CN109291803A - The stability control method virtually taken turns based on the full drive electric automobile of four-wheel - Google Patents
The stability control method virtually taken turns based on the full drive electric automobile of four-wheel Download PDFInfo
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- CN109291803A CN109291803A CN201810952188.8A CN201810952188A CN109291803A CN 109291803 A CN109291803 A CN 109291803A CN 201810952188 A CN201810952188 A CN 201810952188A CN 109291803 A CN109291803 A CN 109291803A
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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
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
Abstract
The stability control method virtually taken turns based on the full drive electric automobile of four-wheel, the system includes box of tricks, virtual turbin generator control system, the near front wheel hub motor and control system, off-front wheel hub motor and control system, left rear wheel hub motor and control system, off hind wheel hub motor and control system, the near front wheel wheel speed detection unit, off-front wheel wheel speed detection unit, left rear wheel wheel speed detection unit, off hind wheel wheel speed detection unit, it is weighted and averaged unit, ideal pose computing unit, error controller, torque distribution control unit, steering mechanism's unit, virtual wheel, numerical value conversion unit and pilot control mechanism；The characteristics of present invention independently drives for the full drive electric automobile hub motor of four-wheel, the excessive dynamic disturbances of any hub motor torque are assigned to each traction electric machine system of the full drive electric automobile of four-wheel by weighted average, virtual cranking wheel control system, dynamic equilibrium four-wheel torque, stable equilibrium's four-wheel wheel speed simultaneously, it avoids vehicle driving trace from substantially deviateing steering instructions, improves vehicle to the tracking ability of driving instruction.
Description
Technical field
The invention discloses a kind of stability controls of active torque distribution virtually taken turns based on the full drive electric automobile of four-wheel
Method.
Background technique
For electric car compared with conventional fuel oil automobile, electric car use cost is low, using battery as power resources, low-carbon
Environmental protection, the impact that do not shift gears travel more smooth；Four driving wheels of the full drive electric automobile of four-wheel are by each hub motor
Independent control, the revolving speed of separately adjustable each wheel and torque improve driver to the maneuvering performance of automobile, but due to
Four wheels have independent control unit, do not need to realize turning function by electric boosting steering system come auxiliary electric automobile,
It does not need to realize the increase and decrease of driving moment and the change of speed by gearbox, retarder etc., does not need to pass through differential mechanism
The safety of the safety traffic of vehicle, stability is realized in the differential function for realizing left and right wheels, the perception manipulation for relying solely on driver
There are risks, it is therefore desirable to research and develop a kind of adaptive active torque distribution for the design feature of the full drive electric automobile of four-wheel
Stabilizing control system.
When vehicle in the process of moving, since four wheels are independently driven by four hub motors, multi-motor driving system
System is driven the influence for the factors such as component, the non-linear effects of control system, low attachment road surface, road conditions are rugged, can cause four
The dynamic unbalance of a wheel can generate the generation for deviateing the dangerous phenomenon such as driving path or generation whipping of vehicle.
Summary of the invention
Goal of the invention:
The invention discloses a kind of stability controls of active torque distribution virtually taken turns based on the full drive electric automobile of four-wheel
Method.Purpose is to construct a kind of method for the full drive electric automobile torque distribution of four-wheel to solve previous existing ask
Topic.Corresponding torque distribution control plan is selected by the pavement state of the full drive electric automobile traveling of detection four-wheel, real-time working condition
Slightly, to keep electric car maneuverability more smooth, stability is improved.
Technical solution:
A kind of stabilitrak for the active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel, the system packet
Include box of tricks (1), virtual turbin generator control system (2), the near front wheel hub motor and control system (3), off-front wheel wheel hub electricity
It is machine and control system (4), left rear wheel hub motor and control system (5), off hind wheel hub motor and control system (6), left front
Take turns wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed
Detection unit (14), weighted average unit (16), ideal pose computing unit (17), error controller (18), torque distribution control
Unit (19), steering mechanism's unit (20), virtual wheel (21), numerical value conversion unit (23) and pilot control mechanism (24) processed；
Pilot control mechanism (24) connects box of tricks (1), virtual wheel and virtual turbin generator control system (2) and reason
Think attitude calculation unit (17)；The virtual wheel of box of tricks (1) connection and virtual turbin generator control system (2), the near front wheel wheel hub electricity
After machine and control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control system (5) and the right side
Take turns hub motor and control system (6)；The near front wheel hub motor and control system (3), off-front wheel hub motor and control system
(4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system (6) are separately connected the near front wheel
(7), off-front wheel (8), left rear wheel (9) and off hind wheel (10)；The near front wheel wheel speed detection unit (11), the detection of off-front wheel wheel speed are single
First (12), left rear wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) correspondence the near front wheel (7), off-front wheel (8),
The revolving speed for detecting respective wheel is arranged in left rear wheel (9) and off hind wheel (10)；The near front wheel wheel speed detection unit (11), off-front wheel wheel
Fast detection unit (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed detection unit (14) are connected to box of tricks
(1), the ideal wheel speed of four wheels and the variance analysis of actual speed of a wheel are carried out；
Virtual wheel and virtual turbin generator control system (2) connection ideal pose computing unit (17) and weighted average unit
(16), ideal pose computing unit (17) connection error controller (18), error controller (18) connect torque distribution controller
(19) and steering mechanism's unit (20), weighted average unit (16) and torque distribution controller (19), the near front wheel hub motor and
Control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control system (5) and off hind wheel wheel
Hub motor and control system (6) are connected, and calculate the compound real-time torque that four wheels need in vehicle travel process；
The near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13)
Wheels travel speed is obtained in real time with off hind wheel wheel speed detection unit (14)；
Virtual wheel and virtual turbin generator control system (2) are changed left front when can be according to the fructufy of weighted average unit (16)
The wheel speed of wheel, off-front wheel, left rear wheel, off hind wheel, and then carry out real-time torque stable allocation；
The system further includes yaw velocity detection unit (25) and side slip angle detection unit (26), yaw velocity
Detection unit (25) and side slip angle detection unit (26) are connected to ideal pose unit (17), real-time judge vehicle driving
Posture situation；
Virtual wheel and virtual turbin generator control system (2) are single by virtually taking turns (21), virtual turbin generator (22) and numerical value conversion
First (23) are constituted；Box of tricks (1) is connect with virtual wheel (21)；It is weighted and averaged unit (16) and virtual wheel (21) and virtual wheel
Motor (22) connection；Virtual turbin generator (22) is connected by numerical value conversion unit (23) with box of tricks (1).
