CN109334469B - Method for differentially controlling wheel rotation speed of electric automobile - Google Patents
Method for differentially controlling wheel rotation speed of electric automobile Download PDFInfo
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- CN109334469B CN109334469B CN201811239109.5A CN201811239109A CN109334469B CN 109334469 B CN109334469 B CN 109334469B CN 201811239109 A CN201811239109 A CN 201811239109A CN 109334469 B CN109334469 B CN 109334469B
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- wheel
- ethercat
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- electric automobile
- wheels
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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 invention discloses a method for differentially controlling the wheel rotating speed of an electric automobile, wherein four wheels of the electric automobile are respectively driven by four motors, and the four motors are respectively controlled by four EtherCAT slave stations; the electric automobile is provided with an EtherCAT master station, data exchange of each wheel is carried out between the EtherCAT master station and the EtherCAT slave station when the automobile runs, and the EtherCAT master station controls the rotating speed of each motor in a differentiated mode through controlling the EtherCAT slave station of each motor. By adopting the technical scheme of the invention, the rotating speeds of four wheels of the electric automobile are differentially controlled through data exchange between the EtherCAT master station and the EtherCAT slave station, and when the electric automobile passes a bend, the electric automobile can be ensured to stably pass through the bend at a higher speed; or when one wheel of the electric automobile idles, the wheel is instructed to stop idling, so that the electric automobile is helped to get rid of difficulties. The technical scheme of the invention improves the operation performance of the electric automobile.
Description
Technical Field
The invention belongs to the field of control of electric automobiles, and particularly relates to the technical field of respectively controlling the rotating speeds of four wheels based on an EtherCAT bus.
Background
With the national support of the new energy automobile industry and the annual development and investment increase of different automobile brands around the world, the electric automobile has great possibility to replace the fuel automobile widely used at present in the future. However, as electric vehicles are receiving more and more attention, the handling performance of electric vehicles and the off-road performance of four-wheel off-road electric vehicles have not received much attention at present.
Most of the control schemes of the electric automobiles sold in the market adopt the left driving wheel and the right driving wheel to rotate at the same speed, so that the speed has to be reduced to pass a curve when the curve passes a relatively sharp curve. In the aspect of electric off-road vehicles, because the electric vehicle adopts an electric transmission scheme, if the traditional solution speed difference lock is adopted to improve the off-road performance, the energy loss can be increased, and the service life of a battery is shortened
Disclosure of Invention
The invention provides a method for differentially controlling the wheel rotation speed of an electric vehicle, aiming at solving the two technical problems that the existing electric vehicle does not need to reduce too much vehicle speed on a curve, so that the electric vehicle can smoothly pass through the curve and 1-3 wheels of a four-wheel-drive off-road vehicle are controlled by an EtherCAT bus in the field without adhesive force and can still get rid of difficulties.
Four wheels of the electric automobile are respectively driven by four motors, and the four motors are respectively controlled by four EtherCAT slave stations; the electric automobile is provided with an EtherCAT master station, data exchange of each wheel is carried out between the EtherCAT master station and the EtherCAT slave station when the automobile runs, and the EtherCAT master station controls the rotating speed of each motor in a differentiated mode through controlling the EtherCAT slave station of each motor.
Further, the EtherCAT main station is a vehicle-mounted computer which monitors the rotating speeds of the four wheels and the rotating angle parameters of the steering wheel in real time.
Further, when the electric automobile passes through the curve, the EtherCAT main station calculates the turning radius of the curve where the electric automobile passes according to the rotating speed of the wheels monitored in real time and the rotating angle parameter of the steering wheel, and calculates whether the electric automobile can normally pass through the curve when the current speed is equal to the rotating speeds of the wheels close to the turning center side and the wheels far away from the turning center side.
Further, when the EtherCAT master station judges that the vehicle cannot normally pass through the curve at the current vehicle speed when the rotating speeds of the wheels close to the turning center side and the wheels far from the turning center side are the same, the EtherCAT master station calculates the rotating speed which needs to be compensated by the driving wheel far from the turning center side or the rotating speed which needs to be reduced by the driving wheel near the turning center side.
Further, the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and the rotating speed of the driving motor far away from the turning center side is increased.
Further, the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and the rotating speed of the driving motor close to the turning center side is reduced.
