CN107539164A - Automobile and its Electronic differential control method and control device - Google Patents
Automobile and its Electronic differential control method and control device Download PDFInfo
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- CN107539164A CN107539164A CN201610494474.5A CN201610494474A CN107539164A CN 107539164 A CN107539164 A CN 107539164A CN 201610494474 A CN201610494474 A CN 201610494474A CN 107539164 A CN107539164 A CN 107539164A
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a kind of automobile and its Electronic differential control method and control device, wherein, Electronic differential control method comprises the following steps：In automobile turning, the left driving wheel of automobile and the rotating speed of right driving wheel are detected respectively, and calculate the ratio between left driving wheel and the rotating speed of right driving wheel；Judge whether the ratio between rotating speed is equal to the ratio between radius of turn of left driving wheel and right driving wheel；If it is determined that the ratio between rotating speed then the ditribution coefficiency on the wheel hub of left and right is adjusted, so that the ratio between rotating speed is equal to the ratio between radius of turn not equal to the ratio between radius of turn.This method uses closed-loop control, when automobile runs into the operating modes such as turning, skidding, the ditribution coefficiency of left and right wheel hub is followed change in real time so that rotating ratio meets ratio of cornering radius, so that automobile reaches more preferable differential effect.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of Electronic differential control method of automobile, a kind of electronics of automobile
Device for controlling differential speed and a kind of automobile.
Background technology
Electronic differential, primarily directed to a set of power solution of In-wheel motor driving vehicle, turning is run into vehicle, is beaten
It during the operating mode such as sliding, can quickly respond, rational moment of torsion distribution is made to left and right wheel hub.
In correlation technique, the moment of torsion point of left and right wheel hub is mainly calculated according to the ratio between radius of turn of left driving wheel and right driving wheel
Distribution coefficient, that is, the torque relationship for needing to distribute are：Wherein, T1, T2 are respectively left and right driving wheel
Moment of torsion, n1, n2 points of rotating speeds than being left and right driving wheel, R1, R2 are respectively the radius of turn of left and right driving wheel.
Above-mentioned technical proposal is an opened loop control, that is, simply according to the radius of turn of left and right driving wheel derive it is left,
The rotating speed of right driving wheel, the moment of torsion of left and right driving wheel, not any feedback are then derived again.This can cause electronics
Differential can produce required differential effect incipient when, but the error for more arriving automotive electronics differential below can be more next
It is bigger, finally there is uncontrollable situation.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of Electronic differential control method of automobile, this method uses closed loop
Control, when automobile runs into the operating modes such as turning, skidding, makes the ditribution coefficiency of left and right wheel hub follow change in real time so that
Rotating ratio meets ratio of cornering radius, so as to reach more preferable differential effect.
Second object of the present invention is to propose a kind of differential control device of automobile.
Third object of the present invention is to propose a kind of automobile.
To reach above-mentioned purpose, first aspect present invention embodiment proposes a kind of Electronic differential control method of automobile, including
Following steps：In the automobile turning, the left driving wheel of the automobile and the rotating speed of right driving wheel are detected respectively, and calculate
The ratio between the left driving wheel and the rotating speed of the right driving wheel；Judge whether the ratio between described rotating speed is equal to the left driving wheel and institute
State the ratio between radius of turn of right driving wheel；If it is determined that the ratio between described rotating speed is not equal to the ratio between described radius of turn, then to left and right
The ditribution coefficiency of wheel hub is adjusted, so that the ratio between described rotating speed is equal to the ratio between described radius of turn.
