CN107813813A - Automobile and its torque control method of sand ground pattern, system - Google Patents
Automobile and its torque control method of sand ground pattern, system Download PDFInfo
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- CN107813813A CN107813813A CN201610823016.1A CN201610823016A CN107813813A CN 107813813 A CN107813813 A CN 107813813A CN 201610823016 A CN201610823016 A CN 201610823016A CN 107813813 A CN107813813 A CN 107813813A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/18—Four-wheel drive vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/403—Torque distribution between front and rear axle
Abstract
The invention discloses a kind of automobile and its torque control method of sand ground pattern, system, wherein, control method comprises the following steps：After automobile enters sand ground pattern, the gradient of the present road where the current vehicle speed of automobile, steering wheel angle, and automobile is obtained；The antero posterior axis moment of torsion of automobile is adjusted according to the gradient of current vehicle speed, steering wheel angle and present road.The control method of the embodiment of the present invention can carry out active control according to the current operating conditions of automobile to automobile, with reasonable distribution antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, driving force is given full play to, skidding rate is reduced, improves the cross-country ability of automobile.
Description
Technical field
The present invention relates to automobile technical field, and in particular to a kind of torque control method of automobile sand ground pattern, a kind of vapour
The torque control system and a kind of automobile of car sand ground pattern.
Background technology
In correlation technique, the sand ground pattern of automobile is by the control to slip rate, limits vehicle torque output.Specifically
Ground, power is distributed to front and back wheel by central differential lock, differential mechanism, then by brakes participate in distributing power paramount attached
Wheel, so as to reach the purpose got rid of poverty.
Wherein, sand ground pattern 4-wheel driven car center differential is generally divided into two major classes：
First, locking differential.The purpose that antero posterior axis connects firmly generally can be reached taking human as selection locking differential, it is preceding
Rear axle allocation proportion is fixed as 50:50.Advantage：Fixed allocation ratio, it will not skid, be reliability and durability.Shortcoming：Run at high speed,
Paved road traveling should not use.
Second, limited slip differential.It is different according to slippery conditions, dynamic regulation can be carried out to antero posterior axis allocation proportion, but
Allocation proportion typically has higher limit, and general front and rear allocation proportion limiting value is 75:25 or 25:75.Advantage：Power distribution is flat
It is suitable, easy to use.Shortcoming：High, matching difficulty is required brakes.
But above-mentioned limited slip differential and locking differential, all it is that single power source passes through power transmission shaft, center differential, difference
Speed lock transfers power to front and back wheel end, i.e., can not realize the independent control of antero posterior axis, antero posterior axis be present can not actively adjust spy
Property, and often secured adjusted ratio or can only passively be adjusted under slippery conditions, cause in the operating mode that landform is changeable, resistance is big
Under (such as in desert), it is not easy to get rid of poverty.
The content of the invention
It is contemplated that at least solves one of technical problem in above-mentioned technology to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of torque control method of automobile sand ground pattern, this method
Active control is carried out to automobile according to the current operating conditions of automobile, with reasonable distribution antero posterior axis moment of torsion, so as to realize
Under the extreme operating conditions such as desert, driving force is given full play to, reduces skidding rate, improves the cross-country ability of automobile.
Second object of the present invention is to propose a kind of torque control system of automobile sand ground pattern.
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 moment of torsion control side of automobile sand ground pattern
Method, comprise the following steps：After the automobile enters sand ground pattern, current vehicle speed, the steering wheel angle of the automobile are obtained, with
And the gradient of the present road where the automobile；According to the current vehicle speed, the steering wheel angle and the present road
The gradient adjust the antero posterior axis moment of torsion of the automobile.
The torque control method of the automobile sand ground pattern of the embodiment of the present invention, after automobile enters sand ground pattern, obtain vapour
The gradient of present road where the current vehicle speed of car, steering wheel angle, and automobile, and then according to current vehicle speed, steering wheel
The gradient of corner and present road adjusts the antero posterior axis moment of torsion of automobile, and this method is entered according to the current operating conditions of automobile to automobile
Row active control, with reasonable distribution antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, give full play to driving
Power, skidding rate is reduced, improve the cross-country ability of automobile.
To reach above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of moment of torsion control system of automobile sand ground pattern
System, including：Acquisition module, for after the automobile enters sand ground pattern, obtaining the current vehicle speed of the automobile, steering wheel turns
The gradient of present road where angle, and the automobile；Controller, for being turned according to the current vehicle speed, the steering wheel
The gradient of angle and the present road adjusts the antero posterior axis moment of torsion of the automobile.
The torque control system of the automobile sand ground pattern of the embodiment of the present invention, after automobile enters sand ground pattern, by obtaining
Modulus block obtains the gradient of the present road where the current vehicle speed of automobile, steering wheel angle, and automobile, and then passes through control
Device adjusts the antero posterior axis moment of torsion of automobile according to the gradient of current vehicle speed, steering wheel angle and present road, and the system is according to automobile
Current operating conditions to automobile carry out active control, with reasonable distribution antero posterior axis moment of torsion, so as to realize in poles such as deserts
Hold under operating mode, give full play to driving force, reduce skidding rate, improve the cross-country ability of automobile.
Further, third aspect present invention embodiment proposes a kind of automobile, includes the vapour of the above embodiment of the present invention
The torque control system of car sand ground pattern.
The automobile of the embodiment of the present invention, the current operation shape by the torque control system of automobile sand ground pattern according to automobile
State carries out active control to automobile, with reasonable distribution antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, fully
Driving force is played, reduces skidding rate, improves the cross-country ability of automobile.