Further, when the electric vehicle passes through a curve, the rotational speed of the wheels on the side close to the turning center differs from that on the side far from the turning center, and the electric vehicle smoothly passes through the curve at a high speed.
Furthermore, the EtherCAT master station communicates with the EtherCAT slave station to monitor the rotating speeds of the four wheels of the electric automobile in real time, and when the rotating speed of at least one wheel is monitored to be abnormal, the EtherCAT master station enters an abnormal judgment program.
Further, the EtherCAT master station judges the tire adhesion of the wheel with abnormal rotating speed and judges the wheel as an idling wheel, the EtherCAT master station communicates with the EtherCAT slave station to control the motor of the idling wheel to stop rotating, and the driving motor of the non-idling wheel drives the wheel to rotate according to the original rotating speed.
By adopting the technical scheme of the invention, the rotating speeds of four wheels of the electric automobile are differentially controlled through data exchange between the EtherCAT master station and the EtherCAT slave station, and when the electric automobile passes a bend, the electric automobile can be ensured to stably pass through the bend at a higher speed; or when one wheel of the electric automobile idles, the wheel is instructed to stop idling, so that the electric automobile is helped to get rid of difficulties. The technical scheme of the invention improves the operation performance of the electric automobile.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of a vehicle passing through a curve in embodiment 1 of the present invention.
Fig. 2 is a schematic view of the electric four-wheel-drive off-road vehicle according to the embodiment 2 of the invention.
Fig. 3 is a flowchart illustrating a process of changing the operation performance of the vehicle when the vehicle passes through a curve in embodiment 1 of the present invention.
Fig. 4 is a flowchart illustrating a method for changing the off-road performance of the four-wheel drive electric off-road vehicle in embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
When the electric automobile passes through a curve, four wheels of the electric automobile are respectively driven by four motors, and the four motors are respectively controlled by four EtherCAT slave stations; the electric automobile is provided with an EtherCAT master station, data exchange of each wheel is carried out between the EtherCAT master station and the EtherCAT slave station when the automobile runs, and the EtherCAT master station controls the rotating speed of each motor in a differentiated mode through controlling the EtherCAT slave station of each motor.
The EtherCAT main station is a vehicle-mounted computer which monitors the rotating speeds of the four wheels and the rotating angle parameters of the steering wheel in real time.
Referring to fig. 3, when the electric vehicle passes through a curve, the EtherCAT master station calculates the turning radius of the curve where the electric vehicle passes according to the rotation speed of the wheels monitored in real time and the angle parameter of the rotation of the steering wheel, and calculates whether the electric vehicle can normally pass through the curve when the current vehicle speed is the same and the rotation speeds of the wheels close to the turning center side and the wheels far away from the turning center side are the same.
And when the EtherCAT main station judges that the vehicle can not normally pass through the curve when the current vehicle speed is the same as the rotating speeds of the wheels close to the turning center side and the wheels far from the turning center side, calculating the rotating speed which needs to be compensated by the driving wheel far from the turning center side or the rotating speed which needs to be reduced by the driving wheel near the turning center side.
Referring to fig. 1, the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and the rotation speed of the drive motor far away from the turning center side is increased. And the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and reduces the rotating speed of the driving motor close to the turning center side.
When the electric vehicle passes through a curve, the rotating speed difference between the wheels close to the turning center side and the wheels far away from the turning center side is changed, and the electric vehicle passes through the curve stably at a high speed. After the steering wheel is aligned, the rotating speeds of the motors of the left and right driving wheels are adjusted to be the same, and the steering wheel returns to the current required rotating speed.
Example 2
When the electric automobile passes through a curve, four wheels of the electric automobile are respectively driven by four motors, and the four motors are respectively controlled by four EtherCAT slave stations; the electric automobile is provided with an EtherCAT master station, data exchange of each wheel is carried out between the EtherCAT master station and the EtherCAT slave station when the automobile runs, and the EtherCAT master station controls the rotating speed of each motor in a differentiated mode through controlling the EtherCAT slave station of each motor.
The EtherCAT main station is a vehicle-mounted computer which monitors the rotating speeds of the four wheels and the rotating angle parameters of the steering wheel in real time.
Referring to fig. 4, the EtherCAT master station communicates with the EtherCAT slave station to monitor the rotation speeds of four wheels of the electric vehicle in real time, and when it is monitored that at least one wheel has an abnormal rotation speed, the EtherCAT master station enters an abnormal judgment program.
