CN108790940A - Direct wheel drives turn to differential speed control method, control device, equipment and automobile - Google Patents
Direct wheel drives turn to differential speed control method, control device, equipment and automobile Download PDFInfo
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- CN108790940A CN108790940A CN201810507533.7A CN201810507533A CN108790940A CN 108790940 A CN108790940 A CN 108790940A CN 201810507533 A CN201810507533 A CN 201810507533A CN 108790940 A CN108790940 A CN 108790940A
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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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- 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
- B60L2240/24—Steering angle
-
- 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
- B60L2240/423—Torque
-
- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
Abstract
The invention discloses a kind of Direct wheel drives to turn to differential speed control method, control device, equipment and automobile, and the Direct wheel drives turn to differential speed control method, including：Obtain the steering wheel angle signal of vehicle；The steering wheel angle signal is responded, according to the current vehicle speed of the vehicle, calculates the slip rate of the driving wheel of the vehicle；If calculating the slip rate obtained is more than the first slip rate threshold value, the first control signal for the driving torque for reducing the driving wheel is exported；If calculating the slip rate obtained is less than the second slip rate threshold value, the second control signal for the driving torque for increasing the driving wheel is exported；The first slip rate threshold value is more than the second slip rate threshold value.The Direct wheel drives turn to differential speed control method, can effectively increase safety and stability when Vehicular turn by the slip-based controller of wheel in suitable range.
Description
Technical field
The present invention relates to automotive field, it is specifically designed a kind of Direct wheel drives and turns to differential speed control method, control device, equipment
And automobile.
Background technology
With being constantly progressive for vehicle technology, people have higher requirement to the safety of vehicle, wherein vehicle is turning
Safety into driving process is particularly important, and orthodox car steering control system does not account for axle load transfer case and tyre side
Inclined influence cannot preferably control the output of drive wheel torque, safety when affecting Vehicular turn and stability.
Invention content
In order to solve the above technical problem, the present invention provides a kind of Direct wheel drives to turn to differential speed control method, control dress
It sets, equipment and automobile, solves vehicle steering control system and do not account for the influence of axle load transfer case and Wheel slip and ask
Topic.
One aspect of the present invention provides a kind of Direct wheel drives steering differential speed control method, is applied to vehicle, the side
Method includes：
Obtain the steering wheel angle signal of vehicle；
The steering wheel angle signal is responded, according to the current vehicle speed of the vehicle, calculates the driving wheel of the vehicle
Slip rate；
If calculating the slip rate obtained is more than the first slip rate threshold value, the driving torque for reducing the driving wheel is exported
First control signal；If calculating the slip rate obtained is less than the second slip rate threshold value, exports and increase the driving wheel
The second control signal of driving torque；The first slip rate threshold value is more than the second slip rate threshold value.
Optionally, the current vehicle speed according to the vehicle, the step of calculating the slip rate of the driving wheel of the vehicle
Including：
Obtain the wheel condition parameter of presently described vehicle；
According to the current vehicle speed of the wheel condition parameter and the vehicle, calculate the driving wheel of the vehicle works as front-wheel
Speed；
According to the current wheel speed of the current vehicle speed of the vehicle and the driving wheel, the cunning of the driving wheel of the vehicle is calculated
Shifting rate.
Optionally, the wheel condition parameter includes：
Driving tread dr, knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center are to vehicle
The distance a of center of gravity.
Optionally, described according to the current vehicle speed of the vehicle and the current wheel speed of the driving wheel, calculate the vehicle
Driving wheel slip rate mode use following formula：
S=(V0-Vw)/V0；
Wherein, S is slip rate, V0For current vehicle speed, Vw is current wheel speed.
Optionally, the method further includes：
Obtain the practical yaw velocity when Vehicular turn；
The practical yaw velocity is compared with goal-selling yaw velocity, according to comparison result, determines mesh
Mark slip rate；
The target slip ratio is added into preset offset value, calculates and obtains the first slip rate threshold value；By the target
Slip rate subtracts preset offset value, calculates and obtains the second slip rate threshold value.