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 electric 4 wheel driven structural representation of the automobile of one embodiment of the invention；
Fig. 2 is the flow chart of the torque control method of automobile sand ground pattern according to an embodiment of the invention；
Fig. 3 is the information exchange signal of the torque control method of automobile sand ground pattern according to an embodiment of the invention
Figure；
Fig. 4 is the torque control method step S2 of automobile sand ground pattern according to an embodiment of the invention flow
Figure；
Fig. 5 is the flow chart according to the torque control method of the automobile sand ground pattern of the specific example of the present invention；
Fig. 6 is the flow chart of the torque control method of automobile sand ground pattern according to another embodiment of the invention
Fig. 7 is the structured flowchart of the torque control system of automobile sand ground pattern according to embodiments of the present invention；
Fig. 8 is the structured flowchart of the torque control system of automobile sand ground pattern according to an embodiment of the invention；
Fig. 9 is the structured flowchart according to the torque control system of the automobile sand ground pattern of the specific example of the present invention；
Figure 10 is the structural frames according to the torque control system of the automobile sand ground pattern of another specific example of the present invention
Figure；
Figure 11 is the structured flowchart of the torque control system of automobile sand ground pattern according to another 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 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, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings torque control method, system and the automobile of the automobile sand ground pattern of the embodiment of the present invention are described.
Firstly, it is necessary to explanation, in an embodiment of the present invention, automobile is hybrid electric vehicle, its vehicle type structure such as Fig. 1
It is shown, using electric 4 wheel driven structure.The hybrid electric vehicle is as electric machine controller (not shown in figure 1), motor (i.e. shown in Fig. 1
Front motor and rear motor), in-cylinder direct-jet 2.0TI engines, (Dual Clutch Transmission, double clutches are automatic by DCT
Speed changer) wet clutch gearbox (not shown in figure 1), decelerator (not shown in figure 1), differential lock etc. realize 4 wheel driven moment of torsion
Control.Wherein, front axle is the control way of output of engine+front motor, and power is strong；Rear axle is using single motor (i.e. shown in Fig. 1
Motor afterwards) driving.
Fig. 2 is the flow chart of the torque control method of automobile sand ground pattern according to embodiments of the present invention.As shown in Fig. 2
The torque control method of the automobile sand ground pattern comprises the following steps：
S1, after automobile enters sand ground pattern, where obtaining the current vehicle speed of automobile, steering wheel angle, and automobile
The gradient of present road.
In one embodiment of the invention, automobile can be provided with multiple orographic models (such as sand ground mould in main driving side
Formula, urban district pattern, outskirts of a town pattern etc.) select button, the button can be physical button, i.e., user can be by pressing, pulling up
Etc. mode trigger button to select corresponding orographic model；The button can also be induction type button, i.e., user can by click on,
The mode trigger button such as touch to select corresponding orographic model.
Specifically, the speed of automobile can be gathered by being arranged on the vehicle speed sensor at one or more wheels, direction
Disk corner can be gathered by being arranged on the rotary angle transmitter at steering wheel or steering wheel tubular pipe, the present road where automobile
The gradient can be gathered by the Slope Transducer being arranged on automobile.
S2, the antero posterior axis moment of torsion of automobile is adjusted according to the gradient of current vehicle speed, steering wheel angle and present road.
In one embodiment of the invention, after user selects sand ground pattern, the electric machine controller in automobile can be taken
The torque control method of sand ground pattern, gearbox control can also take the control method of sand ground pattern.Electric machine controller E is controlled
Motor torque output is transferred to gearbox control, and gearbox control selects optimal shelves according to the driving cycle of automobile
Position transfers a torque to wheel.
Specifically, as shown in figure 3, mode switch module can be passed through for the operation interface with user mutual, user
The operation interface selects sand ground pattern.When automobile enters sand ground environment, sand ground pattern may be selected in user, now this sand ground pattern
Signal transmits to electric machine controller, electrokinetic cell manager and the electrokinetic cell shown in Fig. 1 is monitored, managed, and by power
Battery can the signal such as charge-discharge electric power, SOC (State of Charge, state-of-charge) send to electric machine controller；Vehicle body is steady
Determining controller can transmit the signals such as the speed collected, wheel speed to electric machine controller；Electric machine controller itself can gather
The signals such as braking, throttle, the gradient, steering wheel angle.And then the acquisition module 100 being arranged in car body controller can obtain vapour
The signals such as the gradient of the present road where the current vehicle speed of car, automobile, steering wheel angle, the control being arranged in car body controller
Device 200 processed can be according to the front and rear motor shown in the signal control figures 2 such as current vehicle speed, the gradient of present road, steering wheel angle
Export corresponding moment of torsion.
It is appreciated that signal interaction can be carried out between gearbox control and electric machine controller, when user is opened by pattern
When closing selection sand ground pattern, gearbox control needs to judge itself range state to judge whether the automobile can enter sand ground
Pattern, and electric machine controller feedback is given, wherein, when gear is normal, judge that the automobile can enter sand ground pattern, and feed back
To electric machine controller.
Meanwhile after automobile enters sand ground pattern, gearbox control performs the Shifting of sand ground pattern；Combination instrument
Then can be with the orographic model information in display automobile location, so that user can be made to judge the current orographic model of vehicle, so as to pin
Optimal orographic model is selected different landform, and then is advantageous to the safe and reliable traveling of automobile.
Thus, after automobile enters sand ground pattern, current vehicle speed, the steering wheel angle of automobile, and automobile place are obtained
Present road the gradient, and then according to the gradient of current vehicle speed, steering wheel angle and present road adjust automobile antero posterior axis
Moment of torsion, this method carries out active control according to the current operating conditions of automobile to automobile, with reasonable distribution antero posterior axis moment of torsion, so that
It can realize under the extreme operating conditions such as desert, give full play to driving force, reduce skidding rate, improve the cross-country ability of automobile.
In one embodiment of the invention, as shown in figure 4, above-mentioned steps S2 further comprises：
S21, judges whether current vehicle speed is less than First Speed.
S22, if current vehicle speed is more than or equal to First Speed, control automobile enters slope control pattern, with basis
The antero posterior axis moment of torsion of current vehicle speed, the gradient of present road regulation automobile.
Specifically, when automobile enters slope control pattern, it is upward slope or descending to judge automobile.Under if automobile is
Slope, then the antero posterior axis moment of torsion of automobile can be allocated according to different speeds；If automobile be go up a slope, can according to work as
The gradient combination current vehicle speed of preceding road is allocated to the front axle moment of torsion of automobile.
