CN108437850B - Anti-skid control method and device for automobile driving wheel - Google Patents

Anti-skid control method and device for automobile driving wheel Download PDF

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Publication number
CN108437850B
CN108437850B CN201810228847.3A CN201810228847A CN108437850B CN 108437850 B CN108437850 B CN 108437850B CN 201810228847 A CN201810228847 A CN 201810228847A CN 108437850 B CN108437850 B CN 108437850B
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automobile
change rate
rotating speed
motor
accelerator pedal
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CN108437850A (en
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朱早贝
许笑天
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—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
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides an anti-skid control method and device for a driving wheel of an automobile, wherein the method comprises the following steps: acquiring the rotating speed information of an automobile motor and the opening information of an accelerator pedal in real time; judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information of the accelerator pedal; and when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel. Therefore, the slip rate of the automobile does not need to be known in the process, and the problem that the automobile cannot be effectively subjected to anti-slip control due to the fact that the accurate slip rate of the automobile cannot be obtained in the prior art is solved.

Description

Anti-skid control method and device for automobile driving wheel
Technical Field
The invention relates to the technical field of automobile control, in particular to an anti-skid control method and device for automobile driving wheels.
Background
Stability control systems such as an Electronic Stability Program (ESP)/a drive anti-skid system (TCS) and the like are not installed on the new energy automobile, especially the pure electric automobile, due to the reason of cost, so that the phenomenon that drive wheels slip is easily generated when the automobile is attached to a lower road surface or a conventional road surface is accelerated rapidly, discomfort is caused, the vehicle is possibly out of control in severe cases, safety risks are brought, and the operation stability of the pure electric automobile is greatly influenced.
At present, the antiskid of the pure electric vehicle is mostly solved by directly installing and driving an antiskid control system (tcs) (traction control system), most of the antiskid of the pure electric vehicle is controlled based on the slip rate, and whether the antiskid control is started or not is judged by comparing the current slip rate with the target slip rate, so that the antiskid function is realized.
The slip rate is an important basis for judging whether the wheel slip is generated, and if the slip rate is unknown, the wheel slip phenomenon cannot be judged through the way. Many pure passenger cars and logistics cars do not have ESP/TCS installed due to cost reasons or difference of high and low configurations, and for these pure electric cars without ESP/TCS installed, it is difficult to realize effective anti-skid control for these electric cars because the slip ratio cannot be accurately known. Therefore, how to realize the anti-skid control of the electric vehicles becomes one of the technical problems to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method and an apparatus for controlling anti-skid of a driving wheel of an automobile, so as to implement anti-skid control on the automobile when the automobile enters a wheel-slipping state under the condition that the slip rate of the automobile cannot be known.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
an anti-skid control method for a driving wheel of an automobile comprises the following steps:
acquiring the rotating speed information of an automobile motor and the opening information of an accelerator pedal in real time;
judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information;
and when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel.
Preferably, in the method for controlling anti-slip of driving wheels of an automobile, the determining whether the driving wheels of the automobile are in a slipping state according to the rotation speed information and the opening degree information includes:
calculating the change rate of the motor rotating speed according to the rotating speed information;
calculating the change rate of the opening of the accelerator pedal according to the opening information;
judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not;
judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not;
and when the change rate of the motor rotating speed is greater than the first preset value and the change rate of the opening degree of an accelerator pedal is greater than the second preset value, determining that the driving wheel of the automobile is in a slipping state.
Preferably, in the method for controlling anti-skid of a driving wheel of an automobile, determining whether the change rate of the rotation speed of the motor is greater than a first preset value includes:
acquiring n change rates of the rotating speed of the motor obtained by continuous n cycles, wherein n is a positive integer not less than 2;
and judging whether the n change rates are all larger than the first preset value, if so, judging that the change rate of the motor rotating speed is larger than the first preset value.