Optionally, the practical yaw velocity is compared with goal-selling yaw velocity, according to comparison result,
Determine that target slip ratio includes：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, the target slip ratio is determined
To preset slip rate；
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default
Slip rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
Optionally, after the steering wheel angle signal for obtaining vehicle, the method further includes：
It is obtained according to the steering wheel angle signal acquisition wheel steering angle, and according to the accelerator pedal signal
Accelerator pedal dynamics；
According to the wheel steering angle and the accelerator pedal dynamics, the driving torque of driving wheel output is calculated.
Another aspect of the invention provides a kind of Direct wheel drives steering device for controlling differential speed, including：
First signal acquisition module, the steering wheel angle signal for obtaining vehicle；
Slip rate computing module, according to the current vehicle speed of the vehicle, is calculated for responding the steering wheel angle signal
The slip rate of the driving wheel of the vehicle；
Driving torque adjusts module, if being more than the first slip rate threshold value for calculating the slip rate obtained, output subtracts
The first control signal of the driving torque of the small driving wheel；If calculating the slip rate obtained is less than the second slip rate threshold value,
Then export the second control signal for the driving torque for increasing the driving wheel；The first slip rate threshold value is more than described second and slides
Shifting rate threshold value.
Optionally, the slip rate computing module further includes：
First signal acquiring unit, the wheel condition parameter for obtaining presently described vehicle；
Driving wheel wheel speed calculation unit is calculated for the current vehicle speed according to the wheel condition parameter and the vehicle
The current wheel speed of the driving wheel of the vehicle；
Driving wheel slip rate computing unit, for working as front-wheel according to the current vehicle speed of the vehicle and the driving wheel
Speed calculates the slip rate of the driving wheel of the vehicle.
Optionally, the wheel condition parameter includes：
Driving tread dr, knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center are to vehicle
The distance a of center of gravity.
Optionally, the driving wheel slip rate computing unit calculates the sliding of the driving wheel of the vehicle using following formula
Rate：
S=(V0-Vw)/V0；
Wherein, S is slip rate, V0For current vehicle speed, Vw is current wheel speed.
Optionally, described device further includes：
Second signal acquisition module, for obtaining the practical yaw velocity when Vehicular turn；
Target slip ratio determining module, for comparing the practical yaw velocity with goal-selling yaw velocity
Compared with according to comparison result, determining target slip ratio；
Slip rate threshold determination module calculates for the target slip ratio to be added preset offset value and obtains described the
The target slip ratio is subtracted preset offset value, calculates and obtain the second slip rate threshold value by one slip rate threshold value.
Optionally, the target slip ratio determining module is by the practical yaw velocity and goal-selling yaw velocity
It is compared, according to comparison result, determines that target slip ratio includes：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, the target slip ratio is determined
To preset slip rate；
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default
Slip rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
Optionally, described device further includes：
Third signal acquisition module, for according to the steering wheel angle signal acquisition wheel steering angle, Yi Jigen
Accelerator pedal dynamics is obtained according to the accelerator pedal signal；
Driving torque computing module, for according to the wheel steering angle and the accelerator pedal dynamics, calculating and driving
The driving torque of driving wheel output.
Another aspect of the invention provides a kind of control device, including：Memory, processor and it is stored in memory
Computer program that is upper and can running on a processor, the processor realize the wheel side when executing the computer program
Driving turns to the step in differential speed control method.
Another aspect of the invention provides a kind of vehicle, including the Direct wheel drives turn to device for controlling differential speed.
The advantageous effect of the embodiment of the present invention is：
Direct wheel drives described in the embodiment of the present invention turn to differential speed control method, have fully considered motor turning axle load when driving
The influence of transfer and Wheel slip has carried out the slip rate of steered wheel to calculate analysis, by torque cooperation and wheel slip
Control is combined, more stable traveling when enabling Vehicular turn.