S23, if current vehicle speed is less than First Speed, control automobile enters steering control mode, with according to steering wheel
Corner adjusts the antero posterior axis moment of torsion of automobile.
Specifically, when automobile enters steering control mode, judge whether steering wheel now has steering.If now direction
Disk is turned to be smaller, and such as 0 °~45 °, i.e., when automobile is without turning to, then the antero posterior axis bias ratio example for controlling automobile is solid
Definite value；If now steering wheel angle is larger, such as 145 °~540 °, i.e., when automobile is in steering, then can be turned according to steering wheel
The antero posterior axis allocation proportion of the different control automobiles at angle, i.e., now the antero posterior axis allocation proportion of automobile is change, wherein, the change
The allocation proportion of change can carry out linear change with steering wheel angle.
Specifically, as shown in figure 5, the torque control method of the automobile sand ground pattern of the embodiment of the present invention can specifically wrap
Include following steps：
S301, judges whether current vehicle speed is less than First Speed.
S302, if current vehicle speed is more than or equal to First Speed, judge whether the gradient of present road is less than first
The gradient.
S303, if the gradient of present road is less than first gradient, it is determined that automobile is descent run, judges current vehicle speed
Whether the second speed is more than, wherein, the second speed is more than the first speed.
S304, if current vehicle speed is less than or equal to the second speed, the antero posterior axis of automobile is adjusted according to formula K=a1V+b1
Bias ratio example, wherein, a1, b1 are constant, and V is current vehicle speed, and K is the antero posterior axis bias ratio of automobile corresponding with V
Example, when V is the first vehicle velocity V 1, the antero posterior axis bias ratio example of corresponding automobile is that the first ratio K1, V is the second vehicle velocity V 2
When, the antero posterior axis bias ratio example of corresponding automobile is the second ratio K2, and the first ratio K1 is more than the second ratio K2.
Wherein, antero posterior axis bias ratio example=front axle moment of torsion/reared torque.
Specifically, K1=a1V1+b1, and K2=a1V2+b1, then a1=(K1-K2)/(V1-V2), b1=can be drawn
(K1V2-K2V1)/(V1-V2).And then the antero posterior axis bias ratio example of automobile according to current vehicle speed V difference, can be adjusted.
Wherein, K1, K2, V1, V2 can be and the definite value obtained after big data is analyzed through test of many times.
S305, if current vehicle speed is more than the second speed, determine whether current vehicle speed is more than the 3rd speed, its
In, the 3rd speed is more than the second speed.
S306, if current vehicle speed is less than or equal to the 3rd speed, the antero posterior axis of automobile is adjusted according to formula K=a2V+b2
Bias ratio example, wherein, a2, b2 are constant, and when V is the second speed, the antero posterior axis bias ratio example of corresponding automobile is
Second ratio, when V is three speed, the antero posterior axis bias ratio example of corresponding automobile is the 3rd ratio, and the second ratio is small
In the 3rd ratio.
Similarly, a2=(K2-K3)/(V2-V3), b2=(K2V3-K3V2)/(V2-V3) can be calculated, and then can be with
According to current vehicle speed V difference, the antero posterior axis bias ratio example of automobile is adjusted.
Wherein, K2, K3, V2, V3 can be and the definite value obtained after big data is analyzed through test of many times.
S307, if current vehicle speed is more than the 3rd speed, determine whether current vehicle speed is more than the 4th speed, its
In, the 4th speed is more than the 3rd speed.
S308, if current vehicle speed is less than or equal to the 4th speed, the antero posterior axis of automobile is adjusted according to formula K=a3V+b3
Bias ratio example, wherein, a3, b3 are constant, and when V is three speed, the antero posterior axis bias ratio example of corresponding automobile is
3rd ratio, when V is four speed, the antero posterior axis bias ratio example of corresponding automobile is the 4th ratio, and the 3rd ratio is small
In the 4th ratio.
Similarly, a3=(K3-K4)/(V3-V4), b3=(K3V4-K4V3)/(V3-V4) can be calculated, and then can be with
According to current vehicle speed V difference, the antero posterior axis bias ratio example of automobile is adjusted.
Wherein, K3, K4, V3, V4 can be and the definite value obtained after big data is analyzed through test of many times.
If S309 current vehicle speeds are more than the 4th speed, the antero posterior axis bias ratio example of automobile is controlled to compare for the 4th
Example.
S310, if the gradient of present road is more than or equal to first gradient, it is determined that automobile is up-hill journey, further
Judge whether the gradient of present road is more than second gradient, wherein, second gradient is more than first gradient.
S311, if the gradient of present road is less than or equal to second gradient, the moment of torsion of the front axle of automobile is controlled to be less than
Or equal to the first moment of torsion.
S312, if the gradient of present road is more than second gradient, judge whether current vehicle speed is more than the 5th speed, its
In, the 5th speed is more than the first speed.
Specifically, if the gradient of present road is more than or equal to first gradient, illustrate that automobile is in up-hill journey
State, according to the gradient (i.e. second gradient) and current vehicle speed (i.e. it is compared with the 5th speed) front axle of automobile can be controlled to turn round
Square.
S313, if current vehicle speed is less than or equal to the 5th speed, the torsion of the front axle of automobile is adjusted according to current vehicle speed
Square, wherein, the front axle moment of torsion of automobile corresponding with current vehicle speed is more than the second moment of torsion and is less than the first moment of torsion.
Specifically, automobile is going up a slope, and when the gradient is more than second gradient, speed and is less than or equal to five speeds, in order to more
The driving performance of good guarantee automobile, before automobile dispatches from the factory, can carry out test of many times to obtain automobile speed and front axle moment of torsion
Respective value, and can store in table form, wherein, linear corresponding relation, and car between speed and front axle moment of torsion be present
Front axle moment of torsion is smaller corresponding to speed is bigger.And then in automobilism in sand ground pattern, and meet that the gradient is more than second gradient, speed
During less than or equal to five speeds, electric machine controller can inquire about the form of above-mentioned storage according to current vehicle speed, to obtain correspondingly
Front axle moment of torsion, and control front axle to be run to inquire about obtained moment of torsion.