Preferably, in the above method for controlling anti-skid of driving wheel of vehicle, determining whether the change rate of the accelerator pedal is greater than a second preset value includes:
acquiring a plurality of acquired change rates of the opening degree of the accelerator pedal in a time period corresponding to the n change rates, wherein the plurality refers to two or more;
and judging whether the obtained change rates of the opening degrees of the plurality of accelerator pedals have the change rate of the opening degrees of the accelerator pedals greater than a second preset value or not, and if so, judging that the change rate of the opening degrees of the accelerator pedals is greater than the second preset value.
Preferably, in the above method for controlling anti-slip of a driving wheel of an automobile, the anti-slip control of the driving wheel includes:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
Preferably, in the method for controlling the slip of the driving wheel of the automobile, after the slip control of the driving wheel, the method further includes:
and judging whether the driving wheels of the automobile exit a slipping state, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the current opening degree of the accelerator pedal.
An antiskid control apparatus for a vehicle drive wheel, comprising:
the data acquisition unit is used for acquiring the rotating speed information of the automobile motor and the opening information of the accelerator pedal in real time;
the state judger is used for judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information;
and the vehicle control unit is used for performing anti-skid control on the driving wheels when the driving wheels are in a skid state.
Preferably, in the anti-skid control device for a driving wheel of an automobile, the state determiner is configured to:
calculating the change rate of the motor rotating speed according to the rotating speed information;
calculating the change rate of the opening of the accelerator pedal according to the opening information;
judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not;
judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not;
and when the change rate of the motor rotating speed is greater than the first preset value and the change rate of the opening degree of an accelerator pedal is greater than the second preset value, determining that the driving wheel of the automobile is in a slipping state.
Preferably, in the anti-skid control device for driving wheels of an automobile, the state determiner, when determining whether the change rate of the motor rotation speed is greater than a first preset value, is specifically configured to:
acquiring n change rates of the rotating speed of the motor obtained by continuous n cycles, wherein n is a positive integer not less than 2;
and judging whether the n change rates are all larger than the first preset value, if so, judging that the change rate of the motor rotating speed is larger than the first preset value.
Preferably, in the anti-skid control device for driving wheels of an automobile, when the state determiner determines whether the change rate of the accelerator pedal is greater than a second preset value, the state determiner is specifically configured to:
acquiring a plurality of acquired change rates of the opening degree of the accelerator pedal in time periods corresponding to the n change rates, wherein the plurality of change rates are more than 2;
and judging whether the obtained change rates of the opening degrees of the plurality of accelerator pedals have the change rate of the opening degrees of the accelerator pedals greater than a second preset value or not, and if so, judging that the change rate of the opening degrees of the accelerator pedals is greater than the second preset value.
Preferably, in the above-described antiskid control device for vehicle drive wheels, the vehicle control unit is specifically configured to:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
Preferably, in the above anti-skid control device for a driving wheel of an automobile, the vehicle control unit is further configured to:
and judging whether the driving wheels of the automobile exit a slipping state, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the current opening degree of the accelerator pedal.
An electric vehicle comprising the vehicle drive wheel anti-skid control device disclosed in any one of the above.
Based on the technical scheme, the scheme provided by the embodiment of the invention obtains the rotating speed information of the automobile motor and the opening information of the accelerator pedal in real time; judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information; and when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel. The scheme can accurately identify whether the driving wheel enters a slipping state, and ESP/TCS participation is not required in the process, so that the anti-slipping control of the driving wheel can be realized for automobiles with different configurations. Therefore, the slip rate of the automobile does not need to be known in the process, and the problem that the automobile cannot be effectively subjected to anti-slip control due to the fact that the accurate slip rate of the automobile cannot be obtained in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for controlling anti-skid of a driving wheel of an automobile according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for controlling anti-skid of a driving wheel of a vehicle according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a method for controlling anti-skid of a driving wheel of a vehicle according to another embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for controlling anti-skid of a driving wheel of a vehicle according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an anti-skid control device for a driving wheel of an automobile according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses an anti-skid control method for a driving wheel of an automobile, which aims to solve the problem that in the prior art, a part of electric automobiles cannot acquire a slip rate so that the electric automobiles cannot judge whether the wheels of the automobile slip, and the method can comprise the following steps:
step S101: acquiring the rotating speed information of an automobile motor and the opening information of an accelerator pedal in real time;
in the technical scheme disclosed by the embodiment of the invention, the real-time acquisition of the rotating speed information of the automobile motor and the opening degree information of the accelerator pedal can refer to the acquisition of the rotating speed information and the opening degree information of the accelerator pedal according to a preset frequency, wherein the frequencies for acquiring the rotating speed information and the opening degree information can be different.
