driver intention, influence car
Safety traffic.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem.
Therefore, it is an object of the present invention to propose a kind of driving moment distribution method of four-drive electric car, the party
Method can improve energy in real time according to vehicle dynamic travel situations and wheel different load to each wheel reasonable distribution driving moment
Utilization ratio is measured, and effectively can prevent driving wheel from skidding, improves vehicle safety.
It is another object of the present invention to the driving moment distribution system for proposing a kind of four-drive electric car.
Third object of the present invention is to propose a kind of electric automobile.
To achieve these goals, the embodiment of first aspect present invention proposes a kind of driving force of four-drive electric car
Square distribution method, comprises the following steps：During a traveling, it is corresponding that target vehicle speed under its straight line driving operating mode is obtained respectively
Vehicle aggregate demand driving moment, Vehicular turn driving operating mode under vehicle adjustment yaw moment, it is low attachment road wheel drive
The additional adjustment driving moment of each wheel under dynamic operating mode of trackslipping；The vertical load of each wheel and total vertical load of vehicle are obtained respectively
Lotus；According to the aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel, each wheel it is vertical
Total vertical load of load and vehicle, Torque distribution is driven to each wheel respectively according to default torque distribution mode.
The driving moment distribution method of four-drive electric car according to embodiments of the present invention, each wheel is travelled based on Vehicular turn
Load condition, qualitatively individually distribute driving moment to each wheel, i.e., it is different with wheel according to vehicle dynamic travel situations in real time
Load is to each wheel reasonable distribution driving moment, so as to improve capacity usage ratio so that the driving intention of driver is easily full
Foot, and effectively can prevent driving wheel from skidding, improve the driving safety of vehicle.
In addition, the driving moment distribution method of four-drive electric car according to the above embodiment of the present invention can also have such as
Additional technical characteristic down：
In some instances, the side for being driven Torque distribution to each wheel respectively according to default torque distribution mode
Formula is as follows：
Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3Distributed for left rear wheel
Driving moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2For
The vertical load of off-front wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T drives for the aggregate demand
Torque, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22Driven for the additional adjustment of off-front wheel
Torque, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is the effective of wheel
Radius, B are wheelspan.
In some instances, obtaining the method for the aggregate demand driving moment includes：In the case where its straight line drives operating mode, obtain
The actual vehicle speed of pick-up；PI (proportional are carried out according to the difference of the target vehicle speed and actual vehicle speed
Integral, proportional integration) control, to obtain the aggregate demand driving moment of vehicle corresponding to the target vehicle speed.
In some instances, obtaining the method for the adjustment yaw moment includes：In the case where Vehicular turn drives operating mode, obtain
The actual yaw velocity of the front-wheel effective rotation of vehicle, actual vehicle speed and vehicle；According to the front-wheel effective rotation and reality
Speed, the current preferable yaw velocity of vehicle is obtained by default preferable car model；According to the preferable yaw angle speed
The difference of degree and actual yaw velocity carries out PI controls, obtains the adjustment yaw moment.
In some instances, the calculation formula of the preferable yaw velocity is as follows：
Wherein, ωdFor the preferable yaw velocity, u is the actual vehicle speed, a be barycenter to front axle distance, b is matter
The heart is to rear axle distance, and L is wheelbase, k1And k2Respectively antero posterior axis tire cornering stiffness, K are stability factor, and δ is that front-wheel is equivalent
Corner, m complete vehicle qualities.
In some instances, obtaining the method for the additional adjustment driving moment of each wheel includes：On low attachment road surface
Wheel driving is trackslipped under operating mode, obtains the wheel speed of each wheel and the actual vehicle speed of vehicle；According to the wheel speed of each wheel and the reality
Border speed calculates the actual slip rate of each wheel；According to the actual slip rate of each wheel and the difference of default target slip ratio
Value carries out PI controls, obtains the additional adjustment driving moment of each wheel.