The Electronic differential control method of automobile according to embodiments of the present invention, in automobile turning, the left drive of automobile is detected respectively
The rotating speed of driving wheel and right driving wheel, and the ratio between left driving wheel and the rotating speed of right driving wheel are calculated, then whether judge the ratio between rotating speed
Equal to the ratio between radius of turn of left driving wheel and right driving wheel, if it is determined that the ratio between rotating speed is not equal to the ratio between radius of turn, then it is right
Ditribution coefficiency on the wheel hub of left and right is adjusted, so that the ratio between rotating speed is equal to the ratio between radius of turn.This method uses closed loop
Control, when automobile runs into the operating modes such as turning, skidding, can make the ditribution coefficiency of left and right wheel hub follow change in real time, make
Obtain rotating ratio and meet ratio of cornering radius, so that automobile reaches more preferable differential effect.
According to one embodiment of present invention, the Electronic differential control method of described automobile, in addition to：Turn when judgement is described
When the ratio between speed is equal to the ratio between described radius of turn, then keep the ditribution coefficiency of the left and right wheel hub constant.
According to one embodiment of present invention, the ratio between described radius of turn is calculated by following steps：Obtain the side of the automobile
To disk corner；The turning is calculated according to the distance between the wheelbase of the automobile, left and right wheel hub and the steering wheel angle
The ratio between radius.
According to one embodiment of present invention, the Electronic differential control method of described automobile, in addition to：Turn in the automobile
When curved, the ratio between the actual motion track of the left driving wheel and the actual motion track of the right driving wheel are obtained, and obtain institute
State the ratio between the preferable running orbit of left driving wheel and the preferable running orbit of the right driving wheel；Judge the actual motion track
The ratio between and the ratio between the preferable running orbit whether be equal to the ratio between described radius of turn；If it is not, then to the left and right wheels
The ditribution coefficiency of hub is adjusted.
According to one embodiment of present invention, the Electronic differential control method of described automobile, in addition to：If the reality
The ratio between running orbit and the ratio between the preferable running orbit are equal to the ratio between described radius of turn, then keep the left and right wheel hub
Ditribution coefficiency is constant.
According to one embodiment of present invention, the ditribution coefficiency on the wheel hub of left and right is adjusted, including：According to
The ratio between actual speed and rotating speed of target of the left wheel hub or right wheel hub, draw error and input to PID
In (Proportion-Integral-Derivative, proportional-integral-differential) device；Obtained according to the PID coefficients exported
The ditribution coefficiency of the left and right wheel hub.
To reach above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of differential control device of automobile, including：
Acquisition module, the acquisition module is used to detect the left driving wheel of the automobile and the rotating speed of right driving wheel, and calculates the left side
The ratio between driving wheel and the rotating speed of the right driving wheel；Control module, the control module are used for whether judging the ratio between described rotating speed
Equal to the ratio between radius of turn of the left driving wheel and the right driving wheel, wherein, if it is determined that the ratio between described rotating speed is not equal to
Then the ditribution coefficiency on the wheel hub of left and right is adjusted for the ratio between described radius of turn, the control module, so that described turn
The ratio between speed is equal to the ratio between described radius of turn.
The differential control device of automobile according to embodiments of the present invention, by acquisition module detect automobile left driving wheel and
The rotating speed of right driving wheel, and the ratio between left driving wheel and the rotating speed of right driving wheel are calculated, and the ratio between rotating speed is judged by control module
Whether the ratio between radius of turn of left driving wheel and right driving wheel is equal to, if it is determined that the ratio between rotating speed is not equal to the ratio between radius of turn,
Then the ditribution coefficiency on the wheel hub of left and right is adjusted for control module, so that the ratio between rotating speed is equal to the ratio between radius of turn.Should
Device uses closed-loop control, when automobile runs into the operating modes such as turning, skidding, make the ditribution coefficiency of left and right wheel hub in real time with
With change so that rotating ratio meets ratio of cornering radius, so that automobile reaches more preferable differential effect.
According to one embodiment of present invention, when judging that the ratio between described rotating speed is equal to the ratio between described radius of turn, the control
Module controls the ditribution coefficiency on the left and right wheel hub to keep constant.