Utilize a kind of stability control system of above-mentioned active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel
The implemented control method of system, it is characterised in that: this method detects electromagnetic torque using voltage, the current value of wheel traction motor
Information, when due to road conditions condition it is bad, cause the hub motor torque of some tire to become larger, the electromagnetic torque of wheel traction motor
It can increase therewith, at this point, detecting wheel speed using four wheel speed detection units, information is fed back to hub motor control system, by
It is weighted and averaged unit calculating torque value, reasonable distribution torque carries out more motors again by the given speed of box of tricks (1)
Dynamic cooperation control, real time correction driving path improves the control stability of vehicle, controls the posture of vehicle；
Specifically, this method utilizes box of tricks (1), is calculated by electric car actual direction corner and actual vehicle speed
The desired speed V of four wheels out1、V2、V3、V4, the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12),
The wheel speed and feedback of left rear wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) real-time detection to four wheels
It returns box of tricks (1), and then carries out error analysis, be given to the near front wheel hub motor and control system (3), off-front wheel hub motor
And control system (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system (6) are turned
Square is given, such as encounters that a certain hub motor torque is excessive, and the torque of four wheels can be passed through weighted average unit by control system
(16), torque is reasonably weighted and averaged, by virtually taking turns and virtual turbin generator control system (2) is to four wheel wheel speeds
Again it is given, vehicle is made to reach safety and stability state.
Using vehicle ideal pose computing unit (17), calculated by electric car actual direction corner with actual vehicle speed
Vehicle driving stable ideal yaw velocity and side slip angle, vehicle are in the process of moving, real by whole vehicle model (15)
When feedback data, error controller (18) analyzes data, carries out reasonable benefit/risk to vehicle by steering mechanism (20) and turns
It adjusts to angle, reasonably the torque of the near front wheel, off-front wheel, left rear wheel, off hind wheel is carried out by torque distribution controller (19)
Stablize compensation, makes up to reasonable torque distribution, travel vehicle stabilization；
Error controller uses PI control algolithm, and PI control algolithm is according to ideal yaw velocity, ideal side slip angle
Deviation between practical yaw velocity, practical side slip angle, real time correction four-wheel motor driven torque, accomplished reason
Yaw moment and the desired front-wheel compensation angle for thinking driving path, enable the vehicle to travel according to steering instructions.
When pavement conditions are bad or uneven road surface occur, before the near front wheel hub motor and control system (3), the right side
Take turns hub motor and control system (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system
(6) start itself to adjust, later virtually wheel and virtually variation update Δ ω of the turbin generator control system further according to load torque*。
Ideal velocity is directly given to box of tricks (1) by given ideal car speed, normally travel；When a certain hub motor
Torque becomes larger, and torque is weighted averaging unit (16) and is connected with virtual turbin generator (22), by numerical value conversion unit (23)
It is connect with box of tricks (1), gives the four-wheel speed for meeting driving cycle again, vehicle is made to reach stable state.
Box of tricks (1) is by vehicle systemic velocity and steering angle, after analyzing the near front wheel, off-front wheel, left rear wheel, the right side
The real-time perfect condition wheel speed of wheel, ideal wheel speed equation are as follows:
V1、V2、V3、V4, respectively before inside wheel speed, preceding outside wheel speed, rear outside wheel speed, rear inside wheel speed,
V is spot speed in rear axle, δinFor lubrication groove corner, δoutFor foreign steamer corner, B is wheelspan, and L is wheelbase.
Virtual turbin generator can be used following relational expression to indicate,
In formula, i=1,2,3,4, respectively represent four hub motors；ωiFor the revolving speed of motor；uiIt is for amount of torque control
Electromagnetic torque；JiFor equivalent rotary inertia；biFor friction factor；S is integral.