To achieve these goals, the embodiment of second aspect of the present invention proposes a kind of driving force of four-drive electric car
Square distribution system, including：Computing module, for during a traveling, obtaining target carriage under its straight line driving operating mode respectively
The aggregate demand driving moment of vehicle corresponding to speed, Vehicular turn drive the adjustment yaw moment of vehicle, low attachment road surface under operating mode
Wheel drives the additional adjustment driving moment of each wheel under operating mode of trackslipping；Acquisition module, for obtaining the vertical of each wheel respectively
Total vertical load of load and vehicle；Torque distribution module, for according to the aggregate demand driving moment, adjustment yaw moment,
Total vertical load of the additional adjustment driving moment of each wheel, the vertical load of each wheel and vehicle, according to default Torque distribution
Mode is driven Torque distribution to each wheel respectively.
The driving moment distribution system of four-drive electric car according to embodiments of the present invention, each wheel is travelled based on Vehicular turn
Load condition, qualitatively individually distribute driving moment to each wheel, i.e., it is different with wheel according to vehicle dynamic travel situations in real time
Load is to each wheel reasonable distribution driving moment, so as to improve capacity usage ratio so that the driving intention of driver is easily full
Foot, and effectively can prevent driving wheel from skidding, improve the driving safety of vehicle.
In addition, the driving moment distribution system of four-drive electric car according to the above embodiment of the present invention can also have such as
Additional technical characteristic down：
In some instances, the side for being driven Torque distribution to each wheel respectively according to default torque distribution mode
Formula is as follows：
Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3Distributed for left rear wheel
Driving moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2For
The vertical load of off-front wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T drives for the aggregate demand
Torque, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22Driven for the additional adjustment of off-front wheel
Torque, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is the effective of wheel
Radius, B are wheelspan.
In some instances, the computing module is used for：In the case where its straight line drives operating mode, the actual car of vehicle is obtained
Speed, and PI controls are carried out according to the difference of the target vehicle speed and actual vehicle speed, to obtain vehicle corresponding to the target vehicle speed
Aggregate demand driving moment；And in the case where Vehicular turn drives operating mode, obtain front-wheel effective rotation, actual vehicle speed and the car of vehicle
Actual yaw velocity, and according to the front-wheel effective rotation and actual vehicle speed, obtained by default preferable car model
The preferable yaw velocity current to vehicle, and carried out according to the difference of the preferable yaw velocity and actual yaw velocity
PI is controlled, and obtains the adjustment yaw moment；And trackslipped in low attachment road wheel driving under operating mode, obtain the wheel of each wheel
The actual vehicle speed of speed and vehicle, and according to the wheel speed of each wheel and the actual slip rate of each wheel of actual vehicle speed calculating, and
PI controls are carried out according to the actual slip rate of each wheel and the difference of default target slip ratio, obtain each wheel
Additional adjustment driving moment.
To achieve these goals, the embodiment of third aspect present invention discloses a kind of electric automobile, including the present invention
The driving moment distribution system of four-drive electric car described in above-mentioned second aspect embodiment.
Electric automobile according to embodiments of the present invention, each wheel load condition is travelled based on Vehicular turn, qualitatively to each car
Wheel individually distributes driving moment, i.e., each wheel reasonable distribution is driven according to vehicle dynamic travel situations and wheel different load in real time
Kinetic moment, so as to improve capacity usage ratio so that the driving intention of driver readily satisfies, and effectively can prevent driving wheel from beating
It is sliding, improve driving safety.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of the driving moment distribution method of four-drive electric car according to embodiments of the present invention；
Fig. 2 is the torque point according to the driving moment distribution method of the four-drive electric car of a specific embodiment of the invention
With policy map；
Fig. 3 is the structured flowchart of the driving moment distribution system of four-drive electric car according to embodiments of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint are relative
Importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Driving moment distribution method, the system of four-drive electric car according to embodiments of the present invention are described below in conjunction with accompanying drawing
And electric automobile.