According to one embodiment of present invention, the acquisition module, is additionally operable to：The steering wheel angle of the automobile is obtained, and
The ratio between described radius of turn is calculated according to the distance between the wheelbase of the automobile, left and right wheel hub and the steering wheel angle.
According to one embodiment of present invention, in the automobile turning, the control module, it is additionally operable to：Obtain the left side
The ratio between the actual motion track of driving wheel and the actual motion track of the right driving wheel, and obtain the ideal of the left driving wheel
The ratio between running orbit and the preferable running orbit of the right driving wheel, and judge the ratio between described actual motion track and the reason
Think whether the ratio between running orbit is equal to the ratio between described radius of turn, wherein, if it is not, the control module is then to described
The ditribution coefficiency of left and right wheel hub is adjusted.
According to one embodiment of present invention, if the ratio between described actual motion track and the ratio between the preferable running orbit all etc.
In the ratio between described radius of turn, the control module then controls the ditribution coefficiency of the left and right wheel hub to keep constant.
According to one embodiment of present invention, the control module is when the ditribution coefficiency to left and right wheel hub is adjusted,
Wherein, the control module draws error simultaneously according to the ratio between actual speed and rotating speed of target of the left wheel hub or right wheel hub
Input obtains the ditribution coefficiency of the left and right wheel hub into PID devices, and according to the PID coefficients exported.
To reach above-mentioned purpose, third aspect present invention embodiment proposes a kind of automobile, and it includes second aspect of the present invention reality
Apply the differential control device of the automobile described in example.
The automobile of the embodiment of the present invention, the left drive of automobile is detected by the acquisition module of the differential control device of above-mentioned automobile
The rotating speed of driving wheel and right driving wheel, and the ratio between left driving wheel and the rotating speed of right driving wheel are calculated, and judge to turn by control module
Whether the ratio between speed is equal to the ratio between radius of turn of left driving wheel and right driving wheel, if it is determined that the ratio between rotating speed is not equal to radius of turn
The ratio between, then the ditribution coefficiency on the wheel hub of left and right is adjusted for control module so that the ratio between rotating speed be equal to radius of turn it
Than.The automobile uses closed-loop control, when automobile runs into the operating modes such as turning, skidding, makes the ditribution coefficiency of left and right wheel hub
Follow change in real time so that rotating ratio meets ratio of cornering radius, so that automobile reaches more preferable differential effect.
Brief description of the drawings
The above-mentioned and/or additional aspect of the present invention and advantage will be apparent from the following description of the accompanying drawings of embodiments and
It is readily appreciated that, wherein,
Fig. 1 is the flow chart of the Electronic differential control method of automobile according to an embodiment of the invention；
Fig. 2 is the flow chart of the Electronic differential control method of automobile in accordance with another embodiment of the present invention；
Fig. 3 is the schematic diagram of electronic differential according to an embodiment of the invention implementation on automobile；And
Fig. 4 is the block diagram of differential control device according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from beginning to end
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings come describe the Electronic differential control method of automobile of proposition of the embodiment of the present invention, automobile electronic differential
Control device and automobile.
Fig. 1 is the flow chart of the Electronic differential control method of automobile according to an embodiment of the invention.As shown in figure 1, should
Electronic differential control method may comprise steps of：
S1, in automobile turning, respectively detect automobile left driving wheel and right driving wheel rotating speed, and calculate left driving wheel and
The ratio between rotating speed of right driving wheel.
Specifically, left driving wheel and the right side can be detected respectively by the wheel speed sensors being arranged on left driving wheel and right driving wheel
The rotating speed of driving wheel, then calculate the ratio between left driving wheel and the rotating speed of right driving wheel.
S2, judges whether the ratio between rotating speed is equal to the ratio between radius of turn of left driving wheel and right driving wheel.