9, the control method according to right 4, it is characterised in that: following relational expression can be used in torque distribution controller,
ΔFzbc=Fxfl-s+Fxfr-s+Fxrl-s+Fxrr-s
Δ N indicates the yaw moment of vehicle, Δ FzbcIndicate the desired zigzag tread patterns power of driver, Fxfl-s、Fxfr-s、
Fxrl-s、 Fxrr-sThe respectively longitudinal force of tire target value of the near front wheel, off-front wheel, left rear wheel, off hind wheel, Fyfl-s、Fyfr-sRespectively
For the side force of tire target value of the near front wheel, off-front wheel.lfIndicate distance of the mass center to front axle, TfIndicate wheel torque.The near front wheel
Proportional with the side force of tire and corresponding ground friction circle size of off-front wheel, i.e., the pavement friction circle of corresponding tire is bigger,
Then the side force of tire of its offer is bigger accordingly, it may be assumed that
Fyfl-s、Fyfr-sThe respectively side force of tire target value of the near front wheel, off-front wheel, Fzfl、FzfrRespectively the near front wheel,
The tire vertical loading of off-front wheel, μ are the coefficient of friction of wheel and ground.
Torque test unit, that is, the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel
Fast detection unit (13) and off hind wheel wheel speed detection unit (14) obtain the revolving speed of four hub motors of vehicle in real time and are closed
The torque of reason distributes, and wheel lateral force is mainly provided by deflecting roller, by the longitudinal force of the first two wheel, lateral force and latter two vehicle
6 parameters of longitudinal force of wheel account for the friction circle specific gravity of respective wheel most with the tire force that four tires generate as distribution target
Small is optimal objective, constructs objective function torque optimal scheme objective function relational expression
Wherein, JsFor goal constraint function, cxfl、cxfr、cxrl、cxrrRespectively behind the near front wheel, off-front wheel, left rear wheel, the right side
The longitudinal force weight coefficient of wheel, cyfl、cyfrThe respectively lateral force weight coefficient of the near front wheel, off-front wheel, Fzfl、Fzfr、Fzrl、Fzrr
The respectively tire vertical loading of the near front wheel, off-front wheel, left rear wheel, off hind wheel,Respectively left rear wheel and off hind wheel
The maximum drive torque of hub motor, RwFor the tire radius of wheel, Fxfl-s、Fxfr-s、Fxrl-s、Fxrr-sRespectively the near front wheel, the right side
The longitudinal force of tire target value of front-wheel, left rear wheel, off hind wheel, Fyfl-s、Fyfr-sRespectively the near front wheel, the tire of off-front wheel are lateral
Power target value.(j1 to j4 is molecule, as soon as but under being written on molecule entire formula row write not, replaced respectively with j1-j4)
Box of tricks crosses the actual vehicle speed v and steering angle sigma of vehicle, using Ackermann differential method, before analysis obtains the right side
The ideal wheel speed of wheel, the near front wheel, off hind wheel, left rear wheel.
Advantage and effect: a kind of stability control side for the active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel
Method, the system include pilot control mechanism, virtual wheel, virtual turbin generator control unit, weighted average unit, the near front wheel wheel speed
Detection unit, off-front wheel wheel speed detection unit, left rear wheel wheel speed detection unit, off hind wheel wheel speed detection unit, the near front wheel wheel hub
Motor and control system, off-front wheel hub motor and control system, left rear wheel hub motor and control system, off hind wheel wheel hub electricity
Machine and control system, yaw velocity detection unit, side slip angle detection unit, torque distribution control unit, box of tricks,
Numerical value conversion unit, ideal pose computing unit, steering mechanism's unit, error controller, whole vehicle model.
The pilot control mechanism gives the steering angle of vehicle and the speed of vehicle.The near front wheel wheel speed detection
Unit, off-front wheel wheel speed detection unit, left rear wheel wheel speed detection unit, off hind wheel wheel speed detection unit, vehicle velocity measuring list
It is first to obtain Vehicle Speed in real time.The near front wheel hub motor and control system, off-front wheel hub motor and control system
What system, left rear wheel hub motor and control system, off hind wheel hub motor and control system were fed back to by rotation speed detection unit
Wheel speed can give the desired torque of four wheels.The whole vehicle model contains yaw velocity detection unit, mass center side
Drift angle detection unit can obtain vehicle attitude in real time.Described available the near front wheel of Torque test unit, off-front wheel, a left side
The real-time given torque of rear-wheel, off hind wheel.The virtual wheel and virtual turbin generator control unit can be single according to weighted average
The wheel speed of the near front wheel, off-front wheel, left rear wheel, off hind wheel is changed when the torque fructufy of member.The torque distribution control unit
Real-time compensation can be carried out to given torque according to vehicle attitude.The box of tricks can be according to vehicle speed and steering angle
Degree, analyzes the real-time perfect condition wheel speed of the near front wheel, off-front wheel, left rear wheel, off hind wheel.
The ideal pose computing unit can analyze ideal yaw angle speed according to vehicle speed and steering angle
Degree and side slip angle.The error controller can be such that the true posture of vehicle and the deviation of ideal pose reduces, in turn
Carry out compensated torque.Steering mechanism's unit can automatically compensate for artificially manipulating generation after error controller
The error of steering angle.