Fig. 1 is the flow chart of the driving moment distribution method of four-drive electric car according to an embodiment of the invention.Such as
Shown in Fig. 1, this method comprises the following steps：
Step S1：During a traveling, vehicle corresponding to target vehicle speed under its straight line driving operating mode is obtained respectively
The adjustment yaw moment of vehicle, low attachment road wheel drive work of trackslipping under aggregate demand driving moment, Vehicular turn driving operating mode
The additional adjustment driving moment of each wheel under condition.In other words, i.e., it is corresponding to be obtained according to the driving cycle of vehicle respectively for target vehicle speed
Vehicle aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel, wherein, driving cycle is extremely
Include less：Its straight line driving operating mode, Vehicular turn driving operating mode, low attachment road wheel drive operating mode of trackslipping.Specifically, exist
Under its straight line driving operating mode, the aggregate demand driving moment of vehicle corresponding to target vehicle speed is obtained；In car corresponding to target vehicle speed
Aggregate demand driving moment, obtain the adjustment yaw moment of vehicle；Obtained in the case where operating mode is trackslipped in low attachment road wheel driving
The additional adjustment driving moment of wheel.
Specifically, in one embodiment of the invention, obtaining the method for aggregate demand driving moment includes：In its straight line
Drive under operating mode, obtain the actual vehicle speed of vehicle；PI controls are carried out according to the difference of target vehicle speed and actual vehicle speed, to obtain mesh
Mark the aggregate demand driving moment of vehicle corresponding to speed.As specific example, with reference to shown in Fig. 2, for example, driver steps on the gas
The target vehicle speed of pedal is ud, it is u to calculate actual vehicle speed by speed Slope Method, and the difference of target vehicle speed and actual vehicle speed is defeated
Enter in speed follower controller, generally PI controls, PI controller tracking performances are preferable, and the output of speed follower controller is to reach
To the aggregate demand driving moment T of target vehicle speed.Further, it is necessary to according to default torque distribution mode by aggregate demand driving moment
Each wheel is distributed to, now generally its straight line drives operating mode.
In one embodiment of the invention, obtaining the method for adjustment yaw moment includes：Operating mode is driven in Vehicular turn
Under, obtain the actual yaw velocity of the front-wheel effective rotation of vehicle, actual vehicle speed and vehicle；According to front-wheel effective rotation and reality
Border speed, the current preferable yaw velocity of vehicle is obtained by default preferable car model；According to preferable yaw velocity
PI controls are carried out with the difference of actual yaw velocity, are adjusted yaw moment.As specific example, with reference to shown in Fig. 2,
For example, measured by steering wheel angle sensor and front-wheel effective rotation δ is calculated, with GES (actual vehicle speed) through ideal
Car model (the linear two degrees of freedom car model in automobile theory book) calculates the preferable yaw velocity w of vehicle this momentd,
Assuming that the actual yaw velocity of automobile output is w, it would be desirable to yaw velocity wdInputted with actual yaw velocity w difference
In yaw moment control device, the output of yaw moment control device is the adjustment yaw moment Δ T of vehicle.Adjust yaw moment in fact
It is not present, it is not waited by antero posterior axis left and right wheels driving moment and produced, now in order that vehicle reaches preferably steering surely
Qualitative, i.e. ESP (Electronic Stability Program, body electronics systems stabilisation) should be according to default Torque distribution side
The yaw moment that need to be adjusted is converted into the driving moment that need to be adjusted and distributes to each wheel by formula, now drives work for Vehicular turn
Condition.
Wherein, mainly ideal is calculated by currently practical speed and front-wheel effective rotation in linear two degrees of freedom car model
Yaw velocity size, based on this, the calculation formula of above-mentioned preferable yaw velocity is as follows：
Wherein, ωdFor preferable yaw velocity, u is actual vehicle speed, and its unit is km/h；A is barycenter to front axle distance,
Its unit is rice；B be barycenter to rear axle distance, its unit is rice；L is wheelbase, and its unit is rice；k1And k2Respectively antero posterior axis
Tire cornering stiffness, its unit are N/rad；K is stability factor, and its unit is s2/m2；δ is front-wheel effective rotation, and m is vehicle
Quality.