S314, if current vehicle speed is more than the 5th speed, controls the moment of torsion of the front axle of automobile to be less than or equal to second and turn round
Square.
In an embodiment of the present invention, the first moment of torsion and the second moment of torsion can obtain according to experiment test.
Specifically, if the gradient of present road is less than or equal to second gradient, control the moment of torsion of the front axle of automobile small
In or equal to the first moment of torsion.If the gradient of present road is more than second gradient, and current vehicle speed is less than or equal to the 5th speed,
Then according to the moment of torsion of the front axle of current vehicle speed linear regulation automobile, and the front axle moment of torsion of automobile is more than the second torque range and is less than
First moment of torsion.If the gradient of present road is more than second gradient, and current vehicle speed is more than the 5th speed, then before controlling automobile
The moment of torsion of axle is less than the second moment of torsion.
S315, if current vehicle speed is less than First Speed, judge whether steering wheel angle is more than default corner.
S316, if steering wheel angle is more than default corner, the bias ratio example that control antero posterior axis of automobile is the
Five ratios, wherein, the 5th ratio is less than the first ratio.
Specifically, when the corner of steering wheel is more than default corner, automobile is in steering state, wherein, the default corner
It can be 90 °.
In an embodiment of the present invention, the 5th ratio is variable, and it can carry out linear change according to steering wheel angle, i.e.,
Linearly reduce with the increase of steering wheel angle.
Alternatively, the span of the 5th ratio can be 0.538~9.
It should be noted that because low speed and high speed, straight line starting are different with turning to the starting point that starting considers, adopted
The allocation proportion taken there is certain adjustment.For turning to situation, the bias ratio example of the rear axle of automobile rises, the 5th ratio
Example reduces, and with the increase of steering wheel angle, the 5th ratio is smaller.It is appreciated that the 5th ratio compares with the second ratio, the 3rd
Do not have direct logical relation between example, the 4th ratio.
In one embodiment of the invention, the second ratio, the 3rd ratio, the span of the 4th ratio can be
0.538~9, and the first ratio can be less than the 3rd ratio.
S317, if steering wheel angle is less than or equal to default corner, control the bias ratio of the antero posterior axis of automobile
Example is the first ratio.In an embodiment of the present invention, the first ratio is definite value, and span can be 0.538~9, and first
Ratio is more than the 5th ratio.
It should be noted that above-mentioned first speed, the second speed ..., the 5th speed be to automobile carry out dynamic Control
When speed, i.e., control planning be present to the front and back wheel of automobile in engine, front and rear motor shown in Fig. 2.Wherein, the first car
Speed, the second speed ..., the 5th speed may each be based on experience value or the numerical value after big data processing is set, and
First speed, the second speed, the 3rd speed, the 4th speed correspond to the moment of torsion distribution of light grade, and the 5th rotating speed corresponds to heavy grade
Moment of torsion distributes.
In one embodiment of the invention,, then can be according to cunning in sliding state after automobile enters desert pattern
Driving speed to sliding feedback function by being controlled, to realize the purpose of energy-conservation.
Specifically, if as shown in fig. 6, current vehicle speed judges to slide whether speed is less than the 6th car to slide speed
Speed, wherein, neutral position sliding speed can be included and slide speed with shelves by sliding speed；If sliding speed is less than the 6th speed,
Then control automobile to cancel and slide feedback；If sliding speed is more than or equal to the 6th speed, determine whether that sliding speed is
It is no to be less than the 7th speed, wherein, the 6th speed is less than the 7th speed；If sliding speed is less than the 7th speed, according to formula Q=
MV+n control automobiles carry out sliding feedback, wherein, m, n are constant, and for V to slide speed, Q slides feedback rate to be corresponding with V, when
When V is six speed, corresponding Q is 0, and when V is seven speed, corresponding Q is to slide feedback rate threshold value；If slide
Speed is more than or equal to the 7th speed, then controls automobile to carry out sliding feedback to slide feedback rate threshold value.
Specifically, 0=mV6+n, Qmax=mV7+n, then m=Qmax/ (V7-V6), n=QmaxV6/ can be calculated
(V6-V7).Wherein, Qmax, V6, V7 can be by testing the definite value measured, thus, it is possible to slide speed control according to different
Automobile processed carries out sliding feedback with corresponding feedback rate.
It should be noted that slide the electricity feedback function that feedback refers to automobile.It is above-mentioned that automobile is controlled according to formula Q=mV+n
It is to slide a kind of mode of feedback function recovery to carry out sliding feedback, that is, the feedback rate for sliding feedback function can be with sliding speed
Linear relationship is presented, feedback rate is linearly increasing with the increase for sliding speed.
Specifically, speed is slided more than the 6th speed and when being less than seven speeds, and the feedback rate for sliding feedback can be with
Slide the increase of speed and linearly increasing, or reduce and linearly reduce with speed is slided.And speed is slided more than or equal to the 7th
During speed, automobile, which recovers to slide, to be fed back to normal, that is, the feedback rate for sliding feedback reaches maximum.
It is appreciated that automobile, when sliding, motor reclaims kinetic energy, and changes into electric energy, so as to reach energy-conservation
Purpose.
To sum up, the torque control method of the automobile sand ground pattern of the embodiment of the present invention, after automobile enters sand ground pattern, obtain
The gradient of the present road where the current vehicle speed of automobile, steering wheel angle, and automobile is taken, and then according to current vehicle speed, side
To the antero posterior axis moment of torsion of the gradient of disk corner and present road regulation automobile, this method is according to the current operating conditions of automobile to vapour
Car carries out active control, with reasonable distribution antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, gives full play to drive
Power, skidding rate is reduced, improve the cross-country ability of automobile.In addition, when automobile slide travels, energy is carried out according to speed is slided
Feedback control is measured, the purpose thus, it is possible to realize energy-conservation, is advantageous to the reasonable distribution of automobile oil electricity, improves automobile in desert Environment
Under distance travelled.And this method is in the case where not increasing any hardware condition, reaches corresponding purpose by software control, saves
Production cost.
The torque control method of automobile sand ground pattern based on above-described embodiment, the present invention propose a kind of automobile sand ground mould
The torque control system of formula.