According to one embodiment of present invention, the ratio between radius of turn is calculated by following steps：Obtain the steering wheel angle of automobile；
The ratio between radius of turn is calculated according to the distance between the wheelbase L1 of automobile, left and right wheel hub L2 and steering wheel angle.Wherein,
The distance between the wheelbase L1 of automobile, left and right wheel hub L2 is the intrinsic parameter of automobile, and steering wheel angle can be by detecting
Arrive, for example, can by automobile setting direction disk rotary angle transmitter detect to obtain.Circular is prior art,
Here repeat no more.
S3, if it is determined that the ratio between rotating speed is not equal to the ratio between radius of turn, then the ditribution coefficiency of left and right wheel hub is adjusted,
So that the ratio between rotating speed is equal to the ratio between radius of turn.
According to one embodiment of present invention, as shown in figure 1, when judging that the ratio between rotating speed is equal to the ratio between radius of turn, then protect
The ditribution coefficiency for holding left and right wheel hub is constant (step S4).
According to one embodiment of present invention, the ditribution coefficiency on the wheel hub of left and right is adjusted, including：According to revolver
The ratio between actual speed and rotating speed of target of hub or right wheel hub, draw error and input into PID devices；Exported according to PID
Coefficient obtain the ditribution coefficiency of left and right wheel hub.
Specifically, in automobile turning, the left driving wheel of automobile and the rotating speed of right driving wheel are detected respectively, and calculate left driving
The ratio between wheel and the rotating speed of right driving wheel, judge whether the ratio between rotating speed is equal to the ratio between radius of turn of left driving wheel and right driving wheel.
If it is determined that the ratio between rotating speed is equal to the ratio between radius of turn, then keep the ditribution coefficiency of left and right wheel hub constant；If it is determined that turn
The ratio between speed then carries out PID regulations not equal to the ratio between radius of turn to the ditribution coefficiency of left and right wheel hub.
For example, the actual speed of the left driving wheel of the automobile detected can be multiplied by into radius of turn, right driving wheel can be obtained
Rotating speed of target, the actual speed of the right driving wheel detected is then drawn into error compared with the rotating speed of target of right driving wheel
And input into PID devices, PID devices are proportional-integral-differential adjusters, actual value can be allowed quickly to follow desired value.
PID devices export coefficient of the scope between -0.5 to 0.5, this coefficient are added into 0.5, the as torsion of right driving wheel
Moment coefficient K1, then with the 1 torque coefficient K2 for subtracting K1, as left driving wheel.Thus, this method uses closed-loop control,
It when automobile runs into the operating modes such as turning, skidding, can quickly respond, rational moment of torsion distribution is made to left and right wheel hub,
So that automobile reaches more preferable differential effect.
According to one embodiment of present invention, as shown in Fig. 2 the Electronic differential control method of above-mentioned automobile, can also be wrapped
Include：
S101, in automobile turning, the ratio between the actual motion track of left driving wheel and the actual motion track of right driving wheel are obtained,
And obtain the ratio between the preferable running orbit of left driving wheel and the preferable running orbit of right driving wheel.
S102, judges whether the ratio between actual motion track and the ratio between preferable running orbit are equal to the ratio between radius of turn.
S103, if it is not, then the ditribution coefficiency of left and right wheel hub is adjusted.
According to one embodiment of present invention, if as shown in Fig. 2 the ratio between actual motion track and the ratio between preferable running orbit
The ratio between radius of turn is equal to, then keeps the ditribution coefficiency of left and right wheel hub constant (step S104).
Specifically, in automobile turning, throttle moment of torsion is multiplied by the torque coefficient K1 of the right driving wheel of PID devices feedback respectively
With the torque coefficient K2 of left driving wheel, the driving force of left and right driving wheel can be obtained.Different driving forces can produce driving wheel
Raw different acceleration, is integrated to obtain the first running orbit, then by the first rail to the acceleration of two driving wheels respectively
The second running orbit that mark integrates to obtain plus initial velocity, you can obtain the actual motion track of left and right driving wheel.