Description of the drawings
Fig. 1 shows the electronic wheel edge drive structure schematic diagrames of automobile described in the embodiment of the present invention；
Fig. 2 indicates that Direct wheel drives described in the embodiment of the present invention turn to differential speed control method schematic diagram；
Fig. 3 indicates that Direct wheel drives described in the embodiment of the present invention turn to one of the flow chart of differential speed control method；
Fig. 4 indicates that Direct wheel drives described in the embodiment of the present invention turn to the two of the flow chart of differential speed control method；
Fig. 5 indicates the schematic diagram of motor turning model described in the embodiment of the present invention；
Fig. 6 indicates that Direct wheel drives described in the embodiment of the present invention turn to the three of the flow chart of differential speed control method；
Fig. 7 indicates that Direct wheel drives described in the embodiment of the present invention turn to the four of the flow chart of differential speed control method；
Fig. 8 shows five that Direct wheel drives described in the embodiment of the present invention turn to the flow chart of differential speed control method；
Fig. 9 indicates that Direct wheel drives described in the embodiment of the present invention turn to one of the structure diagram of device for controlling differential speed；
Figure 10 indicates that Direct wheel drives described in the embodiment of the present invention turn to the two of the structure diagram of device for controlling differential speed；
Figure 11 indicates that Direct wheel drives described in the embodiment of the present invention turn to the three of the structure diagram of device for controlling differential speed；
Figure 12 indicates that Direct wheel drives described in the embodiment of the present invention turn to the four of the structure diagram of device for controlling differential speed.
Specific implementation mode
Exemplary embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
The embodiment provides a kind of Direct wheel drives to turn to differential speed control method, and the control method is applied to vapour
The electronic wheel edge drive structure of vehicle.The electronic wheel edge drive structure of the automobile, as shown in Figure 1, including whole-control system
(Vehicle control unit, VCU), battery management system (battery management system, BMS), power electric
Pond, drive motor controller ((Microcontroller Unit, MCU), driving motor and hub reduction gear.The driving electricity
Machine and the hub reduction gear are two, the driving motor through hub reduction gear be connected to rear wheel provide for vehicle it is dynamic
Power forms front-wheel steer, the motor-driven mode in rear wheel rotation side with this.
The control system of the electronic wheel edge drive structure of the automobile includes mainly VCU, BMS and 2 MCU, wherein each
MCU individually controls a Direct wheel drives motor, and the signal interaction and coordination control between two MCU are completed by VCU, each control
All pass through CAN network interactive information between device processed.Direct wheel drives described in the embodiment of the present invention turn to differential speed control method, can be with
Applied to the control signal of the driving torque of driving wheel in VCU, can be obtained, and two MCU are sent the signal to, with control
Direct wheel drives motor carries out torque output.
As shown in Fig. 2, when turning to differential speed control method using the Direct wheel drives described in the embodiment of the present invention, specifically, VCU
In may include torque Distribution Layer and slip-based controller layer.Torque Distribution Layer receives the accelerator pedal signal and steering wheel of driver
Angular signal, calculates the demand torque of driving wheel, and distributes to two driving wheels；Slip-based controller layer passes through to left and right wheels
Slip rate is adjusted, output torque regulating command, finally obtains the torque output of left and right driving motor, ensures that vehicle can
Carry out stable Turning travel.
Specifically, a kind of Direct wheel drives that the embodiment of the present invention provides turn to differential speed control method, as shown in figure 3, packet
It includes：
Step 31, the steering wheel angle signal for obtaining vehicle；
Step 32, the response steering wheel angle signal calculate the drive of the vehicle according to the current vehicle speed of the vehicle
The slip rate of driving wheel；
If step 33 calculates the slip rate obtained more than the first slip rate threshold value, exports and reduce the driving wheel
The first control signal of driving torque；If calculating the slip rate obtained is less than the second slip rate threshold value, export described in increase
The second control signal of the driving torque of driving wheel；The first slip rate threshold value is more than the second slip rate threshold value.