In one embodiment of the invention, obtaining the method for the additional adjustment driving moment of each wheel includes：Low attached
Road wheel driving to trackslip under operating mode, obtain the wheel speed of each wheel and the actual vehicle speed of vehicle；According to the wheel speed of each wheel and
Actual vehicle speed calculates the actual slip rate of each wheel；According to the actual slip rate of each wheel and the difference of default target slip ratio
PI controls are carried out, obtain the additional adjustment driving moment of each wheel.As specific example, with reference to shown in Fig. 2, for example, driving
Antiskid system (TCS, traction control system) is according to the GES (actual vehicle speed) and each wheel wheel speed estimated
The wheel speed signal (wheel speed of wheel) that sensor detects, calculates the actual slippage rate of each wheel, and sets target slippage rate is Sopt
(size of target slippage rate is depending on different road conditions), the difference of target slippage rate and actual slippage rate is input to slippage rate
In controller, slippage rate controller output quantity is the additional adjustment driving moment T of each wheel11、T12、T33And T44, now to be low
Attachment road wheel drives operating mode of trackslipping.
Step S2：The vertical load of each wheel and total vertical load of vehicle are obtained respectively.
Specifically, with reference to shown in Fig. 2, total vertical load F of vehicleZ=FZ1+FZ2+FZ3+FZ4, FZ1、FZ2、FZ3And FZ4Point
Not Wei the near front wheel, off-front wheel, the vertical load of left rear wheel and off hind wheel, total vertical load is car weight.Wherein, each wheel is vertical
Straight magnitude of load can be gathered by force snesor.
Step S3：According to aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel, each car
The vertical load of wheel and total vertical load of vehicle, it is driven torque point to each wheel respectively according to default torque distribution mode
Match somebody with somebody.
Specifically, in one embodiment of the invention, in step s3, according to default torque distribution mode respectively to each
The mode that wheel is driven Torque distribution is as follows：
Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3Distributed for left rear wheel
Driving moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2For
The vertical load of off-front wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T is aggregate demand driving force
Square, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22For the additional adjustment driving force of off-front wheel
Square, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is effectively the half of wheel
Footpath, its unit are rice, and B is wheelspan, and its unit is rice.
In other words, with reference to shown in Fig. 2, the driving of the driving moment distribution method of the four-drive electric car of the embodiment of the present invention
Torque distribution process can be divided into top level control device and lower floor's controller, and top level control device includes speed following controller, yaw power
Square controller and slippage rate controller, main task are the corresponding control of control model selection determined according to unstability judge module
Device works, and driving moment, adjustment yaw moment and additional adjustment according to needed for driver command calculates vehicle stabilization operation
Driving moment, while ensure that each wheel slip rate is no more than limiting value；Lower floor's controller is mainly made up of Torque distribution controller,
Vehicle stabilization mainly is run into required driving moment, adjustment yaw moment and additional adjustment driving moment three to be input to simultaneously
In torque distribution controller, torque distribution controller takes rational distribution method that these torques are reasonably distributed into four wheels
Hub electric machine controller, as each wheel demand torque, electric machine controller output appropriate voltage and the actual torsion of current regulation motor
Square and rotating speed, so as to ensure vehicle safe driving.
To sum up, the main realization principle of the driving moment distribution method of the four-drive electric car of the embodiment of the present invention can be summarized
For：By monitoring vehicle running state in real time, the signal collected is issued central control unit, center control by various kinds of sensors
Each quasi-controller in unit according to each signal of change and sends optimum target moment of torsion to the hub motor control device of each wheel
In, it is final drive vehicle traveling, so as to the driving torque according to travel condition of vehicle reasonable distribution in real time so that capacity usage ratio
Improve, the driving intention of driver readily satisfies, and effectively prevent driving wheel skidding.