Step S102: judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information;
when a vehicle is in a running state, if a driving wheel slips, the rotating speed of a motor of the vehicle will greatly increase, and the change rate of the rotating speed of the motor will suddenly increase. Generally, when the driving wheel slip occurs, the user steps on the accelerator pedal suddenly, and when the rotation speed information is suddenly increased and the opening degree information of the accelerator pedal is suddenly increased, it is determined that the vehicle is in the state of the driving wheel slip at that time.
In the technical scheme disclosed by the embodiment of the invention, whether the rotation speed information of the motor and the opening degree information of the accelerator pedal are suddenly increased or not can be judged according to the change rate of the rotation speed information and the opening degree information. Specifically, before the method disclosed in the above embodiment of the present invention is executed, two preset values may be preset, and are recorded as a first preset value and a second preset value, where the first preset value is used to represent an upper limit value of a rate of change of a motor rotation speed, and the second preset value is used to represent an upper limit value of a rate of change of an accelerator pedal, referring to fig. 2, this step may specifically include:
step S1021: calculating the change rate of the motor rotating speed according to the rotating speed information;
step S1022: calculating the change rate of the opening of the accelerator pedal according to the opening information;
step S1023: judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not, if so, executing a step S1024, otherwise, executing a step S101;
the first preset value may be set according to a user's requirement, and different types of electric vehicles may have different set values, for example, the set value may be 5000rad/s, or may be any value within a range of (3000rad/s,8000rad/s), or may be other set values.
The size of the second preset value can also be set according to the needs of users, the values of the second preset values corresponding to each vehicle can be different according to different actual vehicle states, and the difference range can even be more than 100%.
Step S1024: and judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not, if so, indicating that the change rate of the rotating speed of the motor is greater than the first preset value and the change rate of the opening degree of the accelerator pedal is greater than the second preset value, judging that the driving wheel of the automobile is in a slipping state, and executing a step S103, otherwise, executing a step S101.
In the technical solution disclosed in the embodiment of the present invention, the sequence of the steps S1023 and 1024 may not be limited, and the step S1024 may be executed first and then the step S203 is executed, in this case, when the determination result of the step S1024 is yes, the step S1023 is executed, when the determination result of the step S1023 is also yes, the step S103 is executed, of course, the steps S1023 and 1024 may also be executed simultaneously, and when the determination results of the two are both yes, the step S103 is executed.
Step S103: when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel;
wherein, when the anti-skid control is carried out on the driving wheel, any anti-skid measures disclosed in the prior art can be adopted.
According to the anti-skid control method for the driving wheels disclosed by the embodiment of the invention, the rotating speed information of the automobile motor and the opening information of the accelerator pedal are acquired in real time; judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information of the accelerator pedal; and when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel. The scheme can accurately identify whether the driving wheel enters a slipping state, and ESP/TCS participation is not required in the process, so that the anti-slipping control of the driving wheel can be realized for automobiles with different configurations. Therefore, the slip rate of the automobile does not need to be known in the process, and the problem that the automobile cannot be effectively subjected to anti-slip control due to the fact that the slip rate of the automobile cannot be accurately obtained in the prior art is solved.