Fig. 7 is the structured flowchart of the torque control system of the automobile sand ground pattern of the embodiment of the present invention.As shown in fig. 7, should
The torque control system of automobile sand ground pattern includes acquisition module 100 and controller 200.
Wherein, acquisition module 100 is used for after automobile enters sand ground pattern, obtains the current vehicle speed of automobile, steering wheel turns
The gradient of present road where angle, and automobile.Controller 200 is used for according to current vehicle speed, steering wheel angle and current road
The antero posterior axis moment of torsion of the gradient regulation automobile on road.
In one embodiment of the invention, automobile can be provided with multiple orographic models (such as sand ground mould in main driving side
Formula, urban district pattern, outskirts of a town pattern etc.) select button, the button can be physical button, i.e., user can be by pressing, pulling up
Etc. mode trigger button to select corresponding orographic model；The button can also be induction type button, i.e., user can by click on,
The mode trigger button such as touch to select corresponding orographic model.
Specifically, as shown in figure 3, mode switch module can be passed through for the operation interface with user mutual, user
The operation interface selects sand ground pattern.When automobile enters sand ground environment, sand ground pattern may be selected in user, now this sand ground pattern
Signal transmits to electric machine controller, electrokinetic cell manager and the electrokinetic cell shown in Fig. 1 is monitored, managed, and by power
Battery can the signal such as charge-discharge electric power, SOC (State of Charge, state-of-charge) send to electric machine controller；Vehicle body is steady
Determining controller can transmit the signals such as the speed collected, wheel speed to electric machine controller；Electric machine controller itself can gather
The signals such as braking, throttle, the gradient, steering wheel angle.And then the acquisition module 100 being arranged in car body controller can obtain vapour
The signals such as the gradient of the present road where the current vehicle speed of car, automobile, steering wheel angle, the control being arranged in car body controller
Device 200 processed can be according to the front and rear motor shown in the signal control figures 2 such as current vehicle speed, the gradient of present road, steering wheel angle
Export corresponding moment of torsion.
It is appreciated that signal interaction can be carried out between gearbox control and electric machine controller, when user is opened by pattern
When closing selection sand ground pattern, gearbox control needs to judge itself range state to judge whether the automobile can enter sand ground
Pattern, and electric machine controller feedback is given, wherein, when gear is normal, judge that the automobile can enter sand ground pattern, and feed back
To electric machine controller.
Meanwhile after automobile enters sand ground pattern, gearbox control performs the Shifting of sand ground pattern；Combination instrument
Then can be with the orographic model information in display automobile location, so that user can be made to judge the current orographic model of vehicle, so as to pin
Optimal orographic model is selected different landform, and then is advantageous to the safe and reliable traveling of automobile.
Thus, after automobile enters sand ground pattern, acquisition module obtains the current vehicle speed of automobile, steering wheel angle, and
The gradient of present road where automobile, and then controller is adjusted according to the gradient of current vehicle speed, steering wheel angle and present road
The antero posterior axis moment of torsion of automobile is saved, the system carries out active control according to the current operating conditions of automobile to automobile, with reasonable distribution
Antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, driving force is given full play to, skidding rate is reduced, improves vapour
The cross-country ability of car.
In one embodiment of the invention, as shown in figure 8, controller 200 can include the first judge module 210, the
One control module 220 and the second control module 230.
Wherein, the first judge module 210 is used to judge whether current vehicle speed is less than First Speed；First control module 220
For when current vehicle speed is more than or equal to First Speed, control automobile enters slope control pattern, with according to current vehicle speed, when
The antero posterior axis moment of torsion of the gradient regulation automobile of preceding road；Second control module 230 is used for when current vehicle speed is less than First Speed,
Control automobile enters steering control mode, to adjust the antero posterior axis moment of torsion of automobile according to steering wheel angle.
Further, as shown in figure 9, the first control module 220 can include the first judging unit 1, the second judging unit
2nd, the first control unit 3, the 3rd judging unit 4, the second control unit 5, the 4th judging unit 6, the 3rd control unit the 7, the 4th
Control unit 8, the 5th judging unit 9, the 5th control unit 10, the 6th judging unit 11, the control of the 6th control unit the 12, the 7th
Unit 13.
Wherein, the first judging unit 1 is used to judge whether the gradient of present road is less than first gradient；Second judging unit
2 are used for when the gradient of present road is less than first gradient, judge the non-descent run of automobile, and judge whether current vehicle speed is more than
Second speed, wherein, the second speed is more than the first speed；First control unit 3 is used to be less than or equal to second in current vehicle speed
During speed, the antero posterior axis bias ratio example of automobile is adjusted according to formula K=a1V+b1, wherein, a1, b1 are constant, and V works as to be described
Preceding speed, K is the antero posterior axis bias ratio example of the automobile corresponding with V, when V is first speed, corresponding institute
The antero posterior axis bias ratio example for stating automobile is the first ratio, when V is second speed, the antero posterior axis of the corresponding automobile
Bias ratio example is the second ratio, and the first ratio is more than the second ratio；3rd judging unit 4 is used to be more than in current vehicle speed
During the second speed, judge whether current vehicle speed is more than the 3rd speed, wherein, the 3rd speed is more than the second speed；Second control is single
Member 5 is used for when current vehicle speed is less than or equal to three speeds, and the antero posterior axis moment of torsion that automobile is adjusted according to formula K=a2V+b2 distributes
Ratio, wherein, a2, b2 are constant, and when V is second speed, the antero posterior axis bias ratio example of the corresponding automobile is
Second ratio, when V is three speed, the antero posterior axis bias ratio example of the corresponding automobile is the 3rd ratio, and the
Two ratios are less than the 3rd ratio.4th judging unit 6 is used for when current vehicle speed is more than three speeds, whether judges current vehicle speed
More than the 4th speed, wherein, the 4th speed is more than the 3rd speed；3rd control unit 7 is used to be less than or equal in current vehicle speed
During four speeds, the antero posterior axis bias ratio example of automobile is adjusted according to formula K=a3V+b3, wherein, a3, b3 are constant, and V is institute
When stating three speeds, the antero posterior axis bias ratio example of the corresponding automobile is the 3rd ratio, when V is four speed,
The antero posterior axis bias ratio example of the corresponding automobile is the 4th ratio, and the 3rd ratio is less than the 4th ratio；4th control
Unit 8 is used for when current vehicle speed is more than four speeds, and the antero posterior axis bias ratio example for controlling automobile is the 4th ratio.5th
Judge module 9 is used for when the gradient of present road is more than or equal to first gradient, and it is up-hill journey to determine automobile, and judges to work as
Whether the gradient of preceding road is more than second gradient, wherein, second gradient is more than first gradient；5th control single 10 is used for current
When the gradient of road is less than or equal to second gradient, the moment of torsion of the front axle of automobile is controlled to be less than or equal to the first moment of torsion；6th sentences
Disconnected unit 11 is used for when the gradient of present road is more than second gradient, judges whether current vehicle speed is more than the 5th speed, wherein,
5th speed is more than the first speed；6th control unit 12 be used for when current vehicle speed is less than or equal to five speeds, according to ought
The moment of torsion of the front axle of front truck velocity modulation section automobile, wherein, the front axle moment of torsion of automobile corresponding with current vehicle speed be more than the second moment of torsion and
Less than the first moment of torsion；7th control unit 13 is used for when current vehicle speed is more than five speeds, controls the moment of torsion of the front axle of automobile
Less than or equal to the second moment of torsion.
