CN108327702A - A kind of four-wheel wheel hub motor independence drive control method - Google Patents
A kind of four-wheel wheel hub motor independence drive control method Download PDFInfo
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- CN108327702A CN108327702A CN201810078370.5A CN201810078370A CN108327702A CN 108327702 A CN108327702 A CN 108327702A CN 201810078370 A CN201810078370 A CN 201810078370A CN 108327702 A CN108327702 A CN 108327702A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000006641 stabilisation Effects 0.000 claims abstract description 3
- 238000011105 stabilization Methods 0.000 claims abstract description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 7
- 238000009472 formulation Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of four-wheel wheel hub motor independence drive control methods.Control process is：Information by being inputted to driver obtains the longitudinal moment that vehicle keeps stable to be calculated with a status information；And determination is to carry out dynamic property to coordinate control or carry out stability coordination control；Calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control；Determining carry out dynamic property coordinates control or carries out stability to coordinate control, and Different Strategies are respectively adopted, and adjusts the driving moment of each motor and makes that wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains required additional yaw moment.The present invention is using power performance and stability as target, rationally adjust wheel torque, the road surface suddenly superpower direction of travel holding capacity of the safety of acceleration or emergency braking, realization, and the stability that the flexibility of low speed steering can be improved and run at high speed of offroad vehicle can be obviously improved.
Description
Technical field
The invention belongs to car wheel electromotor control system technical fields, and in particular to a kind of four-wheel wheel hub motor independently drives
Flowing control method can be obviously improved the road surface suddenly superpower traveling of the safety of acceleration or emergency braking, realization of offroad vehicle
Direction holding capacity, and the stability that the flexibility of low speed steering can be improved and run at high speed.
Background technology
The characteristics of In-wheel motor driving technology is all to be integrated into power, transmission and brake apparatus in wheel hub so that electronic
The mechanical part of automobile is greatly simplified, it is convenient to omit a large amount of mechanical transmission components keep vehicle structure simpler, may be implemented a variety of
Complicated type of drive, while convenient for using a variety of new energy driving skills arts.Offroad vehicle uses In-wheel motor driving technology, first
The mechanical part of vehicle can be simplified, save interior space, to make vehicle obtain the use space of bigger；Secondly as each
The individually controllable feature of a wheel hub motor can make vehicle obtain more good dynamic property, maneuverability and passability, significantly carry
Adaptability of the high vehicle to various road surfaces.
Four-wheel wheel hub motor independently drives mechanical power transmission system not in general sense, just because of not passing
The participation of transfer gear, the differential mechanism of system etc., it is necessary to the torque and rotating speed of four wheels are uniformly controlled, just can guarantee vehicle
Dynamic property, braking and control stability.How a kind of four-wheel wheel hub motor independence drive control method is provided, at
The technical issues of being badly in need of solving for those skilled in the art.
Invention content
The purpose of the present invention is exactly insufficient existing for above-mentioned background technology in order to solve, and it is only to provide a kind of four-wheel wheel hub motor
Vertical drive control method.
The technical solution adopted by the present invention is：A kind of four-wheel wheel hub motor independence drive control method, includes the following steps：
Step 1, it by the information that is inputted to driver to be calculated with a status information, obtains vehicle and keeps stable
Longitudinal moment；And determination is to carry out dynamic property to coordinate control or carry out stability coordination control；
Step 2, calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control；
Step 3, coordinate control according to the carry out dynamic property that step 1 determines or carry out stability to coordinate control, be respectively adopted
Different Strategies, adjusting the driving moment of each motor makes that wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains
Required additional yaw moment.
Further, the information of driver input include gas pedal input information, brake pedal input information and
Steering wheel angle input information.
Further, it is determined that carrying out dynamic property surely coordinates the condition of control as α ＞ Δ α, and δ ＜ Δs δ；Determination is stablized
Property to coordinate the condition of control be α ＜ Δ α, and δ ＞ Δs δ；Wherein α-gas pedal opening amount signal；δ-steering wheel angle signal；
Δ α-accelerator open degree threshold value；Δ δ-steering wheel angle threshold value.
Further, it is described carry out dynamic property coordinate the strategy that uses of control for：Utilize road surface attachment identification module
The best slippage rate of current each wheel and practical slippage rate are calculated separately out with wheel slip rate computing module, and acquires the two
Between difference, then use proportional, integral control method regulation motor driving moment, so that wheel is obtained best slippage rate.