In the technical scheme disclosed by the embodiment of the invention, when the change rate of the rotating speed of the motor and the change rate of the opening degree of the accelerator pedal are calculated, the rotating speed change rate AccSpd of the motor at each moment and the change rate of the opening degree of the accelerator pedal can be fitted by utilizing a least square method.
In the technical scheme disclosed in this embodiment, in order to accurately determine whether the vehicle enters a slipping state, the change rates of the rotation speeds of the plurality of motors may be continuously calculated, then the change rates of the rotation speeds of the plurality of motors are uniformly determined, when the change rates are all greater than the first preset value or the average value of the change rates is greater than the first preset value, it is determined that the change rate of the rotation speed of the motor is greater than the first preset value, otherwise, it is determined that the change rate of the rotation speed of the motor is not greater than the first preset value, wherein the plurality means two or more.
Specifically, referring to fig. 3, in the foregoing step, determining whether the change rate of the rotation speed of the motor is greater than a first preset value may specifically include:
step S301: calculating n change rates of the rotating speed of the motor according to a preset period;
the period duration of the preset period may be set according to a user requirement, for example, in the technical solution disclosed in the embodiment of the present invention, the duration of each period may be 5ms or shorter or longer, and preferably, in the technical solution disclosed in the embodiment of the present invention, the length of each period of the preset period may be any value between 5ms and 10 ms. The n is a positive integer not less than 2, and a specific value thereof may be set according to a user requirement, for example, in the technical solution provided by the embodiment of the present invention, the n may be set to 5.
Step S302: acquiring n change rates of the motor rotating speed calculated by n continuous periods;
the last change rate in the n change rates may refer to a change rate of the motor rotation speed at the current moment;
step S303: and judging whether the n change rates are all larger than the first preset value, if so, indicating that the change rate of the motor rotating speed is larger than the first preset value, and executing step S1024.
Taking n as 5, a first preset value 5000rad/s and a preset period with a period length of 10ms as an example, the process is illustrated, the change rate of the motor speed of the automobile is calculated every 10ms, the change rate of the motor speed calculated in the current period is obtained and is recorded as △ n1, the change rates of the motor speed of the previous 4 periods of the current period which are obtained through calculation are respectively △ n2, △ n3, △ n4 and △ n5, the change rate of the motor speed of the automobile is regarded as a criterion for judging whether the change rate of the motor speed of the automobile is larger than the first preset value or not by taking △ n1- △ n5 as the criterion for judging whether the change rate of the motor speed of the automobile is larger than the first preset value or not, otherwise, the next judgment is carried out, the change rate of the motor speed calculated in the next period is recorded as △ n1, and the cycle is regarded as △ n 1.
In the technical solution disclosed in the above embodiment of the present invention, when determining whether the change rate of the opening degree of the accelerator pedal is greater than the second preset value, the specific determination manner may be defined by user requirements, for example, it may determine the change rate of the accelerator pedal according to another preset period, and when it is detected that the change rate of the rotation speed of the motor is greater than the first preset value at a certain moment and it is also detected that the change rate of the opening degree of the accelerator pedal is greater than the second preset value in a time period corresponding to the moment, it may be determined that the vehicle is in a driving wheel slipping state. When it is necessary to determine whether the change rate of the motor rotation speed is greater than a first preset value by using the change rates of the n motor rotation speeds, at this time, the change rate of the accelerator pedal opening used when determining whether the change rate of the accelerator pedal opening is greater than a second preset value may be the change rate of the accelerator pedal opening at any time in a time period corresponding to the n change rates, that is, when the change rate of the accelerator pedal opening at any time in the time period corresponding to the n change rates is greater than the second preset value, it is determined that the change rate of the accelerator pedal opening is greater than the second preset value.