As shown in Figure 10, the second control module 230 includes the 7th judging unit 14, the 8th control unit 15 and the 9th control
Unit 16.
Wherein, the 7th judging unit 14 is used to judge whether steering wheel angle is more than default corner；8th control unit 15
For when steering wheel angle is more than default corner, the bias ratio example for controlling the antero posterior axis of automobile to be the 5th ratio, wherein,
5th ratio is less than the 4th ratio；9th control unit 16 is used for when steering wheel angle is less than or equal to default corner, control
The bias ratio example of the antero posterior axis of automobile is the first ratio.
Purpose is saved to realize, in one embodiment of the present of invention, as shown in figure 11, controller 200 also includes the
Two judge modules 240, the 3rd control module 250, the 3rd judge module 260, the 4th control module 270 and the 5th control module
280。
Wherein, the second judge module 240 is used in current vehicle speed for when sliding speed, judgement slides whether speed is less than the
Six speeds, wherein, slide speed and slide speed including neutral gear and slide speed with shelves；3rd control module 250 is used to slide
Speed is less than the 6th speed, then controls automobile to cancel and slide feedback；3rd judge module 260 is used to be more than or wait sliding speed
When six speeds, judgement slides whether speed is less than the 7th speed, wherein, the 6th speed is less than the 7th speed；4th control
Module 270 is used for when sliding speed and being less than seven speeds, carries out sliding feedback according to formula Q=mV+n control automobiles, wherein, m,
N is constant, and for V to slide speed, Q slides feedback rate to be corresponding with V, and when V be six speed, corresponding Q is 0, when V is the
During seven speeds, corresponding Q is to slide feedback rate threshold value；5th control module 280 is used to slide speed more than or equal to the 7th
During speed, control automobile carries out sliding feedback with the feedback rate threshold value that slides.
It should be noted that the embodiment of the torque control system of the automobile sand ground pattern of the embodiment of the present invention with
The embodiment of the torque control method of the automobile sand ground pattern of the above embodiment of the present invention is identical, to reduce redundancy, this
Place does not repeat.
To sum up, the torque control system of the automobile sand ground pattern of the embodiment of the present invention, after automobile enters sand ground pattern, obtain
Modulus block obtains the gradient of the present road where the current vehicle speed of automobile, steering wheel angle, and automobile, and then controller root
The antero posterior axis moment of torsion of automobile is adjusted according to the gradient of current vehicle speed, steering wheel angle and present road, the system is worked as according to automobile
Preceding running status carries out active control to automobile, with reasonable distribution antero posterior axis moment of torsion, so as to realize in the extreme work such as desert
Under condition, driving force is given full play to, reduces skidding rate, improves the cross-country ability of automobile.In addition, when automobile slide travels, root
Energy feedback control is carried out according to speed is slided, the purpose thus, it is possible to realize energy-conservation, is advantageous to the reasonable distribution of automobile oil electricity, carries
Distance travelled of the high automobile under desert Environment.And the system is in the case where not increasing any hardware condition, is reached by software control
To corresponding purpose, production cost has been saved.
Further, the present invention proposes a kind of automobile, and it includes the automobile sand ground pattern of the above embodiment of the present invention
Torque control system.
In an embodiment of the present invention, the automobile is the automobile of electric 4 wheel driven structure.
The automobile of the embodiment of the present invention, active control is carried out to automobile by the torque control system of above-mentioned automobile sand ground pattern
System, with reasonable distribution antero posterior axis moment of torsion, so as to realize under the extreme operating conditions such as desert, driving force is given full play to, reduction is beaten
Sliding rate, improve the cross-country ability of automobile.In addition, when automobile slide travels, energy feedback control is carried out according to speed is slided,
Purpose thus, it is possible to realize energy-conservation, be advantageous to the reasonable distribution of automobile oil electricity, improve automobile in the traveling under desert Environment
Journey.And the system is in the case where not increasing any hardware condition, reaches corresponding purpose by software control, has saved and be produced into
This.
In addition, other compositions of automobile according to embodiments of the present invention and effect are for one of ordinary skill in the art
For be all known, in order to reduce redundancy, do not repeat herein.
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 ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.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, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, 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 with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
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
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (15)
1. a kind of torque control method of automobile sand ground pattern, it is characterised in that comprise the following steps：
After the automobile enters sand ground pattern, current vehicle speed, the steering wheel angle of the automobile, and automobile institute are obtained
Present road the gradient；
The antero posterior axis that the automobile is adjusted according to the gradient of the current vehicle speed, the steering wheel angle and the present road is turned round
Square.