The driving moment distribution method of four-drive electric car according to embodiments of the present invention, each wheel is travelled based on Vehicular turn
Load condition, qualitatively individually distribute driving moment to each wheel, i.e., it is different with wheel according to vehicle dynamic travel situations in real time
Load is to each wheel reasonable distribution driving moment, so as to improve capacity usage ratio so that the driving intention of driver is easily full
Foot, and effectively can prevent driving wheel from skidding, improve the driving safety of vehicle.
Further embodiment of the present invention also proposed a kind of driving moment distribution system of four-drive electric car.
Fig. 3 is the structured flowchart of the driving moment distribution system of four-drive electric car according to an embodiment of the invention.
As shown in figure 3, the system 100 includes：Computing module 110, acquisition module 120 and Torque distribution module 130.
Wherein, computing module 110 is used for during a traveling, obtains target vehicle speed under its straight line driving operating mode respectively
The aggregate demand driving moment of corresponding vehicle, Vehicular turn drive the adjustment yaw moment of vehicle under operating mode, low attachment road surface car
Wheel drive is trackslipped the additional adjustment driving moment of each wheel under operating mode.In other words, i.e., obtained respectively according to the driving cycle of vehicle
Aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel of vehicle corresponding to target vehicle speed, its
In, driving cycle comprises at least：Its straight line driving operating mode, Vehicular turn driving operating mode, low attachment road wheel driving are trackslipped
Operating mode.Specifically, in the case where its straight line drives operating mode, the aggregate demand driving moment of vehicle corresponding to target vehicle speed is obtained；In mesh
The aggregate demand driving moment of vehicle corresponding to speed is marked, obtains the adjustment yaw moment of vehicle；In low attachment road wheel driving
The additional adjustment driving moment of wheel is obtained under operating mode of trackslipping.
Specifically, in one embodiment of the invention, computing module 110 is used for：
In the case where its straight line drives operating mode, the actual vehicle speed of vehicle is obtained, and according to target vehicle speed and the difference of actual vehicle speed
Value carries out PI controls, and to obtain the aggregate demand driving moment of vehicle corresponding to target vehicle speed, the process obtains aggregate demand driving
The process of torque.
In the case where Vehicular turn drives operating mode, the actual yaw of the front-wheel effective rotation of vehicle, actual vehicle speed and vehicle is obtained
Angular speed, and according to front-wheel effective rotation and actual vehicle speed, the current ideal of vehicle is obtained by default preferable car model
Yaw velocity, and PI controls are carried out according to the difference of preferable yaw velocity and actual yaw velocity, it is adjusted yaw
Torque, the process are to obtain the process of adjustment yaw moment.
Wherein, default preferable car model is, for example, linear two degrees of freedom car model.Linear two degrees of freedom automobile mould
Mainly preferable yaw velocity size, based on this, above-mentioned reason is calculated by currently practical speed and front-wheel effective rotation in type
Think that the calculation formula of yaw velocity is as follows：
Wherein, ωdFor preferable yaw velocity, u is actual vehicle speed, and its unit is km/h；A is barycenter to front axle distance,
Its unit is rice；B be barycenter to rear axle distance, its unit is rice；L is wheelbase, and its unit is rice；k1And k2Respectively antero posterior axis
Tire cornering stiffness, its unit are N/rad；K is stability factor, and its unit is s2/m2；δ is front-wheel effective rotation, and m is vehicle
Quality.
Trackslipped in low attachment road wheel driving under operating mode, obtain the wheel speed of each wheel and the actual vehicle speed of vehicle, and root
Calculate the actual slip rate of each wheel according to the wheel speed and actual vehicle speed of each wheel, and according to the actual slip rate of each wheel with it is default
The difference of target slip ratio carry out PI controls, obtain the additional adjustment driving moment of each wheel, the process obtains each wheel
Additional adjustment driving moment process.