Then, as shown in figure 3, using the center of vehicle as reference point, angular speed when becoming detection automobile turning is revolved by motor,
It is understood that on automobile angular speed a little it is identical.Angular speed is multiplied by the radius of turn of left and right driving wheel respectively
And integrate, you can obtain the preferable running orbit of left and right driving wheel.
The actual motion track of left driving wheel is compared with the actual motion track of right driving wheel, the ideal of left driving wheel is run
Track is compared with the preferable running orbit of right driving wheel, if the ratio between actual motion track and the ratio between preferable running orbit are equal to
The ratio between radius of turn, then keep the ditribution coefficiency of left and right wheel hub constant.If being unsatisfactory for above-mentioned condition, to left and right wheels
The ditribution coefficiency of hub carries out PID regulations, and specific adjusting method is repeated no more, finally led to reference to above-described embodiment here
Overregulate and the running orbit of left and right sidesing driving wheel is run according to predetermined track, so as to realize the optimum efficiency of electronic differential.
It should be noted that the Electronic differential control method of the embodiment of the present invention is applied to Direct wheel drives vehicle, including forerunner,
Rear-guard and 4 wheel driven automobile etc..
In summary, the Electronic differential control method of automobile according to embodiments of the present invention, using closed-loop control, turn in automobile
When curved, it can be judged by whether being equal to the ratio between radius of turn to the ratio between rotating speed, can also be by actual motion track
The ratio between and the ratio between preferable running orbit whether be equal to the ratio between radius of turn and judged, reach to the moment of torsion on the wheel hub of left and right point
The purpose that distribution coefficient is adjusted, distributed with making rational moment of torsion to left and right wheel hub, so that automobile runs into turning, skidded
Etc. operating mode when, the ditribution coefficiency of left and right wheel hub is followed change in real time so that rotating ratio meets ratio of cornering radius, so as to
Automobile is set to reach more preferable differential effect.
Fig. 4 is the block diagram of differential control device according to an embodiment of the invention.As shown in figure 4, the dress
Putting to include：Acquisition module 100 and control module 200.
Wherein, acquisition module 100 be used for detect automobile left driving wheel and right driving wheel rotating speed, and calculate left driving wheel and
The ratio between rotating speed of right driving wheel.Control module 200 is used to judge whether the ratio between rotating speed is equal to left driving wheel and turn of right driving wheel
The ratio between curved radius, wherein, if it is determined that the ratio between rotating speed, not equal to the ratio between radius of turn, control module 200 is then to left and right wheel hub
On ditribution coefficiency be adjusted so that the ratio between rotating speed is equal to the ratio between radius of turn.
According to one embodiment of present invention, when judging that the ratio between rotating speed is equal to the ratio between radius of turn, control module 200 controls
Ditribution coefficiency on the wheel hub of left and right keeps constant.
According to one embodiment of present invention, acquisition module 100, it is additionally operable to obtain the steering wheel angle of automobile, and according to automobile
Wheelbase L1, the distance between left and right wheel hub L2 and steering wheel angle calculate the ratio between radius of turn.Wherein, the axle of automobile
Away from the intrinsic parameter that the distance between L1, left and right wheel hub L2 are automobile, steering wheel angle can be obtained by detection, for example,
Can by automobile setting direction disk rotary angle transmitter detect to obtain.Circular is prior art, here no longer
Repeat.
Specifically, in automobile turning, acquisition module 100 detects the left driving wheel of automobile and the rotating speed of right driving wheel respectively,
And calculate the ratio between left driving wheel and the rotating speed of right driving wheel and the ratio between radius of turn.Then, control module 200 judge rotating speed it
Than whether equal to the ratio between radius of turn of left driving wheel and right driving wheel.If it is determined that the ratio between rotating speed is equal to the ratio between radius of turn,
Then keep the ditribution coefficiency of left and right wheel hub constant；If it is determined that the ratio between rotating speed then controls mould not equal to the ratio between radius of turn
The ditribution coefficiency of left and right wheel hub is adjusted block 200.
