CN108082008A - A kind of motor speed control method based on vehicle - Google Patents
A kind of motor speed control method based on vehicle Download PDFInfo
- Publication number
- CN108082008A CN108082008A CN201711342413.8A CN201711342413A CN108082008A CN 108082008 A CN108082008 A CN 108082008A CN 201711342413 A CN201711342413 A CN 201711342413A CN 108082008 A CN108082008 A CN 108082008A
- Authority
- CN
- China
- Prior art keywords
- speed
- vehicle
- motor
- rotating speed
- less
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of motor speed control methods based on vehicle.The rotating speed of the current travel speed of vehicle, traveling acceleration and current motor is obtained according to electric machine controller and gearbox control, judges whether first distance is less than the first preset value and whether the rotating speed of current motor is more than preset rotation speed；In the described first distance not less than the first preset value and in the case where the rotating speed of the current motor is not less than preset rotation speed, on the premise of reduce-speed sign is not received by, the rotating speed for keeping the motor is constant；It is less than the second preset value and in the case where the rotating speed of the current motor is less than preset rotation speed in the second distance, on the premise of reduce-speed sign is not received by, reminds to increase the rotating speed of motor.Using embodiment provided by the invention, effectively motor can be controlled.
Description
Technical field
The present invention relates to motor control technology field, more particularly to a kind of motor speed control method based on vehicle.
Background technology
At present there are two types of more popular Electronic differential control strategies：It is adjusted based on rotational speed regulation and based on torque.Two kinds
Control strategy respectively has advantage and disadvantage：Adjustment turns in due course for load variation when differential strategy based on direct torque can be run according to vehicle
Square exports, and dynamic property is good, and reaction is fast, and adaptivity is strong, but the essence of differential control is rotating speed, and torque is for the shadow of speed
Sound is realized by kinetics equation, due to, there are first derivative, being non-linear relation, therefore controlling torque pair between torque and rotating speed
There is delay effect in the change of speed；Differential strategy based on rotating speed control can be accurately controlled vehicle wheel rotational speed, and motor is adopted at this time
With velocity close-loop control, adjustment torque current value in real time can be changed according to road load, rotating speed is made to maintain to stablize, therefore stability
Good, precision is high, but then since torque is uncontrollable, it is impossible to make a response in time to the various operating modes of vehicle operation and
Adjustment in real time, dynamic is poor, adaptive weak.
Vehicle steering mechanism is one of important composition of vehicle, and the steering that the quality of performance directly affects vehicle is motor-driven
Property and transmission efficiency.Therefore it is always the important subject of Vehicle Engineering to the research of the steering mechanism of function admirable.
When two rear wheel drives of vehicle, in Turning travel, since coaxial left and right rear wheel rotation speed is different, two wheel slips is caused to be sent out
Changing, then the transfer due to analysis of wheel vertical load, the rotary resistance caused jointly suffered by the trailing wheel of left and right is different, to traveling
In vehicle stability influence it is very big.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of motor speed control method based on vehicle, it is intended to realize
Control to motor speed, and method is realized simply, is taken effect quick.
To achieve the above object, the present invention provides following technical solution：
A kind of motor speed control method based on vehicle, including：
The current travel speed of vehicle, traveling acceleration and current are obtained according to electric machine controller and gearbox control
The rotating speed of motor, and according to tachogenerator obtain the vehicle and first vehicle the first distance, with the second vehicle the
Two distances, wherein, first vehicle is the vehicle positioned at the vehicle headstock direction, and second vehicle is positioned at the vehicle
The vehicle in position direction；
Judge whether first distance be less than the rotating speed of the first preset value and the current motor more than default
Rotating speed；
In the described first distance not less than the first preset value, and it is not less than preset rotation speed in the rotating speed of the current motor
In the case of, on the premise of reduce-speed sign is not received by, the rotating speed for keeping the motor is constant；
The second distance be less than the second preset value, and the current motor rotating speed be less than preset rotation speed situation
Under, on the premise of reduce-speed sign is not received by, remind to increase the rotating speed of motor.
It is described to be less than the second preset value in the second distance in a preferred embodiment of the present invention, and work as described
In the case that the rotating speed of front motor is less than preset rotation speed, on the premise of reduce-speed sign is not received by, remind to increase electricity
The rotating speed of machine, including：
The second distance be less than the second preset value, and the current motor rotating speed be less than preset rotation speed situation
Under, on the premise of reduce-speed sign is not received by, obtain the difference between second distance and the second preset value；
According to the difference, increased minimum motor speed is determined；
According to the minimum motor speed, remind to increase the rotating speed of motor.