Acquisition module 120 is used to obtain the vertical load of each wheel and total vertical load of vehicle respectively.Specifically, car
Total vertical load FZ=FZ1+FZ2+FZ3+FZ4, FZ1、FZ2、FZ3And FZ4Respectively behind the near front wheel, off-front wheel, left rear wheel and the right side
The vertical load of wheel, total vertical load are car weight.Wherein, the big I of the vertical load of each wheel is gathered by force snesor.
Torque distribution module 130 is used to be driven according to the additional adjustment of aggregate demand driving moment, adjustment yaw moment, each wheel
Total vertical load of kinetic moment, the vertical load of each wheel and vehicle, each wheel is entered respectively according to default torque distribution mode
Row driving moment is distributed.
Specifically, in one embodiment of the invention, Torque distribution module 130 is distinguished according to default torque distribution mode
The mode that Torque distribution is driven to each wheel is as follows：
Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3Distributed for left rear wheel
Driving moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2For
The vertical load of off-front wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T is aggregate demand driving force
Square, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22For the additional adjustment driving force of off-front wheel
Square, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is effectively the half of wheel
Footpath, its unit are rice, and B is wheelspan, and its unit is rice.
In other words, the driving moment assigning process of the driving moment distribution system of the four-drive electric car of the embodiment of the present invention
Top level control device and lower floor's controller can be divided into, top level control device includes speed following controller, yaw moment control device and cunning
Rate of rotation controller, main task are that the control model determined according to unstability judge module selects corresponding controller work, and root
Driving moment, adjustment yaw moment and the additional adjustment driving moment needed for vehicle stabilization operation are calculated according to driver command, together
When ensure that each wheel slip rate is no more than limiting value；Lower floor's controller is mainly made up of Torque distribution controller, mainly by vehicle
Driving moment, adjustment yaw moment and additional adjustment driving moment three needed for stable operation are input to torque distribution control simultaneously
In device processed, torque distribution controller takes rational distribution method that these torques are reasonably distributed into four hub motor controls
Device, as each wheel demand torque, electric machine controller output appropriate voltage and current regulation motor actual torque and rotating speed, from
And ensure vehicle safe driving.
To sum up, the main realization principle of the driving moment distribution system of the four-drive electric car of the embodiment of the present invention can be summarized
For：By monitoring vehicle running state in real time, the signal collected is issued central control unit, center control by various kinds of sensors
Each quasi-controller in unit according to each signal of change and sends optimum target moment of torsion to the hub motor control device of each wheel
In, it is final drive vehicle traveling, so as to the driving torque according to travel condition of vehicle reasonable distribution in real time so that capacity usage ratio
Improve, the driving intention of driver readily satisfies, and effectively prevent driving wheel skidding.
It should be noted that the specific implementation side of the driving moment distribution system of the four-drive electric car of the embodiment of the present invention
Formula is similar with the specific implementation of the driving moment distribution method of the four-drive electric car of the embodiment of the present invention, specifically refers to
The description of method part, in order to reduce redundancy, here is omitted.
The driving moment distribution system of four-drive electric car according to embodiments of the present invention, each wheel is travelled based on Vehicular turn
Load condition, qualitatively individually distribute driving moment to each wheel, i.e., it is different with wheel according to vehicle dynamic travel situations in real time
Load is to each wheel reasonable distribution driving moment, so as to improve capacity usage ratio so that the driving intention of driver is easily full
Foot, and effectively can prevent driving wheel from skidding, improve the driving safety of vehicle.
Further embodiment of the present invention additionally provides a kind of electric automobile.It is above-mentioned any that the electric automobile includes the present invention
The driving moment distribution system of four-drive electric car described by one embodiment.
It should be noted that the specific implementation of the electric automobile of the embodiment of the present invention and the 4 wheel driven of the embodiment of the present invention
The specific implementation of the driving moment distribution system of electric automobile is similar, specifically refers to the description of components of system as directed, in order to subtract
Few redundancy, here is omitted.