2. the torque control method of automobile sand ground pattern according to claim 1, it is characterised in that work as described in the basis
The antero posterior axis moment of torsion that the gradient of preceding speed, the steering wheel angle and the present road adjusts the automobile includes：
Judge whether the current vehicle speed is less than First Speed；
If the current vehicle speed is more than or equal to the First Speed, the automobile is controlled to enter slope control pattern, with
The antero posterior axis moment of torsion of the automobile is adjusted according to the current vehicle speed, the gradient of the present road；
If the current vehicle speed is less than the First Speed, the automobile is controlled to enter steering control mode, with according to institute
State the antero posterior axis moment of torsion that steering wheel angle adjusts the automobile.
3. the torque control method of automobile sand ground pattern according to claim 2, it is characterised in that work as described in the basis
The antero posterior axis moment of torsion that preceding speed, the gradient of the present road adjust the automobile includes：
Judge whether the gradient of the present road is less than first gradient；
If the gradient of the present road is less than first gradient, it is determined that the automobile is descent run, and judges institute
State whether current vehicle speed is more than the second speed, wherein, second speed is more than first speed；
If the current vehicle speed is less than or equal to second speed, before adjusting the automobile according to formula K=a1V+b1
Reared torque allocation proportion, wherein, a1, b1 are constant, and V is the current vehicle speed, and K is before and after the automobile corresponding with V
Axle bias ratio example, when V is first speed, the antero posterior axis bias ratio example of the corresponding automobile compares for first
Example, when V is second speed, the antero posterior axis bias ratio example of the corresponding automobile is the second ratio, and described first
Ratio is more than second ratio；
If the current vehicle speed is more than second speed, determine whether the current vehicle speed is more than the 3rd car
Speed, wherein, the 3rd speed is more than second speed；
If the current vehicle speed is less than or equal to the 3rd speed, before adjusting the automobile according to formula K=a2V+b2
Reared torque allocation proportion, wherein, a2, b2 are constant, and when V is second speed, the antero posterior axis of the corresponding automobile is turned round
Square allocation proportion is the second ratio, and when V is three speed, the antero posterior axis bias ratio example of the corresponding automobile is the
Three ratios, and second ratio is less than the 3rd ratio.
4. the torque control method of automobile sand ground pattern according to claim 3, it is characterised in that also include：
If the current vehicle speed is more than the 3rd speed, determine whether the current vehicle speed is more than the 4th car
Speed, wherein, the 4th speed is more than the 3rd speed；
If the current vehicle speed is less than or equal to the 4th speed, before adjusting the automobile according to formula K=a3V+b3
Reared torque allocation proportion, wherein, a3, b3 are constant, and when V is three speed, the antero posterior axis of the corresponding automobile is turned round
Square allocation proportion is the 3rd ratio, and when V is four speed, the antero posterior axis bias ratio example of the corresponding automobile is the
Four ratios, and the 3rd ratio is less than the 4th ratio；
If the current vehicle speed is more than the 4th speed, the antero posterior axis bias ratio example for controlling the automobile is the 4th
Ratio.
5. the torque control method of automobile sand ground pattern according to claim 3, it is characterised in that also include：
If the gradient of the present road is more than or equal to first gradient, it is determined that the automobile is up-hill journey, is entered
One step judges whether the gradient of the present road is more than second gradient, wherein, second gradient is more than first gradient；
If the gradient of the present road is less than or equal to second gradient, control the moment of torsion of the front axle of the automobile small
In or equal to the first moment of torsion；
If the gradient of the present road is more than second gradient, judge whether the current vehicle speed is more than the 5th car
Speed, wherein, the 5th speed is more than first speed；
If the current vehicle speed is less than or equal to the 5th speed, before adjusting the automobile according to the current vehicle speed
The moment of torsion of axle, wherein, the front axle moment of torsion of the automobile corresponding with the current vehicle speed is more than the second moment of torsion and less than described the
One moment of torsion；
If the current vehicle speed is more than the 5th speed, the moment of torsion of front axle of the automobile is controlled less than or equal to described
Second moment of torsion.
6. the torque control method of automobile sand ground pattern according to claim 2, it is characterised in that described according to the side
The antero posterior axis moment of torsion of the automobile is adjusted to disk corner to be included：
Judge whether the steering wheel angle is more than default corner；
If the steering wheel angle is more than the default corner, the bias ratio example for controlling the antero posterior axis of the automobile is
5th ratio, wherein, the 5th ratio is less than the first ratio；
If the steering wheel angle is less than or equal to the default corner, the moment of torsion distribution of the antero posterior axis of the automobile is controlled
Ratio is first ratio.
7. the torque control method of automobile sand ground pattern according to claim 1, it is characterised in that also include：
If the current vehicle speed is to slide speed, slide whether speed is less than the 6th speed described in judgement, wherein, the cunning
Driving speed slides speed including neutral gear and slides speed with shelves；
If the speed that slides is less than the 6th speed, controls the automobile to cancel and slide feedback；
If the speed that slides is more than or equal to the 6th speed, determine whether described to slide whether speed is less than the
Seven speeds, wherein, the 6th speed is less than the 7th speed；
If the speed that slides is less than the 7th speed, the automobile is controlled to carry out sliding feedback according to formula Q=mV+n,
Wherein, m, n are constant, and V slides speed to be described, and Q slides feedback rate to be corresponding with V, right when V is six speed
The Q answered is 0, and when V is seven speed, corresponding Q is to slide feedback rate threshold value；
If the speed that slides is more than or equal to the 7th speed, the automobile is controlled to slide feedback rate threshold value with described
Carry out sliding feedback.
A kind of 8. torque control system of automobile sand ground pattern, it is characterised in that including：
Acquisition module, for after the automobile enters sand ground pattern, obtaining current vehicle speed, the steering wheel angle of the automobile,
And the gradient of the present road where the automobile；
Controller, for adjusting the vapour according to the gradient of the current vehicle speed, the steering wheel angle and the present road
The antero posterior axis moment of torsion of car.