Specifically, referring to fig. 4, in the method, the determining whether the change rate of the accelerator pedal opening is greater than a second preset value specifically includes:
step S1041: acquiring the change rates of a plurality of accelerator pedal opening degrees acquired in a time period corresponding to the n change rates;
and the calculation cycle of the change rate of the opening degree of the accelerator pedal is smaller than the time periods corresponding to the n change rates, and the change rate of at least 1 opening degree of the accelerator pedal is calculated in the time periods.
Step S1042: judging whether an accelerator pedal opening degree change rate with a change rate larger than a second preset value exists in the obtained change rates of the accelerator pedal openings, if so, judging that the change rate of the accelerator pedal opening degree is larger than the second preset value, and executing a step S103, otherwise, executing a step S101;
of course, besides determining whether there is an accelerator pedal opening change rate with a change rate greater than the second preset value, the method may also perform a mean operation on the collected multiple accelerator pedal opening change rates, determine whether the mean value of the multiple accelerator pedal opening change rates is greater than the second preset value, and if so, determine that the change rate of the accelerator pedal opening is greater than the second preset value.
When the automobile is judged to enter the driving wheel slipping state, the anti-slipping control of the automobile is needed, the anti-slipping control mode can adopt any anti-slipping control scheme disclosed in the prior art, and of course, the anti-slipping control scheme provided by the embodiment of the invention can also be adopted. Specifically, in the anti-skid control scheme provided in the embodiment of the present invention, the performing anti-skid control on the driving wheel may include:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
Specifically, after the Vehicle enters the anti-skid Control mode, the Vehicle Control Unit (VCU) directly controls the output torque VCU _ OutTrq of the VCU to gradually change to the set target torque output value VCU _ OutTrq _ desired without responding to other devices, and the output torque VCU _ OutTrq of the VCU starts to attenuate according to a preset gradient when gradually changing to the target torque output value VCU _ OutTrq _ desired, wherein the target torque output value VCU _ OutTrq _ Desire is different for different vehicles, can be calibrated in the actual condition in the debugging process of the real vehicle, different vehicle types can be configured with different preset descending gradients in the same way, in the technical scheme disclosed by the embodiment of the invention, the value range of the preset descending gradient can be more than 8 N.m, and the motor directly responds to the torque request of the VCU in the process of descending the output torque VCU _ OutTrq to VCU _ OutTrq _ Desire, and adjusts the torque output according to the gradually descending torque value output by the VCU. Therefore, after the driving wheel enters a slipping state, the torque output of the motor can be actively adjusted to gradually fall to a certain safety threshold value, the purpose of eliminating wheel slipping is achieved, and the stability of the vehicle is ensured.
In the foregoing solution, after performing the anti-skid control on the driving wheels, it is further required to determine whether the vehicle has exited the skid state, and when exiting the skid state, the process may further include:
and judging whether the driving wheels of the automobile exit a slipping state or not, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the opening value of the accelerator pedal at present.
Specifically, after the anti-skid control is started, the VCU directly adjusts the torque of the motor to be reduced to a safe threshold value, at this time, if the wheels do not skid any more, the VCU detects that the rotating speed change rate AccSpd of the motor is smaller than a third preset value, the value range of the third preset value can be selected from 0-1200rad/s according to different vehicles, the third preset value is 1000rad/s in the technical scheme disclosed by the embodiment of the invention, and when the rotating speed change rate AccSpd of the motor is smaller than 1000rad/s, the VCU judges that the wheels do not skid any more, and at this time, the VCU controls the vehicle to exit the anti-skid control mode.