To sum up, electric automobile according to embodiments of the present invention, each wheel load condition is travelled based on Vehicular turn, it is qualitatively right
Each wheel individually distributes driving moment, i.e., each wheel is rationally divided according to vehicle dynamic travel situations and wheel different load in real time
With driving moment, so as to improve capacity usage ratio so that the driving intention of driver readily satisfies, and can effectively prevent from driving
Wheel skids, and improves driving safety.
In addition, electric automobile according to embodiments of the present invention other compositions and effect for this area ordinary skill
All it is known for personnel, in order to reduce redundancy, does not repeat.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (10)
1. the driving moment distribution method of a kind of four-drive electric car, it is characterised in that comprise the following steps：
During a traveling, the aggregate demand driving force of vehicle corresponding to target vehicle speed under its straight line driving operating mode is obtained respectively
The adjustment yaw moment of vehicle, low attachment road wheel drive each wheel under operating mode of trackslipping under square, Vehicular turn driving operating mode
Additional adjustment driving moment；
The vertical load of each wheel and total vertical load of vehicle are obtained respectively；
According to the aggregate demand driving moment, adjustment yaw moment, the additional adjustment driving moment of each wheel, each wheel it is vertical
Total vertical load of load and vehicle, Torque distribution is driven to each wheel respectively according to default torque distribution mode.
2. the driving moment distribution method of four-drive electric car according to claim 1, it is characterised in that described according to pre-
If the mode that Torque distribution is driven Torque distribution to each wheel respectively is as follows：
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Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3For the drive of left rear wheel distribution
Kinetic moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2Before the right side
The vertical load of wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T is the aggregate demand driving force
Square, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22For the additional adjustment driving force of off-front wheel
Square, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is effectively the half of wheel
Footpath, B are wheelspan.
3. the driving moment distribution method of four-drive electric car according to claim 1 or 2, it is characterised in that obtain institute
Stating the method for aggregate demand driving moment includes：
In the case where its straight line drives operating mode, the actual vehicle speed of vehicle is obtained；
PI controls are carried out according to the difference of the target vehicle speed and actual vehicle speed, to obtain vehicle corresponding to the target vehicle speed
Aggregate demand driving moment.
4. the driving moment distribution method of four-drive electric car according to claim 1 or 2, it is characterised in that obtain institute
Stating the method for adjustment yaw moment includes：
In the case where Vehicular turn drives operating mode, the actual yaw angle speed of the front-wheel effective rotation of vehicle, actual vehicle speed and vehicle is obtained
Degree；
According to the front-wheel effective rotation and actual vehicle speed, it is horizontal that the current ideal of vehicle is obtained by default preferable car model
Pivot angle speed；
PI controls are carried out according to the difference of the preferable yaw velocity and actual yaw velocity, obtain the adjustment yaw power
Square.
5. the driving moment distribution method of four-drive electric car according to claim 4, it is characterised in that described preferable horizontal
The calculation formula of pivot angle speed is as follows：
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Wherein, ωdFor the preferable yaw velocity, u is the actual vehicle speed, a be barycenter to front axle distance, b is barycenter to rear
Wheelbase is wheelbase from, L, k1And k2Respectively antero posterior axis tire cornering stiffness, K are stability factor, and δ is front-wheel effective rotation, m
For complete vehicle quality.
6. the driving moment distribution method of four-drive electric car according to claim 1 or 2, it is characterised in that obtain institute
Stating the method for the additional adjustment driving moment of each wheel includes：
Trackslipped in low attachment road wheel driving under operating mode, obtain the wheel speed of each wheel and the actual vehicle speed of vehicle；
The actual slip rate of each wheel is calculated according to the wheel speed of each wheel and the actual vehicle speed；
PI controls are carried out according to the actual slip rate of each wheel and the difference of default target slip ratio, obtain each car
The additional adjustment driving moment of wheel.