The present invention is in vehicle travel process, when some hub motor in four-wheel traction electric machine since pavement behavior goes out
The case where existing torque improper increase, tractive force demand will be more than the torque capacity that motor may provide, and just will form wheel hub
The fever of motor, four-wheel torque is unbalance, vehicle whipping, vehicle running path deviate the dangerous phenomenon such as ideal driving path.
The characteristics of present invention independently drives for the full drive electric automobile hub motor of four-wheel, by any hub motor torque
Big dynamic disturbances are assigned to each traction electric machine of the full drive electric automobile of four-wheel by weighted average, virtual cranking wheel control system
System, dynamic equilibrium four-wheel torque, while stable equilibrium four-wheel wheel speed, avoid vehicle driving trace from substantially deviateing driving and refer to
It enables, improves vehicle to the tracking ability of driving instruction.
Detailed description of the invention:
Fig. 1 is the stability control overall structure block diagram for the active torque distribution that the full drive electric automobile of four-wheel is virtually taken turns.
Fig. 2 is virtual turbin generator Control system architecture block diagram.
Fig. 3 is virtual wheel and virtual turbin generator Control system architecture block diagram.
Specific implementation measure:
A kind of stabilitrak for the active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel, the system packet
Include box of tricks (1), virtual turbin generator control system (2), the near front wheel hub motor and control system (3), off-front wheel wheel hub electricity
It is machine and control system (4), left rear wheel hub motor and control system (5), off hind wheel hub motor and control system (6), left front
Take turns wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed
Detection unit (14), weighted average unit (16), ideal pose computing unit (17), error controller (18), torque distribution control
Unit (19), steering mechanism's unit (20), virtual wheel (21), numerical value conversion unit (23) and pilot control mechanism (24) processed；
Pilot control mechanism (24) connects box of tricks (1), virtual wheel and virtual turbin generator control system (2) and reason
Think attitude calculation unit (17)；The virtual wheel of box of tricks (1) connection and virtual turbin generator control system (2), the near front wheel wheel hub electricity
After machine and control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control system (5) and the right side
Take turns hub motor and control system (6)；The near front wheel hub motor and control system (3), off-front wheel hub motor and control system
(4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system (6) are separately connected the near front wheel
(7), off-front wheel (8), left rear wheel (9) and off hind wheel (10)；The near front wheel wheel speed detection unit (11), the detection of off-front wheel wheel speed are single
First (12), left rear wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) correspondence the near front wheel (7), off-front wheel (8),
The revolving speed for detecting respective wheel is arranged in left rear wheel (9) and off hind wheel (10)；The near front wheel wheel speed detection unit (11), off-front wheel wheel
Fast detection unit (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed detection unit (14) are connected to box of tricks
(1), the ideal wheel speed of four wheels and the variance analysis of actual speed of a wheel are carried out；
Virtual wheel and virtual turbin generator control system (2) connection ideal pose computing unit (17) and weighted average unit
(16), ideal pose computing unit (17) connection error controller (18), error controller (18) connect torque distribution controller
(19) and steering mechanism's unit (20), weighted average unit (16) and torque distribution controller (19), the near front wheel hub motor and
Control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control system (5) and off hind wheel wheel
Hub motor and control system (6) are connected, and calculate the compound real-time torque that four wheels need in vehicle travel process；
The near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13)
Wheels travel speed is obtained in real time with off hind wheel wheel speed detection unit (14)；
Virtual wheel and virtual turbin generator control system (2) are changed left front when can be according to the fructufy of weighted average unit (16)
The wheel speed of wheel, off-front wheel, left rear wheel, off hind wheel, and then carry out real-time torque stable allocation；
The system further includes yaw velocity detection unit (25) and side slip angle detection unit (26), yaw velocity
Detection unit (25) and side slip angle detection unit (26) are connected to ideal pose unit (17), real-time judge vehicle driving
Posture situation；
Virtual wheel and virtual turbin generator control system (2) are single by virtually taking turns (21), virtual turbin generator (22) and numerical value conversion
First (23) are constituted；Box of tricks (1) is connect with virtual wheel (21)；It is weighted and averaged unit (16) and virtual wheel (21) and virtual wheel
Motor (22) connection；Virtual turbin generator (22) is connected by numerical value conversion unit (23) with box of tricks (1).
Utilize a kind of stability control system of above-mentioned active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel
The implemented control method of system, it is characterised in that: this method detects electromagnetic torque using voltage, the current value of wheel traction motor
Information, when due to road conditions condition it is bad, cause the hub motor torque of some tire to become larger, the electromagnetic torque of wheel traction motor
It can increase therewith, at this point, detecting wheel speed using four wheel speed detection units, information is fed back to hub motor control system, by
It is weighted and averaged unit calculating torque value, reasonable distribution torque carries out more motors again by the given speed of box of tricks (1)
Dynamic cooperation control, real time correction driving path improves the control stability of vehicle, controls the posture of vehicle；
Specifically, this method utilizes box of tricks (1), is calculated by electric car actual direction corner and actual vehicle speed
The desired speed V of four wheels out1、V2、V3、V4, the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12),
The wheel speed and feedback of left rear wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) real-time detection to four wheels
It returns box of tricks (1), and then carries out error analysis, be given to the near front wheel hub motor and control system (3), off-front wheel hub motor
And control system (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system (6) are turned
Square is given, such as encounters that a certain hub motor torque is excessive, and the torque of four wheels can be passed through weighted average unit by control system
(16), torque is reasonably weighted and averaged, by virtually taking turns and virtual turbin generator control system (2) is to four wheel wheel speeds
Again it is given, vehicle is made to reach safety and stability state.