Wherein, in step 33, if calculating the slip rate obtained is more than the first slip rate threshold value, show driving torque
Excessive, wheel appearance is excessively trackslipped, then exports the first control signal for the driving torque for reducing the driving wheel；It is obtained if calculating
The slip rate obtained is less than the second slip rate threshold value, then shows that driving torque is too small, wheel is not provided using road surface adequately
Adhesive force, then export the second control signal for the driving torque for increasing the driving wheel；If it is small to calculate the slip rate obtained
In the first slip rate threshold value and it is more than the second slip rate threshold value, then shows the attachment condition of wheel, do not need to driving torque
It is adjusted, does not then export control signal.
Under the control that the Direct wheel drives turn to differential speed control method, if a certain driving wheel occurs Vehicular turn when driving
Trackslip, then its driving torque will be reduced rapidly, and wheel slip is made to be inhibited so that vehicle can according to driver expectation into
Every trade is sailed；After reducing driving torque, the slip rate of wheel continuously decreases, if slip rate is less than the second slip rate threshold value, controls
System processed will increase the driving torque of the driving wheel, and maintain vehicle stablizes traveling, so on circulate until vehicle terminates
Turning travel ensures stability and the safety of Vehicular turn traveling.
Further, as shown in figure 4, according to the current vehicle speed of the vehicle described in step 32, the vehicle is calculated
The step of slip rate of driving wheel, including：
Step 41, the wheel condition parameter for obtaining presently described vehicle；
Step 42, according to the current vehicle speed of the wheel condition parameter and the vehicle, calculate the driving wheel of the vehicle
Current wheel speed；
Step 43, according to the current vehicle speed of the vehicle and the current wheel speed of the driving wheel, calculate the drive of the vehicle
The slip rate of driving wheel.
It should be noted that in step 43, the driving wheel includes left driving wheel and right driving wheel, namely respectively vehicle
Left rear wheel and off hind wheel.Using the method for the embodiment of the present invention, need the left driving for calculating separately vehicle slip rate and
The slip rate of right driving wheel.
Further, wheel condition parameter described in step 41 includes：
Driving tread dr, knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center are to vehicle
The distance a of center of gravity.
Further, described in step 42 according to the current vehicle speed of the wheel condition parameter and the vehicle, described in calculating
The mode of the current wheel speed of the driving wheel of vehicle is：
Centripetal force, axle load transfer and the influence of tyre slip angle, establish vapour as shown in Figure 5 during consideration Turning travel
Vehicle steering model, according to the model shows that motor turning in geometrical relationship, obtain the wheel speed of left driving wheel and right driving wheel
Calculation formula：
Wherein, V0For current vehicle speed, V1For the current wheel speed of left driving wheel, V2For the current wheel speed of right driving wheel, r is driving wheel
Wheelspan, δ are knuckle corner, and b is distance of the driving wheel center to vehicle's center of gravity, and a is distance of the front-wheel center to vehicle's center of gravity.
The current vehicle speed V0It is directly collected by vehicle speed sensor.
Further, it is calculated according to the current wheel speed of the current vehicle speed of the vehicle and the driving wheel described in step 43
The mode of the slip rate of the driving wheel of the vehicle uses following formula：
Wherein, S1For the current slip rate of left driving wheel, V0For current vehicle speed, V1For the current wheel speed of left driving wheel, S2For right drive
The current slip rate of driving wheel, V0For current vehicle speed, V2For the current wheel speed of right driving wheel.
In addition, as shown in fig. 6, Direct wheel drives steering differential speed control method further includes：
Practical yaw velocity when step 61, the acquisition Vehicular turn；
The practical yaw velocity is compared by step 62 with goal-selling yaw velocity, according to comparison result,
Determine target slip ratio；
The target slip ratio is added preset offset value by step 63, is calculated and is obtained the first slip rate threshold value；By institute
It states target slip ratio and subtracts preset offset value, calculate and obtain the second slip rate threshold value.
It should be noted that the value of the offset might have difference according to different road surfaces, such as can basis
Experiment experience value 0.02, to ensure the threshold range of target slip ratio in a benign section and bad problem will not be caused.
Further, the practical yaw velocity is compared with goal-selling yaw velocity in step 62, root
According to comparison result, determine that target slip ratio includes：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, the target slip ratio is determined
To preset slip rate；
The default slip rate is obtained according to the correspondence of preset surface conditions and default slip rate.