According to one embodiment of present invention, control module 200 is when the ditribution coefficiency to left and right wheel hub is adjusted,
Wherein, control module 200 draws error and inputted according to the ratio between actual speed and rotating speed of target of left wheel hub or right wheel hub
The ditribution coefficiency of left and right wheel hub is obtained into PID devices, and according to the PID coefficients exported.
Specifically, the actual speed of the left driving wheel for the automobile that can be detected acquisition module 100 is multiplied by radius of turn, can
To obtain the rotating speed of target of right driving wheel, then, control module 200 is by the actual speed of the right driving wheel detected and right drive
The rotating speed of target of driving wheel is compared, and is drawn error and is inputted into PID devices, and PID devices are proportional-integral-differential adjusters,
Actual value can be allowed quickly to follow desired value.PID devices export coefficient of the scope between -0.5 to 0.5, are by this
Number adds 0.5, the as torque coefficient K1 of right driving wheel, then with the 1 torque coefficient K2 for subtracting K1, as left driving wheel.
Thus, the device uses closed-loop control, when automobile runs into the operating modes such as turning, skidding, can quickly respond, to a left side
Right wheel hub makes rational moment of torsion distribution, so that automobile reaches more preferable differential effect.
According to one embodiment of present invention, control module 200 can be also used for：Obtain the actual motion track of left driving wheel
The ratio between with the actual motion track of right driving wheel, and obtain the preferable running orbit of left driving wheel and the preferable operation of right driving wheel
The ratio between track, and judge whether the ratio between actual motion track and the ratio between the preferable running orbit are equal to the ratio between radius of turn,
Wherein, if it is not, then the ditribution coefficiency of left and right wheel hub is adjusted for control module 200.If actual motion rail
The ratio between mark and the ratio between preferable running orbit are equal to the ratio between radius of turn, and control module 200 then controls the moment of torsion point of left and right wheel hub
Distribution coefficient keeps constant.
Specifically, in automobile turning, throttle moment of torsion is multiplied by the right driving wheel of PID devices feedback by control module 200 respectively
Torque coefficient K1 and left driving wheel torque coefficient K2, the driving force of left and right driving wheel can be obtained.Different drivings
Power can make driving wheel produce different acceleration, and control module 200 is integrated to obtain to the acceleration of two driving wheels respectively
First running orbit, the second running orbit for then integrating to obtain plus initial velocity by the first track, you can obtain left and right
The actual motion track of driving wheel.
Then, as shown in figure 3, using the center of vehicle as reference point, angle when becoming detection automobile turning can be revolved by motor
Speed, it is to be understood that on automobile angular speed a little it is identical.Control module 200 angular speed is multiplied by respectively it is left,
The radius of turn and integration of right driving wheel, you can obtain the preferable running orbit of left and right driving wheel.Then, control module will
The actual motion track of left driving wheel is compared with the actual motion track of right driving wheel, by the preferable running orbit of left driving wheel and
The preferable running orbit of right driving wheel is compared, if the ratio between actual motion track and the ratio between preferable running orbit are equal to turn partly
The ratio between footpath, then keep the ditribution coefficiency of left and right wheel hub constant.If being unsatisfactory for above-mentioned condition, control module 200 is controlled
Ditribution coefficiency progress PID regulation of the PID devices processed to left and right wheel hub, specific adjusting method reference above-described embodiment, this
In repeat no more, the running orbit for causing left and right sidesing driving wheel finally by regulation is run according to predetermined track, so as to realize
The optimum efficiency of electronic differential.
It should be noted that the differential control device of the embodiment of the present invention is applied to Direct wheel drives vehicle, including forerunner,
Rear-guard and 4 wheel driven automobile etc..