When the automobile is in the anti-skid control state, the situation that the wheels are in a skid state when the automobile is normally accelerated under a large accelerator is eliminated, and the situation that the automobile cannot normally run out due to the fact that the anti-skid control is carried out at the moment so that torque output is directly reduced is avoided; when the anti-skid control is quitted, the problem does not exist, and as long as the change rate of the rotating speed of the motor is less than a certain value, the wheel can be judged not to be in the skid state any more, so that the change rate of the opening degree of the accelerator pedal does not need to be judged again. And the target output torque VCU _ OutTrq _ Desire output by the VCU is filtered and rises according to a preset rising gradient until the torque output value output by the vehicle control unit reaches the torque output value corresponding to the current opening degree of the accelerator pedal, and then the VCU is controlled to output the torque value according to a conventional mode, so that the uncomfortable feeling caused by vehicle leap due to sudden increase of the torque in the torque switching process is avoided. When the target output torque output by the VCU rises according to a preset rising gradient, the range of the torque rising gradient can be any value within the range of 2-20 N.m, and the torque rising gradient can be customized according to the real vehicle test.
Through the scheme, the anti-skid control method for the automobile driving wheel, provided by the embodiment of the invention, can accurately identify the critical point of the driving wheel entering the skid state, and achieves the effect of inhibiting the wheel skid by actively adjusting the torque output of the motor. The ESP/TCS is not needed in the process, and the anti-skid control of the driving wheels of the pure electric vehicles with different configurations is guaranteed.
The embodiment of the invention discloses an antiskid control device for a driving wheel of an automobile, and the specific working contents of all the components in the device refer to the content of the embodiment of the method. Referring to fig. 5, the anti-skid control device for driving wheels of an automobile may include:
the data acquisition unit 100 corresponds to the step S1021 in the method, and is used for acquiring the rotation speed information of the automobile motor and the opening degree information of the accelerator pedal in real time;
a state determiner 200, corresponding to step S1022 in the method, for determining whether the driving wheels of the automobile are in a slipping state according to the rotation speed information and the opening degree information;
the vehicle control unit 300, corresponding to step S1023 in the method, is used for performing anti-skid control on the driving wheels when the driving wheels are in a skid state.
Specifically, corresponding to the steps S1021-1024 in the method, the state judger 200 is specifically configured to:
calculating the change rate of the motor rotating speed according to the rotating speed information;
calculating the change rate of the opening of the accelerator pedal according to the opening information;
judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not;
judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not;
and when the change rate of the motor rotating speed is greater than a first preset value and the change rate of the opening degree of an accelerator pedal is greater than a second preset value, determining that the driving wheel of the automobile is in a slipping state.
Corresponding to the steps S301 to S303 in the above method, when determining whether the change rate of the motor speed is greater than a first preset value, the state determiner is specifically configured to:
acquiring n change rates of the motor rotating speed calculated by n continuous periods;
and judging whether the n change rates are all larger than the first preset value, if so, judging that the change rate of the motor rotating speed is larger than the first preset value.
Corresponding to the steps S1041 to S1042 in the above method, when the state judger judges whether the change rate of the accelerator pedal is greater than a second preset value, the state judger is specifically configured to:
acquiring the change rates of a plurality of accelerator pedal opening degrees acquired in a time period corresponding to the n change rates;
and judging whether the obtained change rates of the opening degrees of the plurality of accelerator pedals have the change rate of the opening degrees of the accelerator pedals, wherein the change rate of the opening degrees of the accelerator pedals is larger than a second preset value, and if so, indicating whether the change rate of the opening degrees of the accelerator pedals is larger than the second preset value.
Corresponding to the method, the vehicle controller is specifically configured to:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
Corresponding to the method, the vehicle control unit is further configured to:
and judging whether the driving wheels of the automobile exit a slipping state, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the current opening degree of the accelerator pedal.
Corresponding to the device, the invention also discloses an electric automobile applying the automobile driving wheel anti-skid control device disclosed by any one embodiment.
For convenience of description, the above system is described with the functions divided into various modules, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations as the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. An anti-slip control method for a driving wheel of an automobile, comprising:
acquiring the rotating speed information of an automobile motor and the opening information of an accelerator pedal in real time;
judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information;
when the driving wheel is in a slipping state, performing anti-slipping control on the driving wheel;
the judging whether the driving wheel of the automobile is in a slipping state according to the rotating speed information and the opening degree information comprises the following steps:
calculating the change rate of the motor rotating speed according to the rotating speed information;
calculating the change rate of the opening of the accelerator pedal according to the opening information;
judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not;
judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not;
and when the change rate of the motor rotating speed is greater than the first preset value and the change rate of the opening degree of an accelerator pedal is greater than the second preset value, determining that the driving wheel of the automobile is in a slipping state.