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default
Slip rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
The COEFFICIENT Ks, obtained according to the correspondence of the excessive grade of preset Vehicular turn and control constant.
In addition, as shown in fig. 7, the Direct wheel drives turn to differential speed control method, in the steering wheel for obtaining vehicle
After angular signal, the method further includes：
Step 71, according to the steering wheel angle signal acquisition wheel steering angle, and according to the accelerator pedal
Signal acquisition accelerator pedal dynamics；
Step 72, the driving exported according to the wheel steering angle and the accelerator pedal dynamics, calculating driving wheel
Torque.
It is understood that in conjunction with Fig. 2, shown in Fig. 3 during the step of can be applied to the slip-based controller in Fig. 2
Layer, shown in Fig. 6 during the step of can be applied to the torque Distribution Layer in Fig. 2.
Further, wheel steering angle described in step 72 and the accelerator pedal dynamics show that driving wheel exports
Driving torque, in the following ways：
Total driving torque requirements are obtained according to the correspondence of preset accelerator pedal dynamics and driving torque；
Total driving torque requirements are distributed to left driving wheel and right driving wheel, left driving wheel and right driving are obtained
The output driving torque of wheel, the specific method of salary distribution use following formula：
Wherein, TLFor output driving torque, the T of left driving wheelROutput driving torque, the k of right driving wheelLFor revolver torque
Distribution coefficient, kRDitribution coefficiency, T for right driving wheelcmdFor total driving torque requirements, FzrlFor left driving wheel
Vertical load, FzrrFor the vertical load of right driving wheel.
The detailed process provided in this embodiment for turning to differential speed control method, as shown in figure 8, including：
Step 81, steering wheel angle signal, accelerator pedal signal and the speed ??signal for obtaining driver's input；
If step 82, steering wheel angle are 0, this program is jumped out；
If step 83, steering wheel angle are not 0, the steering wheel angle signal of driver's input is responded, is added according to described
Speed pedal signal acquisition accelerator pedal dynamics is obtained according to the correspondence of preset accelerator pedal dynamics and driving torque
Go out total driving torque requirements；
Step 84 distributes total driving torque requirements to left driving wheel and right driving wheel, obtains left driving wheel
With the output driving torque of right driving wheel；
Practical yaw velocity when step 85, acquisition state of motion of vehicle, i.e. Vehicular turn, by the practical yaw angle
Speed is compared with goal-selling yaw velocity, according to comparison result, determines target slip ratio, by the target slip ratio
In addition preset offset value, calculates and obtain the first slip rate threshold value, the target slip ratio is subtracted preset offset value, calculate
Obtain the second slip rate threshold value；
Step 86, the wheel condition parameter for obtaining presently described vehicle；
Step 87, according to the current vehicle speed of the wheel condition parameter and the vehicle, calculate the driving wheel of the vehicle
Current wheel speed the driving wheel of the vehicle is calculated according to the current wheel speed of the current vehicle speed of the vehicle and the driving wheel
Slip rate；
Step 88 controls the slip rate of driving wheel using the control method of logic threshold, ensures that slip rate exists
In the range of target slip ratio threshold value, specific control strategy is：If the slip rate of driving wheel has exceeded slip rate first threshold,
Then show that driving torque is excessive, wheel appearance is excessively trackslipped, and reduces driving torque at this time, if the slip rate of driving wheel is in sliding
Between rate first threshold and slip rate second threshold, then shows the attachment condition of wheel, do not need to adjust driving torque
Section shows that driving torque is too small if the slip rate of driving wheel is less than slip rate second threshold, and wheel does not utilize road adequately
The adhesive force that face is provided increases driving torque accordingly at this time.
Under the control of the control strategy, if a certain wheel trackslips Vehicular turn when driving, driving force can be fast
Speed reduces, and wheel slip is inhibited so that vehicle can be travelled according to the expectation of driver；When reduction driving torque
Afterwards, the slip rate of wheel continuously decreases, if slip rate is less than lower limiting value again, control system can increase driving torque again, maintain
Vehicle stablizes traveling, and so on circulate until vehicle terminates Turning travel, control system exits steering differential control.