Using vehicle ideal pose computing unit (17), calculated by electric car actual direction corner with actual vehicle speed
Vehicle driving stable ideal yaw velocity and side slip angle, vehicle are in the process of moving, real by whole vehicle model (15)
When feedback data, error controller (18) analyzes data, carries out reasonable benefit/risk to vehicle by steering mechanism (20) and turns
It adjusts to angle, reasonably the torque of the near front wheel, off-front wheel, left rear wheel, off hind wheel is carried out by torque distribution controller (19)
Stablize compensation, makes up to reasonable torque distribution, travel vehicle stabilization；
Error controller uses PI control algolithm, and PI control algolithm is according to ideal yaw velocity, ideal side slip angle
Deviation between practical yaw velocity, practical side slip angle, real time correction four-wheel motor driven torque, accomplished reason
Yaw moment and the desired front-wheel compensation angle for thinking driving path, enable the vehicle to travel according to steering instructions.
When pavement conditions are bad or uneven road surface occur, before the near front wheel hub motor and control system (3), the right side
Take turns hub motor and control system (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system
(6) start itself to adjust, later virtually wheel and virtually variation update Δ ω of the turbin generator control system further according to load torque*。
Ideal velocity is directly given to box of tricks (1) by given ideal car speed, normally travel；When a certain hub motor
Torque becomes larger, and torque is weighted averaging unit (16) and is connected with virtual turbin generator (22), by numerical value conversion unit (23)
It is connect with box of tricks (1), gives the four-wheel speed for meeting driving cycle again, vehicle is made to reach stable state.
Box of tricks (1) is by vehicle systemic velocity and steering angle, after analyzing the near front wheel, off-front wheel, left rear wheel, the right side
The real-time perfect condition wheel speed of wheel, ideal wheel speed equation are as follows:
V1、V2、V3、V4, respectively before inside wheel speed, preceding outside wheel speed, rear outside wheel speed, rear inside wheel speed,
V is spot speed in rear axle, δinFor lubrication groove corner, δoutFor foreign steamer corner, B is wheelspan, and L is wheelbase.
Virtual turbin generator can be used following relational expression to indicate,
In formula, i=1,2,3,4, respectively represent four hub motors；ωiFor the revolving speed of motor；uiIt is for amount of torque control
Electromagnetic torque；JiFor equivalent rotary inertia；biFor friction factor；S is integral.
Following relational expression can be used in torque distribution controller,
ΔFzbc=Fxfl-s+Fxfr-s+Fxrl-s+Fxrr-s
Δ N indicates the yaw moment of vehicle, Δ FzbcIndicate the desired zigzag tread patterns power of driver, Fxfl-s、Fxfr-s、
Fxrl-s、 Fxrr-sThe respectively longitudinal force of tire target value of the near front wheel, off-front wheel, left rear wheel, off hind wheel, Fyfl-s、Fyfr-sRespectively
For the side force of tire target value of the near front wheel, off-front wheel.lfIndicate distance of the mass center to front axle, TfIndicate wheel torque.The near front wheel
Proportional with the side force of tire and corresponding ground friction circle size of off-front wheel, i.e., the pavement friction circle of corresponding tire is bigger,
Then the side force of tire of its offer is bigger accordingly, it may be assumed that
Fyfl-s、Fyfr-sThe respectively side force of tire target value of the near front wheel, off-front wheel, Fzfl、FzfrRespectively the near front wheel,
The tire vertical loading of off-front wheel, μ are the coefficient of friction of wheel and ground.
Torque test unit, that is, the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel
Fast detection unit (13) and off hind wheel wheel speed detection unit (14) obtain the revolving speed of four hub motors of vehicle in real time and are closed
The torque of reason distributes, and wheel lateral force is mainly provided by deflecting roller, by the longitudinal force of the first two wheel, lateral force and latter two vehicle
6 parameters of longitudinal force of wheel account for the friction circle specific gravity of respective wheel most with the tire force that four tires generate as distribution target
Small is optimal objective, constructs objective function torque optimal scheme objective function relational expression
Wherein, JsFor goal constraint function, cxfl、cxfr、cxrl、cxrrRespectively behind the near front wheel, off-front wheel, left rear wheel, the right side
The longitudinal force weight coefficient of wheel, cyfl、cyfrThe respectively lateral force weight coefficient of the near front wheel, off-front wheel, Fzfl、Fzfr、Fzrl、Fzrr
The respectively tire vertical loading of the near front wheel, off-front wheel, left rear wheel, off hind wheel,Respectively left rear wheel and off hind wheel
The maximum drive torque of hub motor, RwFor the tire radius of wheel, Fxfl-s、Fxfr-s、Fxrl-s、Fxrr-sRespectively the near front wheel, the right side
The longitudinal force of tire target value of front-wheel, left rear wheel, off hind wheel, Fyfl-s、Fyfr-sRespectively the near front wheel, the tire of off-front wheel are lateral
Power target value；
Box of tricks crosses the actual vehicle speed v and steering angle sigma of vehicle, using Ackermann differential method, before analysis obtains the right side
The ideal wheel speed of wheel, the near front wheel, off hind wheel, left rear wheel.