In a preferred embodiment of the present invention, the rotating speed in the motor is increased, returns and performs according to survey
Fast sensor obtains the step of vehicle is with the first distance of first vehicle and the second vehicle second distance.
In a preferred embodiment of the present invention, the minimum motor speed is positive value.
It is described according to the difference in a preferred embodiment of the present invention, determine the meter of increased minimum motor speed
Calculation formula, n=S/r, wherein, n is minimum motor speed, and S is the difference, and r is the perimeter of tire.
Motor speed control method provided by the invention based on vehicle, has the advantages that：
Using a kind of motor speed control method based on vehicle provided in an embodiment of the present invention, can be controlled according to motor
Device and gearbox control obtain the rotating speed of the current travel speed of vehicle, traveling acceleration and current motor, and according to survey
Fast sensor obtains the first distance and the second vehicle second distance of vehicle and the first vehicle, wherein, the first vehicle is positioned at vehicle
The vehicle in headstock direction, the second vehicle are the vehicle positioned at parking stall direction；And judging it is pre- whether the first distance is less than first
If whether the rotating speed of value and current motor is more than preset rotation speed；In the first distance not less than the first preset value, and in current electricity
In the case that the rotating speed of machine is not less than preset rotation speed, on the premise of reduce-speed sign is not received by, the rotating speed of motor is kept not
Become；It is less than the second preset value and in the case where the rotating speed of current motor is less than preset rotation speed in second distance, is not receiving
On the premise of reduce-speed sign, remind to increase the rotating speed of motor.It is achieved thereby that the control to motor speed, and this method
It realizes simply, it is easy to operate, convenient for promoting the use of.
Description of the drawings
Fig. 1 is the flow diagram of the motor speed control method based on vehicle of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of invention of greater clarity, below by attached drawing and embodiment, to this
Inventive technique scheme is further elaborated.However, it should be understood that specific embodiment described herein is only used to solve
Technical solution of the present invention is released, is not intended to limit the invention the scope of technical solution.
To solve prior art problem, the present invention provides be a kind of motor speed control based on vehicle as shown in Figure 1
Method, including：
S1:According to electric machine controller and gearbox control obtain the current travel speed of vehicle, traveling acceleration and
The rotating speed of current motor, and the vehicle and the first distance of first vehicle and the second vehicle are obtained according to tachogenerator
Second distance, wherein, first vehicle is the vehicle positioned at the vehicle headstock direction, and second vehicle is positioned at institute
State the vehicle in parking stall direction；
In the raw embodiment of the present invention, the rotating speed of preceding travel speed, traveling acceleration and current motor can distinguish root
System is obtained according to the speed of electric machine controller and vehicle to obtain, usual speed obtains the master controller that system is vehicle, institute
Master controller is stated to be communicatively coupled with electric machine controller and gearbox control respectively.Tachogenerator is controlled respectively with center
Device processed communicates, and the vehicle speed information measured is sent to master controller.So as to obtain vehicle and the front one respectively
The distance of vehicle, the distance with vehicle and a vehicle behind；Respectively the first distance and second distance.
S2:Judge whether first distance is less than the first preset value and whether the rotating speed of the current motor is more than in advance
If rotating speed；
Judge respectively after S1 the magnitude relationship of the first distance and the first preset value and the rotating speed of current motor with it is pre-
If the relation of rotating speed.
S3:In the described first distance not less than the first preset value, and turn in the rotating speed of the current motor not less than default
In the case of speed, on the premise of reduce-speed sign is not received by, the rotating speed for keeping the motor is constant；
In the first distance not less than the first preset value, and it is not less than the situation of preset rotation speed in the rotating speed of the current motor
Under, on the premise of reduce-speed sign is not received by, remain that the rotating speed of the motor is constant, in this way, user is in vehicle row
During sailing, absolute steady sensation can be obtained, the sensation of the acceleration and deceleration of vehicle can be reduced, so as to improve relaxing for user
Appropriateness experience.
S4:It is less than the second preset value in the second distance, and is less than preset rotation speed in the rotating speed of the current motor
In the case of, on the premise of reduce-speed sign is not received by, remind to increase the rotating speed of motor.
It is and small in the rotating speed of the current motor when the second distance is less than the second preset value in the embodiment of the present invention
In the case of preset rotation speed, on the premise of reduce-speed sign is not received by, illustrate that current drive speed is too low, and due to
There is safe distance before and after vehicle, it is possible to user be reminded to carry out traveling of increasing speed.While ensure that driving safety
Drive speed can be further ensured that again.