2. The method of claim 1, wherein determining whether the rate of change of the motor speed is greater than a first predetermined value comprises:
acquiring n change rates of the rotating speed of the motor obtained by continuous n cycles, wherein n is a positive integer not less than 2;
and judging whether the n change rates are all larger than the first preset value, if so, judging that the change rate of the motor rotating speed is larger than the first preset value.
3. The method of claim 1, wherein the slip control of the driving wheel comprises:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
4. The method of claim 3, further comprising, after the slip control of the driving wheel:
and judging whether the driving wheels of the automobile exit a slipping state, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the current opening degree of the accelerator pedal.
5. An antiskid control device for a vehicle drive wheel, comprising:
the data acquisition unit is used for acquiring the rotating speed information of the automobile motor and the opening information of the accelerator pedal in real time;
the state judger is used for judging whether the driving wheels of the automobile are in a slipping state or not according to the rotating speed information and the opening degree information;
the vehicle control unit is used for performing anti-skid control on the driving wheels when the driving wheels are in a skid state;
the state judger is specifically configured to:
calculating the change rate of the motor rotating speed according to the rotating speed information;
calculating the change rate of the opening of the accelerator pedal according to the opening information;
judging whether the change rate of the rotating speed of the motor is greater than a first preset value or not;
judging whether the change rate of the opening degree of the accelerator pedal is greater than a second preset value or not;
and when the change rate of the motor rotating speed is greater than the first preset value and the change rate of the opening degree of an accelerator pedal is greater than the second preset value, determining that the driving wheel of the automobile is in a slipping state.
6. The apparatus of claim 5, wherein the state determiner, when determining whether the change rate of the motor speed is greater than a first predetermined value, is configured to:
acquiring n change rates of the rotating speed of the motor obtained by continuous n cycles, wherein n is a positive integer not less than 2;
and judging whether the n change rates are all larger than the first preset value, if so, judging that the change rate of the motor rotating speed is larger than the first preset value.
7. The vehicle drive wheel anti-skid control device of claim 5, wherein the vehicle controller is specifically configured to:
the control method comprises the steps that a control motor directly responds to a torque output value output by a vehicle controller, and the torque output value output by the vehicle controller starts to attenuate according to a preset descending gradient on the basis of a current torque value of an automobile motor until the torque output value output by the vehicle controller reaches a target torque output value.
8. The vehicle drive wheel antiskid control apparatus of claim 7, wherein the vehicle control unit is further configured to:
and judging whether the driving wheels of the automobile exit a slipping state, if so, controlling the torque output value output by the vehicle controller to rise according to a preset rising gradient until the torque output value output by the vehicle controller reaches the torque output value corresponding to the current opening degree of the accelerator pedal.
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CN112477620B (en) * 2020-11-03 2022-12-20 宁波央腾汽车电子有限公司 Automobile anti-skid protection method
CN112477626B (en) * 2020-11-30 2022-08-30 东风汽车集团有限公司 Pre-control method and system for preventing automobile driving wheel from slipping
CN112549991B (en) * 2020-12-17 2022-08-19 广州橙行智动汽车科技有限公司 Torque control method, device, vehicle and storage medium
CN112895915B (en) * 2021-03-02 2022-06-28 潍柴动力股份有限公司 Motor control method, device and controller
CN113060116B (en) * 2021-04-19 2023-05-26 奇瑞商用车（安徽）有限公司 Anti-skid control method for driving electric automobile
CN114475276B (en) * 2022-03-04 2024-04-19 广汽埃安新能源汽车有限公司 Control method and system for torque of driving motor

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