The embodiments of the present invention also provide a kind of Direct wheel drives to turn to device for controlling differential speed, and the control device is placed in vapour
In the torque management module of the VCU of vehicle.As shown in figure 9, the Direct wheel drives steering device for controlling differential speed includes：
First signal acquisition module 91, the steering wheel angle signal for obtaining vehicle；
Slip rate computing module 92, for responding the steering wheel angle signal, according to the current vehicle speed of the vehicle, meter
Calculate the slip rate of the driving wheel of the vehicle；
Driving torque adjusts module 93, if being more than the first slip rate threshold value for calculating the slip rate obtained, exports
Reduce the first control signal of the driving torque of the driving wheel；If calculating the slip rate obtained is less than the second slip rate threshold
Value, then export the second control signal for the driving torque for increasing the driving wheel；It is slided if calculating the slip rate obtained and being less than first
Shifting rate threshold value and be more than the second slip rate threshold value, then do not export control signal.The first slip rate threshold value is more than described second
Slip rate threshold value.
Further, as shown in Figure 10, the slip rate computing module 82 includes：
First signal acquiring unit 101, the wheel condition parameter for obtaining presently described vehicle；
Driving wheel wheel speed calculation unit 102, for the current vehicle speed according to the wheel condition parameter and the vehicle, meter
Calculate the current wheel speed of the driving wheel of the vehicle；
Driving wheel slip rate computing unit 103, for according to the current of the current vehicle speed of the vehicle and the driving wheel
Wheel speed calculates the slip rate of the driving wheel of the vehicle.
Wherein, the wheel condition parameter includes：
Driving tread dr is knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center to vehicle
The distance a of center of gravity.
Further, working as according to the wheel condition parameter and the vehicle described in driving wheel wheel speed calculation unit 102
Preceding speed calculates the current wheel speed of the driving wheel of the vehicle, using following formula：
Wherein, V0For current vehicle speed, V1For the current wheel speed of left driving wheel, V2For the current wheel speed of right driving wheel.
The current vehicle speed V0It is directly collected by vehicle speed sensor.
Further, the driving wheel slip rate computing unit 103 calculates the driving wheel of the vehicle using following formula
Slip rate：
Wherein, S1For the current slip rate of left driving wheel, V0For current vehicle speed, V1For the current wheel speed of left driving wheel, S2For right drive
The current slip rate of driving wheel, V0For current vehicle speed, V2For the current wheel speed of right driving wheel.
In addition, as shown in figure 11, the Direct wheel drives turn to device for controlling differential speed and further include：
Second signal acquisition module 111, for obtaining the practical yaw velocity when Vehicular turn；
Target slip ratio determining module 112, for by the practical yaw velocity and goal-selling yaw velocity into
Row compares, and according to comparison result, determines target slip ratio；
Slip rate threshold determination module 113 is calculated for the target slip ratio to be added preset offset value described in obtaining
The target slip ratio is subtracted preset offset value, calculates and obtain the second slip rate threshold value by the first slip rate threshold value.
It should be noted that the value of the offset might have difference according to different road surfaces, according to experiment experience
Value 0.02, it is ensured that the threshold range of target slip ratio is in a benign section and will not cause bad problem.
Further, the target slip ratio determining module 82 is by the practical yaw velocity and goal-selling yaw angle
Speed is compared, and according to comparison result, determines that the mode of target slip ratio is：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, the target slip ratio is determined
To preset slip rate；
The default slip rate is obtained according to the correspondence of preset surface conditions and default slip rate.
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default
Slip rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
The COEFFICIENT Ks, obtained according to the correspondence of the excessive grade of preset Vehicular turn and control constant.
In addition, as shown in figure 12, the Direct wheel drives turn to device for controlling differential speed and further include：
Third signal acquisition module 121 is used for according to the steering wheel angle signal acquisition wheel steering angle, and
Accelerator pedal dynamics is obtained according to the accelerator pedal signal；
Driving torque computing module 122, for according to the wheel steering angle and the accelerator pedal dynamics, calculating
The driving torque of driving wheel output.