Using a kind of motor speed control method based on vehicle provided in an embodiment of the present invention, can be controlled according to motor
Device and gearbox control obtain the rotating speed of the current travel speed of vehicle, traveling acceleration and current motor, and according to survey
Fast sensor obtains the first distance and the second vehicle second distance of vehicle and the first vehicle, wherein, the first vehicle is positioned at vehicle
The vehicle in headstock direction, the second vehicle are the vehicle positioned at parking stall direction；And judging it is pre- whether the first distance is less than first
If whether the rotating speed of value and current motor is more than preset rotation speed；In the first distance not less than the first preset value, and in current electricity
In the case that the rotating speed of machine is not less than preset rotation speed, on the premise of reduce-speed sign is not received by, the rotating speed of motor is kept not
Become；It is less than the second preset value and in the case where the rotating speed of current motor is less than preset rotation speed in second distance, is not receiving
On the premise of reduce-speed sign, remind to increase the rotating speed of motor.It is achieved thereby that the control to motor speed, and this method
It realizes simply, it is easy to operate, convenient for promoting the use of.
In a preferred embodiment of the present invention, it is less than the second preset value in second distance, and in the rotating speed of current motor
It in the case of less than preset rotation speed, on the premise of reduce-speed sign is not received by, reminds to increase the rotating speed of motor, wrap
It includes：It is less than the second preset value and in the case where the rotating speed of current motor is less than preset rotation speed in second distance, is not receiving
On the premise of reduce-speed sign, the difference between second distance and the second preset value is obtained；According to difference, increased minimum is determined
Motor speed；According to minimum motor speed, remind to increase the rotating speed of motor.
In a preferred embodiment of the present invention, the rotating speed in motor is increased, returns and performs according to the biography that tests the speed
The step of the first distance and the second vehicle second distance of sensor acquisition vehicle and the first vehicle.Minimum motor speed is positive value.
In a preferred embodiment of the present invention, according to difference, determine the calculation formula of increased minimum motor speed, wrap
It includes：N=S/r, wherein, n is minimum motor speed, and S is difference, and r is the perimeter of tire.
A kind of motor speed control method based on vehicle provided in an embodiment of the present invention, can according to electric machine controller and
Gearbox control obtains the rotating speed of the current travel speed of vehicle, traveling acceleration and current motor, and is passed according to testing the speed
Sensor obtains the first distance and the second vehicle second distance of vehicle and the first vehicle, wherein, the first vehicle is positioned at vehicle vehicle
The vehicle in head direction, the second vehicle are the vehicle positioned at parking stall direction；And judging whether the first distance is less than the first preset value
And whether the rotating speed of current motor is more than preset rotation speed；In the first distance not less than the first preset value, and in current motor
In the case that rotating speed is not less than preset rotation speed, on the premise of reduce-speed sign is not received by, the rotating speed for keeping motor is constant；
Second distance is less than the second preset value, and in the case where the rotating speed of current motor is less than preset rotation speed, subtracts being not received by
On the premise of fast signal, remind to increase the rotating speed of motor.It is achieved thereby that the control to motor speed, and this method is realized
Simply, it is easy to operate, convenient for promoting the use of.
Moreover, it will be appreciated that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
Using specification as an entirety, the technical solutions in each embodiment can also be properly combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (3)
1. a kind of motor speed control method based on vehicle, which is characterized in that including：
The current travel speed of vehicle, traveling acceleration and current motor are obtained according to electric machine controller and gearbox control
Rotating speed, and according to tachogenerator obtain the vehicle and first vehicle the first distance, with the second vehicle second away from
From, wherein, first vehicle is the vehicle positioned at the vehicle headstock direction, and second vehicle is positioned at the parking stall side
To vehicle；
Judge whether first distance is less than the first preset value and whether the rotating speed of the current motor is more than preset rotation speed；
In the described first distance not less than the first preset value, and it is not less than the situation of preset rotation speed in the rotating speed of the current motor
Under, on the premise of reduce-speed sign is not received by, the rotating speed for keeping the motor is constant；
It is less than the second preset value and in the case where the rotating speed of the current motor is less than preset rotation speed in the second distance,
On the premise of reduce-speed sign is not received by, remind to increase the rotating speed of motor；
It is described the second distance be less than the second preset value, and the current motor rotating speed be less than preset rotation speed situation
Under, on the premise of reduce-speed sign is not received by, remind to increase the rotating speed of motor, including：
It is less than the second preset value and in the case where the rotating speed of the current motor is less than preset rotation speed in the second distance,
On the premise of reduce-speed sign is not received by, the difference between second distance and the second preset value is obtained；
According to the difference, increased minimum motor speed is determined；
According to the minimum motor speed, remind to increase the rotating speed of motor.
2. a kind of motor speed control method based on vehicle according to claim 1, which is characterized in that in the motor
Rotating speed it is increased in the case of, return perform according to tachogenerator obtain the first of the vehicle and first vehicle away from
From, with the second vehicle second distance the step of.