9. the torque control system of automobile sand ground pattern according to claim 8, it is characterised in that the controller bag
Include：
First judge module, for judging whether the current vehicle speed is less than First Speed；
First control module, for when the current vehicle speed is more than or equal to the First Speed, controlling the automobile to enter
Slope control pattern, to adjust the antero posterior axis moment of torsion of the automobile according to the current vehicle speed, the gradient of the present road；
Second control module, control is turned to for when the current vehicle speed is less than the First Speed, controlling the automobile to enter
Molding formula, to adjust the antero posterior axis moment of torsion of the automobile according to the steering wheel angle.
10. the torque control system of automobile sand ground pattern according to claim 9, it is characterised in that first control
Module includes：
First judging unit, for judging whether the gradient of the present road is less than first gradient；
Second judging unit, for when the gradient of the present road is less than first gradient, under determining that the automobile is
Slope travels, and judges whether the current vehicle speed is more than the second speed, wherein, second speed is more than first speed；
First control unit, for when the current vehicle speed is less than or equal to second speed, being adjusted according to formula K=a1V+b1
The antero posterior axis bias ratio example of the automobile is saved, wherein, a1, b1 are constant, and V is the current vehicle speed, and K is corresponding with V
The antero posterior axis bias ratio example of the automobile, when V is first speed, the antero posterior axis moment of torsion point of the corresponding automobile
It is the first ratio with ratio, when V is second speed, the antero posterior axis bias ratio example of the corresponding automobile compares for second
Example, and first ratio is more than second ratio；
3rd judging unit, for when the current vehicle speed is more than second speed, judging whether the current vehicle speed is big
In the 3rd speed, wherein, the 3rd speed is more than second speed；
Second control unit, for when the current vehicle speed is less than or equal to three speed, being adjusted according to formula K=a2V+b2
The antero posterior axis bias ratio example of the automobile is saved by second proportion switch to the 3rd ratio, wherein, a2, b2 are constant, V
For second speed when, the antero posterior axis bias ratio example of the corresponding automobile is the second ratio, and V is the 3rd speed
When, the antero posterior axis bias ratio example of the corresponding automobile is the 3rd ratio, and second ratio is less than the described 3rd ratio
Example.
11. the torque control system of automobile sand ground pattern according to claim 10, it is characterised in that first control
Module also includes：
4th judging unit, for when the current vehicle speed is more than three speed, judging whether the current vehicle speed is big
In the 4th speed, wherein, the 4th speed is more than the 3rd speed；
3rd control unit, for when the current vehicle speed is less than or equal to four speed, being adjusted according to formula K=a3V+b3
The antero posterior axis bias ratio example of the automobile is saved, wherein, a3, b3 are constant, corresponding described when V is three speed
The antero posterior axis bias ratio example of automobile is the 3rd ratio, and when V is four speed, the antero posterior axis of the corresponding automobile is turned round
Square allocation proportion is the 4th ratio, and the 3rd ratio is less than the 4th ratio；
4th control unit, for when the current vehicle speed is more than four speed, controlling the antero posterior axis of the automobile to turn round
Square allocation proportion is the 4th ratio.
12. the torque control system of automobile sand ground pattern according to claim 10, it is characterised in that first control
Module also includes：
5th judge module, for when the gradient of the present road is more than or equal to first gradient, determining the vapour
Car is up-hill journey, and judges whether the gradient of the present road is more than second gradient, wherein, second gradient is more than institute
State first gradient；
5th control unit, for when the gradient of the present road is less than or equal to second gradient, controlling the vapour
The moment of torsion of the front axle of car is less than or equal to the first moment of torsion；
6th judging unit, for when the gradient of the present road is more than second gradient, judging the current vehicle speed
Whether the 5th speed is more than, wherein, the 5th speed is more than first speed；
6th control unit, for when the current vehicle speed is less than or equal to five speed, according to the current vehicle speed
The moment of torsion of the front axle of the automobile is adjusted, wherein, the front axle moment of torsion of the automobile corresponding with the current vehicle speed is more than second
Moment of torsion and it is less than the first moment of torsion；
7th control unit, for when the current vehicle speed is more than five speed, controlling the torsion of the front axle of the automobile
Square is less than or equal to second moment of torsion.
13. the torque control system of automobile sand ground pattern according to claim 9, it is characterised in that second control
Module includes：
7th judging unit, for judging whether the steering wheel angle is more than default corner；
8th control unit, for when the steering wheel angle is more than the default corner, controlling the antero posterior axis of the automobile
Bias ratio example be the 5th ratio, wherein, the 5th ratio is less than the 4th ratio；
Tenth control unit, for when the steering wheel angle is less than or equal to the default corner, controlling the automobile
The bias ratio example of antero posterior axis is first ratio.
14. the 4 wheel driven torque control system of automobile sand ground pattern according to claim 8, it is characterised in that the control
Device also includes：
Second judge module, for when the current vehicle speed is to slide speed, sliding whether speed is less than the 6th described in judgement
Speed, wherein, the speed that slides slides speed including neutral gear and slides speed with shelves；
3rd control module, for being less than the 6th speed in the speed that slides, then control the automobile to cancel and slide back
Feedback；
3rd judge module, for it is described slide speed and be more than or equal to six speed when, slide speed described in judgement
Whether the 7th speed is less than, wherein, the 6th speed is less than the 7th speed；
4th control module, for it is described slide speed and be less than seven speed when, the vapour is controlled according to formula Q=mV+n
Car carries out sliding feedback, wherein, m, n are constant, and V slides speed to be described, and Q slides feedback rate to be corresponding with V, when V is institute
When stating six speeds, corresponding Q is 0, and when V is seven speed, corresponding Q is to slide feedback rate threshold value；
5th control module, for it is described slide speed and be more than or equal to seven speed when, control the automobile with institute
State and slide feedback rate threshold value and carry out sliding feedback.
15. a kind of automobile, it is characterised in that include the torsion of the automobile sand ground pattern according to any one of claim 8-14
Square control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823016.1A CN107813813B (en) | 2016-09-13 | 2016-09-13 | Automobile and torque control method and system of sand mode of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610823016.1A CN107813813B (en) | 2016-09-13 | 2016-09-13 | Automobile and torque control method and system of sand mode of automobile |
Publications (2)
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