Further, wheel steering angle described in driving torque computing module 112 and the accelerator pedal dynamics, obtain
Go out the driving torque of driving wheel output, in the following ways：
Total driving torque requirements are obtained according to the correspondence of preset accelerator pedal dynamics and driving torque；
Total driving torque requirements are distributed to left driving wheel and right driving wheel, left driving wheel and right driving are obtained
The output driving torque of wheel, the specific method of salary distribution use following formula：
Wherein, TLFor output driving torque, the T of left driving wheelROutput driving torque, the k of right driving wheelLFor revolver torque
Distribution coefficient, kRDitribution coefficiency, T for right driving wheelcmdFor total driving torque requirements, FzrlFor left driving wheel
Vertical load, FzrrFor the vertical load of right driving wheel.
The embodiments of the present invention also provide a kind of control devices, including：Memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize that the wheel side is driven when executing the computer program
Step of the turn into differential speed control method.
The embodiments of the present invention also provide a kind of vehicles, wherein it is poor to be turned to including the Direct wheel drives described in above structure
Velocity control device.
According to above detailed description, those skilled in the art should be able to understand using taking turns side described in the embodiment of the present invention
Driving turns to the concrete structure of the vehicle of device for controlling differential speed, is no longer described in detail herein.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (16)
1. a kind of Direct wheel drives turn to differential speed control method, it is applied to vehicle, which is characterized in that the method includes：
Obtain the steering wheel angle signal of vehicle；
The steering wheel angle signal is responded, according to the current vehicle speed of the vehicle, calculates the sliding of the driving wheel of the vehicle
Rate；
If calculating the slip rate obtained is more than the first slip rate threshold value, the of the driving torque for reducing the driving wheel is exported
One control signal；If calculating the slip rate obtained is less than the second slip rate threshold value, the driving for increasing the driving wheel is exported
The second control signal of torque；The first slip rate threshold value is more than the second slip rate threshold value.
2. Direct wheel drives according to claim 1 turn to differential speed control method, which is characterized in that described according to the vehicle
Current vehicle speed, the step of slip rate for calculating the driving wheel of the vehicle includes：
Obtain the wheel condition parameter of presently described vehicle；
According to the current vehicle speed of the wheel condition parameter and the vehicle, the current wheel speed of the driving wheel of the vehicle is calculated；
According to the current wheel speed of the current vehicle speed of the vehicle and the driving wheel, the sliding of the driving wheel of the vehicle is calculated
Rate.
3. Direct wheel drives according to claim 2 turn to differential speed control method, which is characterized in that the wheel condition parameter
Including：
Driving tread dr, knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center are to vehicle's center of gravity
Distance a.
4. Direct wheel drives according to claim 2 turn to differential speed control method, which is characterized in that described according to the vehicle
Current vehicle speed and the driving wheel current wheel speed, calculate the mode of the slip rate of the driving wheel of the vehicle using following public
Formula：
S=(V0-Vw)/V0；
Wherein, S is slip rate, V0For current vehicle speed, Vw is current wheel speed.
5. Direct wheel drives according to claim 1 turn to differential speed control method, which is characterized in that the method further includes：
Obtain the practical yaw velocity when Vehicular turn；
The practical yaw velocity is compared with goal-selling yaw velocity, according to comparison result, determines that target is slided
Shifting rate；
The target slip ratio is added into preset offset value, calculates and obtains the first slip rate threshold value；The target is slid
Rate subtracts preset offset value, calculates and obtains the second slip rate threshold value.
6. Direct wheel drives according to claim 5 turn to differential speed control method, which is characterized in that by the practical yaw angle
Speed is compared with goal-selling yaw velocity, according to comparison result, determines that target slip ratio includes：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, determine that the target slip ratio is pre-
If slip rate；
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default sliding
Rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
7. Direct wheel drives according to claim 1 turn to differential speed control method, which is characterized in that the side for obtaining vehicle
To after disk angular signal, the method further includes：
According to the steering wheel angle signal acquisition wheel steering angle, and is obtained and accelerated according to the accelerator pedal signal
Pedal dynamics；
According to the wheel steering angle and the accelerator pedal dynamics, the driving torque of driving wheel output is calculated.