It is described in detail with reference to the accompanying drawing:
As shown in figure, the full drive electric automobile of four-wheel virtually takes turns active torque distribution control system, including box of tricks
(1), the desired speed V of four wheels is calculated by electric car actual direction corner and actual vehicle speed1、 V2、V3、V4, left
Front-wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed
Detection unit (14) real-time detection to four wheels wheel speed and feed back to box of tricks (1), and then carry out error analysis, be given to
The near front wheel hub motor and control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control
System (5), off hind wheel hub motor and control system (6) carry out torque reference, and it is excessive such as to encounter a certain hub motor torque, control
System processed can reasonably be weighted and averaged torque, pass through void by the torque of four wheels by weighted average unit (16)
Quasi- wheel and virtual turbin generator control system (2) give four wheel wheel speeds again, and vehicle is made to reach safety and stability state.
As shown in Figure 1, including vehicle ideal pose computing unit (17), pass through electric car actual direction corner and reality
Speed calculates the stable ideal yaw velocity and side slip angle of vehicle driving, and vehicle in the process of moving, passes through vehicle
Model (15) real-time feedback data, error controller (18) analyze data, are carried out by steering mechanism (20) vehicle
Reasonable benefit/risk steering angle adjustment, by torque distribution controller (19) reasonably to the near front wheel, off-front wheel, left rear wheel, off hind wheel
Torque carry out stablizing compensation, make up to reasonable torque distribution, travel vehicle stabilization.
As shown in Fig. 2, the control action for designing virtual turbin generator controller will lag behind the control action of electric machine controller,
So asynchronous hub motor direct Torque Control starts itself when pavement conditions are bad or uneven road surface occur
It adjusts, master controller updates ω further according to the variation of load torque laterf.So by rotary inertia JfBigger value is adjusted into,
Peak current can be avoided the occurrence of, guarantees that inverter works in safety zone.
As shown in figure 3, the full drive electric automobile of four-wheel virtually takes turns control system of machine, ideal car speed, normal row are given
It sails and ideal velocity is directly given to box of tricks (1)；When a certain hub motor torque becomes larger, torque is weighted averaging unit
(16) it is connected with virtual turbin generator (22), is connect by numerical value conversion unit (23) with box of tricks (1), gives and meet again
The four-wheel speed of driving cycle, makes vehicle reach stable state.
To sum up, based in the past there are the problem of, the present invention proposes a kind of master virtually taken turns based on the full drive electric automobile of four-wheel
The stability control method of dynamic torque distribution, active torque distribution can according to the pavement state of vehicle driving, driving cycle come
Corresponding torque distribution controller is selected, torque distribution controller can realize weighted average torque and be turned by target algorithm
Square dispensing controller reasonable compensation torque improves Vehicular turn performance, it is ensured that the vehicle moment is in good stability region fortune
Row.Accelerating ability is improved, guarantees the ability that vehicle steadily crosses low attachment or more complicated pavement conditions.Improve active safety
Can, lateral traction will not be caused to decline rapidly due to wheel slip and lose directional stability and handling maneuver ability, make to lead
Dynamic deterioration of safety.Therefore, under the premise of meeting driver to driving force demand, it is best to reach vehicle performance, and by turning
Square coordinated control system has great importance to enrich and improve active safety system.
Claims (10)
1. a kind of stabilitrak for the active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel, feature exist
In: the system includes box of tricks (1), virtual turbin generator control system (2), the near front wheel hub motor and control system (3), the right side
Front-wheel hub motor and control system (4), left rear wheel hub motor and control system (5), off hind wheel hub motor and control system
It unites (6), the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13), the right side
Rear-wheel wheel speed detection unit (14), ideal pose computing unit (17), error controller (18), turns weighted average unit (16)
Square assignment control (19), steering mechanism's unit (20), virtual wheel (21), numerical value conversion unit (23) and pilot control machine
Structure (24)；
Pilot control mechanism (24) connects box of tricks (1), virtual wheel and virtual turbin generator control system (2) and ideal pose
Computing unit (17)；The virtual wheel of box of tricks (1) connection and virtual turbin generator control system (2), the near front wheel hub motor and control
System (3), off-front wheel hub motor and control system (4) processed, left rear wheel hub motor and control system (5) and off hind wheel wheel hub
Motor and control system (6)；The near front wheel hub motor and control system (3), off-front wheel hub motor and control system (4), a left side
Before rear wheel hub motors and control system (5) and off hind wheel hub motor and control system (6) are separately connected the near front wheel (7), the right side
Take turns (8), left rear wheel (9) and off hind wheel (10)；The near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), a left side
Rear-wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) corresponding the near front wheel (7), off-front wheel (8), left rear wheel (9)
The revolving speed for detecting respective wheel is set with off hind wheel (10)；The near front wheel wheel speed detection unit (11), the detection of off-front wheel wheel speed are single
First (12), left rear wheel wheel speed detection unit (13), off hind wheel wheel speed detection unit (14) are connected to box of tricks (1), carry out four
The ideal wheel speed of a wheel and the variance analysis of actual speed of a wheel；
Virtual wheel and virtual turbin generator control system (2) connection ideal pose computing unit (17) and weighted average unit (16),
Ideal pose computing unit (17) connect error controller (18), error controller (18) connect torque distribution controller (19) and
Steering mechanism's unit (20), weighted average unit (16) and torque distribution controller (19), the near front wheel hub motor and control are
System (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor
And control system (6) is connected, and calculates the compound real-time torque that four wheels need in vehicle travel process.