In summary, the differential control device of automobile according to embodiments of the present invention, using closed-loop control, turn in automobile
When curved, it can judge by the way that whether control module is equal to the ratio between radius of turn to the ratio between rotating speed, can also be by controlling mould
Block is judged whether the ratio between actual motion track and the ratio between preferable running orbit are equal to the ratio between radius of turn, is reached to a left side
The purpose that ditribution coefficiency on right wheel hub is adjusted, distributed with making rational moment of torsion to left and right wheel hub, so that vapour
When car runs into the operating modes such as turning, skidding, the ditribution coefficiency of left and right wheel hub is set to follow change in real time so that rotating ratio meets
Ratio of cornering radius, so that automobile reaches more preferable differential effect.
In addition, the embodiment of the present invention also proposes a kind of automobile, it includes the differential control device of above-mentioned automobile.
The automobile of the embodiment of the present invention, the left drive of automobile is detected by the acquisition module of the differential control device of above-mentioned automobile
The rotating speed of driving wheel and right driving wheel, and the ratio between left driving wheel and the rotating speed of right driving wheel are calculated, and judge to turn by control module
Whether the ratio between speed is equal to the ratio between radius of turn of left driving wheel and right driving wheel, if it is determined that the ratio between rotating speed is not equal to radius of turn
The ratio between, then the ditribution coefficiency on the wheel hub of left and right is adjusted for control module so that the ratio between rotating speed be equal to radius of turn it
Than.The automobile uses closed-loop control, when automobile runs into the operating modes such as turning, skidding, makes the ditribution coefficiency of left and right wheel hub
Follow change in real time so that rotating ratio meets ratio of cornering radius, so that automobile reaches more preferable differential effect.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ",
The orientation or position relationship of the instruction such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " are based on shown in the drawings
Orientation or position relationship, be for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " be only used for describe purpose, and it is not intended that instruction or imply relative importance or
The implicit quantity for indicating indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed or hidden
Include at least one this feature containing ground.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, the art such as term " installation ", " connected ", " connection ", " fixation "
Language should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be machinery
Connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two members
The interaction relationship of connection or two elements inside part, limited unless otherwise clear and definite.For the ordinary skill of this area
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be "above" or "below" second feature
First and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, first is special
Sign second feature " on ", " top " and " above " can be fisrt feature directly over second feature or oblique upper, or only
Only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below "
Can be fisrt feature immediately below second feature or obliquely downward, or be merely representative of fisrt feature level height less than second
Feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specific example ",
Or the description of " some examples " etc. means to combine specific features, structure, material or the feature bag that the embodiment or example describe
It is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term necessarily
It is directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
Combined in an appropriate manner in individual or multiple embodiments or example.In addition, in the case of not conflicting, the skill of this area
Different embodiments or example and the feature of different embodiments or example described in this specification can be combined by art personnel
And combination.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary,
It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment
It is changed, changes, replacing and modification.
Claims (13)
1. a kind of Electronic differential control method of automobile, it is characterised in that comprise the following steps：
In the automobile turning, the left driving wheel of the automobile and the rotating speed of right driving wheel are detected respectively, and calculate the left side
The ratio between driving wheel and the rotating speed of the right driving wheel；
Judge whether the ratio between described rotating speed is equal to the ratio between radius of turn of the left driving wheel and the right driving wheel；
If it is determined that the ratio between described rotating speed is then carried out not equal to the ratio between described radius of turn to the ditribution coefficiency of left and right wheel hub
Regulation, so that the ratio between described rotating speed is equal to the ratio between described radius of turn.
2. the Electronic differential control method of automobile according to claim 1, it is characterised in that also include：
When judging that the ratio between described rotating speed is equal to the ratio between described radius of turn, then the ditribution coefficiency of the left and right wheel hub is kept
It is constant.