Further, it is described carry out stability coordinate the strategy that uses of control for：Utilize two degrees of freedom vehicle reference model
The ideal yaw velocity of current vehicle and practical yaw velocity are obtained with gyroscope, and acquires difference between the two, when
When difference is more than threshold value, the additional yaw moment value inhibited needed for vehicle unstability is calculated using proportional, integral control method, and
Each motor is assigned them to, the driving torque of each motor is adjusted, obtains required additional yaw moment.
The present invention first calculates the longitudinal moment that vehicle travels demand according to driver's input information and car status information, and
Determine that the specific coordination control of vehicle drive is used as formulation layer；Whole driving wheels are distributed to further according to longitudinal moment, keep vehicle total
To be in best transport condition, the operation to meet driver is intended to, finally using specific control strategy to turning to wheel
The adjusting of square makes wheel obtain best slippage rate in real time, to realize " direct torque, rotating speed follow ".The present invention is with vehicle
Dynamic property and stability are target, rationally adjust wheel torque, can be obviously improved the road surface suddenly acceleration or urgent of offroad vehicle
Superpower direction of travel holding capacity is realized in the safety of braking, and can be improved the flexibility of low speed steering and be run at high speed
Stability.
Description of the drawings
Fig. 1 is the model schematic of control method of the present invention.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments, convenient for this hair is well understood
It is bright, but they do not constitute the present invention and limit.
As shown in Figure 1, a kind of four-wheel wheel hub motor independence drive control method of the present invention, is realized using hierarchical control method
The stability control of vehicle is specifically divided into 3 layers of upper, middle and lower：Top level control is longitudinal force and yaw moment formulation layer, middle level control
It is slippage rate control layer for multi-state torque coordination Distribution Layer, lower layer's control.
Longitudinal force (driving force or brake force) and yaw moment formulation layer：Entire car controller is inputted according to the driver of acquisition
Information and car status information carry out operation, judge that the driving intention of driver, determination are to carry out dynamic property to coordinate control
Or carry out stability and coordinate control, and obtain the longitudinal moment that vehicle keeps stable.The information of driver's input includes throttle
Pedal input information, brake pedal input information and steering wheel angle input information.
When driving, driver controls the movement of vehicle by gas pedal and steering wheel to vehicle, and vehicle travels demand
Longitudinal moment TreqIt is directly determined by them.Control system judges vehicle at this time according to accelerator pedal of automobile aperture and steering wheel angle
Traveling needs more preferably driving capability or better directional stability, i.e., determinations be carry out dynamic property coordinate to control or
It carries out stability and coordinates control.Determine that carrying out dynamic property coordinates the condition of control as α ＞ Δ α, and δ ＜ Δs δ；Determination is stablized
Property to coordinate the condition of control be α ＜ Δ α, and δ ＞ Δs δ；Wherein α-gas pedal opening amount signal；δ-steering wheel angle signal；
Δ α-accelerator open degree threshold value；Δ δ-steering wheel angle threshold value.
Multi-state torque coordination Distribution Layer：Demand is travelled according to " longitudinal force and yaw moment formulation layer " calculated vehicle
Longitudinal moment Treq, by driving moment Distribution Layer by longitudinal moment TreqDistribute to whole driving wheels (i.e. each hub motor control
Device), so that vehicle is always at best transport condition, the operation to meet driver is intended to.
Slippage rate control layer：It identifies that the control of driver is intended to according to " longitudinal force and yaw moment formulation layer ", judges
It carries out dynamic property and coordinates control or stability coordination control, Different Strategies are respectively adopted, adjusting the driving moment of each motor makes
Wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains required additional yaw moment.
Carry out dynamic property coordinate the strategy that uses of control for：Utilize road surface attachment identification module and wheel slip rate meter
It calculates module and calculates separately out the best slippage rate of current each wheel and practical slippage rate, and acquire difference between the two, with vehicle
The best slippage rate of wheel is target, using proportional, integral, that is, PI control method regulation motor driving moments, so that wheel is obtained best
Slippage rate.By the control of driving wheel slippage rate in optimal slippage rate, each wheel hub motor input torque being calculated is instructed
It is delivered separately to corresponding electric machine controller, road surface is made full use of to adhere to condition, ensure that the dynamic property and traveling of vehicle traveling
Stability.
Each wheel speed is obtained by motor, calculates the angular acceleration of wheel, the linear acceleration being converted at core wheel, together
When, vehicle body longitudinal acceleration is acquired, two acceleration values are compared, judge whether wheel trackslips, it is attached by road surface
It situation identification module and calculates coefficient of road adhesion, each wheel trackslipping with respect to ground is calculated by wheel slip rate computing module
Rate obtains the best slippage rate of wheel according to the slope variation of ground attaching coefficient and the relation curve of slippage rate.