2. a kind of stability of active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel according to claim 1
Control system, it is characterised in that: the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed
Detection unit (13) and off hind wheel wheel speed detection unit (14) obtain wheels travel speed in real time；
Virtual wheel and virtual turbin generator control system (2) changed when can be according to the fructufy of weighted average unit (16) the near front wheel,
The wheel speed of off-front wheel, left rear wheel, off hind wheel, and then carry out real-time torque stable allocation；
The system further includes yaw velocity detection unit (25) and side slip angle detection unit (26), yaw velocity detection
Unit (25) and side slip angle detection unit (26) are connected to ideal pose unit (17), the posture of real-time judge vehicle driving
Situation；
Virtual wheel and virtual turbin generator control system (2) are by virtually taking turns (21), virtual turbin generator (22) and numerical value conversion unit
(23) it constitutes；Box of tricks (1) is connect with virtual wheel (21)；It is weighted and averaged unit (16) and virtual wheel (21) and virtual turbin generator
(22) it connects；Virtual turbin generator (22) is connected by numerical value conversion unit (23) with box of tricks (1).
3. utilizing a kind of stability control of active torque distribution virtually taken turns towards the full drive electric automobile of four-wheel described in right 1
The control method that system is implemented, it is characterised in that: this method is turned using voltage, the current value detection electromagnetism of wheel traction motor
Square information, when due to road conditions condition it is bad, cause the hub motor torque of some tire to become larger, the electromagnetism of wheel traction motor turns
Square can increase therewith, at this point, detecting wheel speed using four wheel speed detection units, information is fed back to hub motor control system,
By weighted average unit calculating torque value, reasonable distribution torque carries out mostly electric again by the given speed of box of tricks (1)
The dynamic cooperation of machine controls, and real time correction driving path improves the control stability of vehicle, controls the posture of vehicle；
Specifically, this method utilizes box of tricks (1), calculates four by electric car actual direction corner and actual vehicle speed
The desired speed V of a wheel1、V2、V3、V4, the near front wheel wheel speed detection unit (11), off-front wheel wheel speed detection unit (12), left back
Wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) real-time detection are taken turns to the wheel speed of four wheels and feeds back return difference
Fast mechanism (1), and then error analysis is carried out, it is given to the near front wheel hub motor and control system (3), off-front wheel hub motor and control
System (4), left rear wheel hub motor and control system (5) and off hind wheel hub motor and control system (6) processed carry out torque and give
Calmly, it is excessive such as to encounter a certain hub motor torque, the torque of four wheels can be passed through weighted average unit (16) by control system,
Torque is reasonably weighted and averaged, by virtually taking turns and virtual turbin generator control system (2) carries out four wheel wheel speeds
Again it gives, vehicle is made to reach safety and stability state.
4. control method according to claim 3, it is characterised in that: utilize vehicle ideal pose computing unit (17), lead to
It crosses electric car actual direction corner and actual vehicle speed calculates the stable ideal yaw velocity of vehicle driving and mass center lateral deviation
Angle, in the process of moving, by whole vehicle model (15) real-time feedback data, error controller (18) divides data to vehicle
Analysis carries out the adjustment of reasonable benefit/risk steering angle to vehicle by steering mechanism (20), reasonable by torque distribution controller (19)
The torque of the near front wheel, off-front wheel, left rear wheel, off hind wheel is carried out stablizing compensation, reasonable torque distribution is made up to, makes vehicle
Stablize traveling；
Error controller uses PI control algolithm, and PI control algolithm is according to ideal yaw velocity, ideal side slip angle and reality
Deviation between border yaw velocity, practical side slip angle, real time correction four-wheel motor driven torque, accomplished ideal are driven
Yaw moment and the desired front-wheel compensation angle for sailing path, enable the vehicle to travel according to steering instructions.
5. control method according to claim 3, it is characterised in that: when pavement conditions are bad or uneven road occur
When face, the near front wheel hub motor and control system (3), off-front wheel hub motor and control system (4), left rear wheel hub motor and
Control system (5) and off hind wheel hub motor and control system (6) start itself and adjust, later virtually wheel and virtual turbin generator control
System processed updates Δ ω further according to the variation of load torque*。
6. control method according to claim 3, it is characterised in that: given ideal car speed, normally travel directly will
Ideal velocity is given to box of tricks (1)；When a certain hub motor torque becomes larger, torque is weighted averaging unit (16) and virtual
Turbin generator (22) is connected, and connect by numerical value conversion unit (23) with box of tricks (1), gives again and meets driving cycle
Four-wheel speed, makes vehicle reach stable state.