A kind of 7. driving moment distribution system of four-drive electric car, it is characterised in that including：
Computing module, for during a traveling, obtaining vehicle corresponding to target vehicle speed under its straight line driving operating mode respectively
Aggregate demand driving moment, Vehicular turn driving operating mode under vehicle adjustment yaw moment, it is low attachment road wheel driving trackslip
The additional adjustment driving moment of each wheel under operating mode；；
Acquisition module, for obtaining the vertical load of each wheel and total vertical load of vehicle respectively；
Torque distribution module, for being driven according to the additional adjustment of the aggregate demand driving moment, adjustment yaw moment, each wheel
Total vertical load of torque, the vertical load of each wheel and vehicle, each wheel is carried out respectively according to default torque distribution mode
Driving moment is distributed.
8. the driving moment distribution system of four-drive electric car according to claim 7, it is characterised in that described according to pre-
If the mode that torque distribution mode is driven Torque distribution to each wheel respectively is as follows：
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Wherein, T1For the driving moment of the near front wheel distribution, T2For the driving moment of off-front wheel distribution, T3For the drive of left rear wheel distribution
Kinetic moment, T4For the driving moment of off hind wheel distribution, FZFor total vertical load, FZ1For the vertical load of the near front wheel, FZ2Before the right side
The vertical load of wheel, FZ3For the vertical load of left rear wheel, FZ4For the vertical load of off hind wheel, T is the aggregate demand driving force
Square, Δ T are to adjust yaw moment, T11For the additional adjustment driving moment of the near front wheel, T22For the additional adjustment driving force of off-front wheel
Square, T33For the additional adjustment driving moment of left rear wheel, T44For the additional adjustment driving moment of off hind wheel, r is effectively the half of wheel
Footpath, B are wheelspan.
9. the driving moment distribution system of the four-drive electric car according to claim 7 or 8, it is characterised in that the meter
Module is calculated to be used for：
In the case where its straight line drives operating mode, the actual vehicle speed of vehicle is obtained, and according to the target vehicle speed and the difference of actual vehicle speed
Value carries out PI controls, to obtain the aggregate demand driving moment of vehicle corresponding to the target vehicle speed；And
In the case where Vehicular turn drives operating mode, the actual yaw angle speed of the front-wheel effective rotation of vehicle, actual vehicle speed and vehicle is obtained
Degree, and according to the front-wheel effective rotation and actual vehicle speed, the current ideal of vehicle is obtained by default preferable car model
Yaw velocity, and PI controls are carried out according to the difference of the preferable yaw velocity and actual yaw velocity, obtain described
Adjust yaw moment；And
Trackslipped in low attachment road wheel driving under operating mode, obtain the wheel speed of each wheel and the actual vehicle speed of vehicle, and according to each
The wheel speed of wheel and the actual vehicle speed calculate the actual slip rate of each wheel, and according to the actual slip rate of each wheel with
The difference of default target slip ratio carries out PI controls, obtains the additional adjustment driving moment of each wheel.
10. a kind of electric automobile, it is characterised in that include the drive of the four-drive electric car as described in claim any one of 7-9
Kinetic moment distribution system.
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| CN109017760A (en) * | 2018-07-31 | 2018-12-18 | 大连民族大学 | Vehicle desired trajectory tracking, device and rolling time horizon optimization algorithm |
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| CN109835317A (en) * | 2017-11-29 | 2019-06-04 | 长城汽车股份有限公司 | Rotating direction control method, device, vehicle and storage medium |
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| CN111645665A (en) * | 2019-09-20 | 2020-09-11 | 摩登汽车有限公司 | Driving torque control method and system for vehicle and automobile |
| CN112224036A (en) * | 2020-10-28 | 2021-01-15 | 北京理工大学 | Four-wheel driving torque distribution method and system for distributed driving electric vehicle |
| CN113002320A (en) * | 2021-02-08 | 2021-06-22 | 南京航空航天大学 | Electric vehicle self-adaptive motor driving device matched with different tires and control method thereof |
| CN113561788A (en) * | 2020-04-28 | 2021-10-29 | 北京新能源汽车股份有限公司 | Traction control method, device and equipment for electric automobile and electric automobile |
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