8. a kind of Direct wheel drives turn to device for controlling differential speed, which is characterized in that including：
First signal acquisition module, the steering wheel angle signal for obtaining vehicle；
Slip rate computing module, for responding the steering wheel angle signal, according to the current vehicle speed of the vehicle, described in calculating
The slip rate of the driving wheel of vehicle；
Driving torque adjusts module, if being more than the first slip rate threshold value for calculating the slip rate obtained, exports and reduces institute
State the first control signal of the driving torque of driving wheel；If calculating the slip rate obtained is less than the second slip rate threshold value, defeated
Go out the second control signal for the driving torque for increasing the driving wheel；The first slip rate threshold value is more than second slip rate
Threshold value.
9. Direct wheel drives according to claim 8 turn to device for controlling differential speed, which is characterized in that the slip rate calculates mould
Block further includes：
First signal acquiring unit, the wheel condition parameter for obtaining presently described vehicle；
Driving wheel wheel speed calculation unit, for according to the current vehicle speed of the wheel condition parameter and the vehicle, described in calculating
The current wheel speed of the driving wheel of vehicle；
Driving wheel slip rate computing unit, for according to the current vehicle speed of the vehicle and the current wheel speed of the driving wheel, meter
Calculate the slip rate of the driving wheel of the vehicle.
10. Direct wheel drives according to claim 9 turn to device for controlling differential speed, which is characterized in that the wheel condition ginseng
Number includes：
Driving tread dr, knuckle corner δ, the distance b at driving wheel center to vehicle's center of gravity and front-wheel center are to vehicle's center of gravity
Distance a.
11. Direct wheel drives according to claim 9 turn to device for controlling differential speed, which is characterized in that the driving wheel slip
Rate computing unit calculates the slip rate of the driving wheel of the vehicle using following formula：
S=(V0-Vw)/V0；
Wherein, S is slip rate, V0For current vehicle speed, Vw is current wheel speed.
12. Direct wheel drives according to claim 8 turn to device for controlling differential speed, which is characterized in that described device further includes：
Second signal acquisition module, for obtaining the practical yaw velocity when Vehicular turn；
Target slip ratio determining module, for the practical yaw velocity to be compared with goal-selling yaw velocity,
According to comparison result, target slip ratio is determined；
Slip rate threshold determination module calculates for the target slip ratio to be added preset offset value and obtains first cunning
The target slip ratio is subtracted preset offset value, calculates and obtain the second slip rate threshold value by shifting rate threshold value.
13. Direct wheel drives according to claim 12 turn to device for controlling differential speed, which is characterized in that the target slip ratio
The practical yaw velocity is compared by determining module with goal-selling yaw velocity, according to comparison result, determines mesh
Marking slip rate includes：
When the practical yaw velocity is less than or equal to goal-selling yaw velocity, determine that the target slip ratio is pre-
If slip rate；
When the practical yaw velocity is more than goal-selling yaw velocity, determine that the target slip ratio is default sliding
Rate and COEFFICIENT KsBe multiplied the numerical value obtained, wherein 0<Ks<1。
14. Direct wheel drives according to claim 8 turn to device for controlling differential speed, which is characterized in that described device further includes：
Third signal acquisition module is used for according to the steering wheel angle signal acquisition wheel steering angle, and according to institute
It states accelerator pedal signal and obtains accelerator pedal dynamics；
Driving torque computing module, for according to the wheel steering angle and the accelerator pedal dynamics, calculating driving wheel
The driving torque of output.
15. a kind of control device, including：Memory, processor and storage are on a memory and the meter that can run on a processor
Calculation machine program, the processor realize such as claim 1~7 any one of them Direct wheel drives when executing the computer program
Turn to the step in differential speed control method.
16. a kind of vehicle, which is characterized in that turn to differential control including claim 8 to 14 any one of them Direct wheel drives
Device.
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