3. vehicular electric machine control method according to claim 1, which is characterized in that the minimum motor speed is just
Value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711342413.8A CN108082008A (en) | 2017-12-14 | 2017-12-14 | A kind of motor speed control method based on vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711342413.8A CN108082008A (en) | 2017-12-14 | 2017-12-14 | A kind of motor speed control method based on vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082008A true CN108082008A (en) | 2018-05-29 |
Family
ID=62176384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711342413.8A Withdrawn CN108082008A (en) | 2017-12-14 | 2017-12-14 | A kind of motor speed control method based on vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082008A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103723142A (en) * | 2012-10-15 | 2014-04-16 | 北汽福田汽车股份有限公司 | Battery electric vehicle and start control method thereof |
| US20150105953A1 (en) * | 2013-10-11 | 2015-04-16 | Hyundai Motor Company | Vibration control apparatus of vehicle with motor |
| DE102014218707A1 (en) * | 2014-09-17 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Common resolver for two electric motors of a differential drive in the vehicle |
| CN205131237U (en) * | 2015-07-31 | 2016-04-06 | 张文超 | System for automatic adjustment speed of a motor vehicle |
| CN106740847A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The self adaptation of four-wheel electric motor car is with car method |
| CN107031452A (en) * | 2016-11-23 | 2017-08-11 | 北京新能源汽车股份有限公司 | A kind of motor control method and device |
-
2017
- 2017-12-14 CN CN201711342413.8A patent/CN108082008A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103723142A (en) * | 2012-10-15 | 2014-04-16 | 北汽福田汽车股份有限公司 | Battery electric vehicle and start control method thereof |
| US20150105953A1 (en) * | 2013-10-11 | 2015-04-16 | Hyundai Motor Company | Vibration control apparatus of vehicle with motor |
| DE102014218707A1 (en) * | 2014-09-17 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Common resolver for two electric motors of a differential drive in the vehicle |
| CN205131237U (en) * | 2015-07-31 | 2016-04-06 | 张文超 | System for automatic adjustment speed of a motor vehicle |
| CN107031452A (en) * | 2016-11-23 | 2017-08-11 | 北京新能源汽车股份有限公司 | A kind of motor control method and device |
| CN106740847A (en) * | 2016-12-22 | 2017-05-31 | 江苏萝卜交通科技有限公司 | The self adaptation of four-wheel electric motor car is with car method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107627900B (en) | Differential torque control system and control method for double-wheel-side motor of electric vehicle | |
| CN103612634B (en) | The evaluation method of distributing In-wheel motor driving electronlmobil coefficient of road adhesion | |
| CN206049409U (en) | A kind of electronic auto electronic differential mechanism | |
| CN104175902A (en) | Torque distribution control method for electric-wheel automobile hub motor torque distribution system | |
| CN203244742U (en) | Electric self-balancing double-wheel scooter | |
| CN110667402A (en) | Electronic differential control method and system for four-wheel drive electric vehicle | |
| CN102935815B (en) | Electric differential control method for electric wheel vehicle | |
| JP2005273761A5 (en) | ||
| CN106741133A (en) | Apparatus and method for controlling the steering reversal of engine-driven power steering system | |
| CN104494749A (en) | Electric self-balancing two-wheeled vehicle | |
| CN202923418U (en) | Electronic differential control device of electric wheel vehicle | |
| CN109760682A (en) | A kind of pure electric vehicle climbing torque evaluation method and control method and its system | |
| CN204527462U (en) | A kind of electronic self-balancing type two-wheel car | |
| CN106696761B (en) | A kind of electric car intelligent driven controlling system and its drive control method | |
| CN104527878B (en) | Self-balancing electric double-wheel vehicle | |
| CN108082008A (en) | A kind of motor speed control method based on vehicle | |
| CN106608202B (en) | Intelligent control method and system for electric automobile running coordination | |
| JP5007542B2 (en) | Vehicle turning behavior control device | |
| CN108058618A (en) | A kind of vehicular electric machine control method | |
| CN102874310A (en) | Method and system for controlling differential steering of soil shifter | |
| CN204567346U (en) | Two-wheel hub electric four-wheel vehicle electric bridge differential control system | |
| CN113752853B (en) | Vehicle driving antiskid control method and system and vehicle | |
| CN103303365A (en) | Electric power storage (EPS) vehicle motion control system of commercial vehicle | |
| CN206938990U (en) | A kind of self-balancing bicycle of intelligent drives | |
| CN203749716U (en) | Four-wheel independent driving mechanism for electric wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180529 |
|
| WW01 | Invention patent application withdrawn after publication |