3. the Electronic differential control method of automobile according to claim 1, it is characterised in that calculated by following steps
The ratio between described radius of turn：
Obtain the steering wheel angle of the automobile；
According to the distance between the wheelbase of the automobile, left and right wheel hub and the steering wheel angle calculate the radius of turn it
Than.
4. the Electronic differential control method of automobile according to claim 1, it is characterised in that also include：
In the automobile turning, the actual motion track of the left driving wheel and the actual motion rail of the right driving wheel are obtained
The ratio between mark, and obtain the ratio between the preferable running orbit of the left driving wheel and the preferable running orbit of the right driving wheel；
Judge whether the ratio between described actual motion track and the ratio between the preferable running orbit are equal to the ratio between described radius of turn；
If it is not, then the ditribution coefficiency of the left and right wheel hub is adjusted.
5. the Electronic differential control method of automobile according to claim 4, it is characterised in that also include：
If the ratio between described actual motion track and the ratio between the preferable running orbit are equal to the ratio between described radius of turn, protect
The ditribution coefficiency for holding the left and right wheel hub is constant.
6. the Electronic differential control method of the automobile according to any one of claim 1-5, it is characterised in that described right
Ditribution coefficiency on the wheel hub of left and right is adjusted, including：
The ratio between actual speed and rotating speed of target according to the left wheel hub or right wheel hub, draw error and input to PID devices
In；
The ditribution coefficiency of the left and right wheel hub is obtained according to the PID coefficients exported.
A kind of 7. differential control device of automobile, it is characterised in that including：
Acquisition module, the acquisition module is used to detect the left driving wheel of the automobile and the rotating speed of right driving wheel, and calculates institute
State the ratio between left driving wheel and the rotating speed of the right driving wheel；
Control module, the control module are used to judge whether the ratio between described rotating speed is equal to the left driving wheel and the right driving
The ratio between radius of turn of wheel, wherein,
If it is determined that the ratio between described rotating speed, not equal to the ratio between described radius of turn, the control module is then to the torsion on the wheel hub of left and right
Square distribution coefficient is adjusted, so that the ratio between described rotating speed is equal to the ratio between described radius of turn.
8. the differential control device of automobile according to claim 7, it is characterised in that when judge the rotating speed it
During than equal to the ratio between described radius of turn, the control module controls the ditribution coefficiency on the left and right wheel hub to keep constant.
9. the differential control device of automobile according to claim 7, it is characterised in that the acquisition module, also
For：
The steering wheel angle of the automobile is obtained, and according to the distance between the wheelbase of the automobile, left and right wheel hub and the side
The ratio between described radius of turn is calculated to disk corner.
10. the differential control device of automobile according to claim 7, it is characterised in that in the automobile turning
When, the control module, it is additionally operable to：
The ratio between the actual motion track of the left driving wheel and the actual motion track of the right driving wheel are obtained, and described in acquisition
The ratio between the preferable running orbit of left driving wheel and the preferable running orbit of the right driving wheel, and judge the actual motion rail
Whether the ratio between mark and the ratio between the preferable running orbit are equal to the ratio between described radius of turn, wherein,
If it is not, then the ditribution coefficiency of the left and right wheel hub is adjusted for the control module.
11. the differential control device of automobile according to claim 10, it is characterised in that if the actual fortune
The ratio between row track and the ratio between the preferable running orbit are equal to the ratio between described radius of turn, and the control module then controls described
The ditribution coefficiency of left and right wheel hub keeps constant.
12. the differential control device of the automobile according to any one of claim 7-11, it is characterised in that described
Control module when the ditribution coefficiency to left and right wheel hub is adjusted, wherein,
The control module draws error and defeated according to the ratio between actual speed and rotating speed of target of the left wheel hub or right wheel hub
Enter into PID devices, and the ditribution coefficiency of the left and right wheel hub is obtained according to the PID coefficients exported.
13. a kind of automobile, it is characterised in that include the electronic differential of the automobile according to any one of claim 7-12
Control device.
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