Carry out stability coordinate the strategy that uses of control for：Respectively using two degrees of freedom vehicle reference model and gyroscope
Ideal yaw velocity to current vehicle and practical yaw velocity, and difference between the two is acquired, when difference is more than door
When limit value, the additional yaw moment value inhibited needed for vehicle unstability is calculated using proportional, integral, that is, PI control methods, and by its point
Each motor of dispensing, adjusts the driving torque of each motor, obtains required additional yaw moment.
The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (5)
1. a kind of four-wheel wheel hub motor independence drive control method, it is characterised in that：Include the following steps：
Step 1, by the information that is inputted to driver to be calculated with a status information, the longitudinal direction that vehicle keeps stable is obtained
Torque；And determination is to carry out dynamic property to coordinate control or carry out stability coordination control；
Step 2, calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control；
Step 3, coordinate control according to the carry out dynamic property that step 1 determines or carry out stability to coordinate control, difference is respectively adopted
Strategy, adjust each motor driving moment make wheel obtain best slippage rate or each motor of adjustment driving torque obtain needed for
Additional yaw moment.
2. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that：The driver is defeated
The information entered includes gas pedal input information, brake pedal input information and steering wheel angle input information.
3. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that：It is fixed into action to determine
Power coordinates the condition of control as α ＞ Δ α, and δ ＜ Δs δ；Determine that carrying out stability coordinates the condition of control as α ＜ Δ α, and δ
＞ Δs δ；Wherein α-gas pedal opening amount signal；δ-steering wheel angle signal；Δ α-accelerator open degree threshold value；Δ δ-steering
Disk corner threshold value.
4. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that：It is described into action edge
Property coordinate the strategy that uses of control for：It is calculated separately out using road surface attachment identification module and wheel slip rate computing module
The best slippage rate and practical slippage rate of current each wheel, and difference between the two is acquired, then proportional, integral is used to control
Method regulation motor driving moment, makes wheel obtain best slippage rate.
5. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that：It is described to be stablized
Property coordinate the strategy that uses of control for：The ideal sideway of current vehicle is obtained using two degrees of freedom vehicle reference model and gyroscope
Angular speed and practical yaw velocity, and difference between the two is acquired, when difference is more than threshold value, using proportional, integral
Control method calculates the additional yaw moment value inhibited needed for vehicle unstability, and assigns them to each motor, adjusts each motor
Driving torque obtains required additional yaw moment.
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| CN201810078370.5A CN108327702A (en) | 2018-01-26 | 2018-01-26 | A kind of four-wheel wheel hub motor independence drive control method |
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| CN201810078370.5A CN108327702A (en) | 2018-01-26 | 2018-01-26 | A kind of four-wheel wheel hub motor independence drive control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110329346A (en) * | 2019-06-24 | 2019-10-15 | 东风汽车集团有限公司 | The difference for improving four-wheel In-wheel motor driving steering behaviour turns round yaw moment distribution method |
| CN110341497A (en) * | 2019-07-17 | 2019-10-18 | 东风汽车集团有限公司 | System and method for promoting four-wheel In-wheel motor driving control stability |
| CN110356247A (en) * | 2019-07-04 | 2019-10-22 | 宁德时代电动科技有限公司 | Electric car distribution drives electronic differential control system and method |
| CN111845708A (en) * | 2020-06-10 | 2020-10-30 | 武汉理工大学 | Method for coordinately controlling longitudinal driving force of cross-country vehicle |
| CN112693520A (en) * | 2021-01-08 | 2021-04-23 | 北京理工大学 | Steering control strategy for regulating rotating speed of hydrostatic drive tracked vehicle |
| CN112706756A (en) * | 2020-11-25 | 2021-04-27 | 东风越野车有限公司 | Yaw stability control method for off-road vehicle driven by hub motor |
| CN112874502A (en) * | 2021-03-01 | 2021-06-01 | 南京航空航天大学 | Wire control chassis information physical system in intelligent traffic environment and control method |
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| CN112693520A (en) * | 2021-01-08 | 2021-04-23 | 北京理工大学 | Steering control strategy for regulating rotating speed of hydrostatic drive tracked vehicle |
| CN112874502A (en) * | 2021-03-01 | 2021-06-01 | 南京航空航天大学 | Wire control chassis information physical system in intelligent traffic environment and control method |
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Application publication date: 20180727 |