7. according to control method described in right 3, it is characterised in that: box of tricks (1) passes through vehicle systemic velocity and steering angle
Degree, analyzes the real-time perfect condition wheel speed of the near front wheel, off-front wheel, left rear wheel, off hind wheel, ideal wheel speed equation is as follows:
V1、V2、V3、V4, respectively before inside wheel speed, preceding outside wheel speed, rear outside wheel speed, rear inside wheel speed, after V is
Spot speed in axis, δinFor lubrication groove corner, δoutFor foreign steamer corner, B is wheelspan, and L is wheelbase.
8. according to control method described in right 3, it is characterised in that: virtual turbin generator can be used following relational expression to indicate,
In formula, i=1,2,3,4, respectively represent four hub motors；ωiFor the revolving speed of motor；uiFor amount of torque control, that is, electromagnetism
Torque；JiFor equivalent rotary inertia；biFor friction factor；S is integral.
9. according to control method described in right 4, it is characterised in that: following relational expression can be used in torque distribution controller,
ΔFzbc=Fxfl-s+Fxfr-s+Fxrl-s+Fxrr-s
Δ N indicates the yaw moment of vehicle, Δ FzbcIndicate the desired zigzag tread patterns power of driver, Fxfl-s、Fxfr-s、Fxrl-s、
Fxrr-sThe respectively longitudinal force of tire target value of the near front wheel, off-front wheel, left rear wheel, off hind wheel, Fyfl-s、Fyfr-sIt is respectively left front
The side force of tire target value of wheel, off-front wheel.lfIndicate distance of the mass center to front axle, TfIndicate wheel torque.Before the near front wheel and the right side
The side force of tire of wheel and corresponding ground friction circle size are proportional, i.e., the pavement friction circle of corresponding tire is bigger, then it is mentioned
The side force of tire of confession is bigger accordingly, it may be assumed that
Fyfl-s、Fyfr-sThe respectively side force of tire target value of the near front wheel, off-front wheel, Fzfl、FzfrRespectively the near front wheel, off-front wheel
Tire vertical loading, μ be wheel and ground coefficient of friction.
10. according to control method described in right 4, it is characterised in that: Torque test unit, that is, the near front wheel wheel speed detection unit
(11), off-front wheel wheel speed detection unit (12), left rear wheel wheel speed detection unit (13) and off hind wheel wheel speed detection unit (14) are real
When obtain four hub motors of vehicle revolving speed and carry out reasonable torque distribution, wheel lateral force is mainly provided by deflecting roller,
Using 6 parameters of longitudinal force of the longitudinal force of the first two wheel, lateral force and latter two wheel as distribution target, with four tires
The tire force of generation accounts for the minimum optimal objective of friction circle specific gravity of respective wheel, constructs objective function torque optimal scheme target
Functional relation
Wherein, JsFor goal constraint function, cxfl、cxfr、cxrl、cxrrRespectively the near front wheel, off-front wheel, left rear wheel, off hind wheel it is vertical
To power weight coefficient, cyfl、cyfrThe respectively lateral force weight coefficient of the near front wheel, off-front wheel, Fzfl、Fzfr、Fzrl、FzrrRespectively
The near front wheel, off-front wheel, left rear wheel, off hind wheel tire vertical loading,Respectively left rear wheel and off hind wheel wheel hub electricity
The maximum drive torque of machine, RwFor the tire radius of wheel, Fxfl-s、Fxfr-s、Fxrl-s、Fxrr-sRespectively the near front wheel, off-front wheel,
The longitudinal force of tire target value of left rear wheel, off hind wheel, Fyfl-s、Fyfr-sThe respectively side force of tire target of the near front wheel, off-front wheel
Value；
Box of tricks crosses the actual vehicle speed v and steering angle sigma of vehicle, using Ackermann differential method, analysis obtain off-front wheel,
The ideal wheel speed of the near front wheel, off hind wheel, left rear wheel.
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| CN110879621B (en) * | 2019-12-05 | 2022-11-29 | 成都圭目机器人有限公司 | Speed closed-loop control method applied to balance torque of four-wheel drive wheeled robot |
| CN110962626A (en) * | 2019-12-27 | 2020-04-07 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
| CN110962626B (en) * | 2019-12-27 | 2022-07-22 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
| CN111152834A (en) * | 2020-01-10 | 2020-05-15 | 大连理工大学 | Electric automobile electronic differential control method based on Ackerman steering correction |
| CN111152834B (en) * | 2020-01-10 | 2021-05-11 | 大连理工大学 | Electric automobile electronic differential control method based on Ackerman steering correction |
| CN111674256A (en) * | 2020-06-29 | 2020-09-18 | 徐州徐工铁路装备有限公司 | Port transfer vehicle and traveling control method thereof |
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Effective date of registration: 20240308 Address after: 230000 B-2704, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI LONGZHI ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Guo jiahuodiqu after: China Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY Guo jiahuodiqu before: China |