The EtherCAT master station judges the tire adhesive force of the wheel with abnormal rotating speed and judges the wheel as an idling wheel, the EtherCAT master station is communicated with the EtherCAT slave station to control the motor of the idling wheel to stop rotating, and the driving motor of the non-idling wheel drives the wheel to rotate according to the original rotating speed.
Referring to fig. 2, when it is detected that a wheel of the electric all terrain vehicle is spinning, the controller controls the motor of the wheel to stop running.
The above examples are only preferred embodiments of the present invention, and other embodiments of the present invention are possible. Those skilled in the art can make equivalent changes or substitutions without departing from the spirit of the present invention, and such equivalent changes or substitutions are included in the scope set forth in the claims of the present application.
Claims (9)
1. A method for differentially controlling the wheel rotation speed of an electric automobile is characterized in that: four wheels of the electric automobile are respectively driven by four motors, and the four motors are respectively controlled by four EtherCAT slave stations; the electric automobile is provided with an EtherCAT master station, data exchange of each wheel is carried out between the EtherCAT master station and the EtherCAT slave station when the automobile runs, and the EtherCAT master station controls the rotating speed of each motor in a differentiated mode through controlling the EtherCAT slave station of each motor.
2. The method for differentially controlling the wheel speed of the electric vehicle according to claim 1, wherein: the EtherCAT main station is a vehicle-mounted computer which monitors the rotating speeds of the four wheels and the rotating angle parameters of the steering wheel in real time.
3. The method for differentially controlling the wheel speed of the electric vehicle according to claim 1, wherein: when the electric automobile passes through the curve, the EtherCAT main station calculates the turning radius of the curve where the electric automobile passes according to the rotating speed of the wheels monitored in real time and the rotating angle parameter of the steering wheel, and calculates whether the electric automobile can normally pass through the curve when the current speed of the automobile is the same as the rotating speeds of the wheels close to the turning center side and the wheels far away from the turning center side.
4. The method for differentially controlling the wheel speed of the electric vehicle according to claim 3, wherein: and when the EtherCAT main station judges that the vehicle can not normally pass through the curve when the current vehicle speed is the same as the rotating speeds of the wheels close to the turning center side and the wheels far from the turning center side, calculating the rotating speed which needs to be compensated by the driving wheel far from the turning center side or the rotating speed which needs to be reduced by the driving wheel near the turning center side.
5. The method for differentially controlling the wheel speed of the electric vehicle according to claim 4, wherein: and the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and the rotating speed of the driving motor far away from the turning center side is increased.
6. The method for differentially controlling the wheel speed of the electric vehicle according to claim 4, wherein: and the EtherCAT master station sends an instruction to the EtherCAT slave station according to the calculation result, and reduces the rotating speed of the driving motor close to the turning center side.
7. The method for differentially controlling the wheel speed of the electric vehicle according to the claim 5 or 6, is characterized in that: when the electric vehicle passes through a curve, the rotating speed difference between the wheels close to the turning center side and the wheels far away from the turning center side is changed, and the electric vehicle passes through the curve stably at a high speed.
8. The method for differentially controlling the wheel speed of the electric vehicle according to claim 1, wherein: the EtherCAT master station is communicated with the EtherCAT slave stations, the rotating speeds of four wheels of the electric automobile are monitored in real time, and when the condition that at least one wheel is abnormal in rotating speed is monitored, the EtherCAT master station enters an abnormal judgment program.
9. The method for differentially controlling the wheel speed of the electric vehicle according to claim 8, wherein: the EtherCAT master station judges the tire adhesive force of the wheel with abnormal rotating speed and judges the wheel as an idling wheel, the EtherCAT master station is communicated with the EtherCAT slave station to control the motor of the idling wheel to stop rotating, and the driving motor of the non-idling wheel drives the wheel to rotate according to the original rotating speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811239109.5A CN109334469B (en) | 2018-10-23 | 2018-10-23 | Method for differentially controlling wheel rotation speed of electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811239109.5A CN109334469B (en) | 2018-10-23 | 2018-10-23 | Method for differentially controlling wheel rotation speed of electric automobile |
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| CN109334469A CN109334469A (en) | 2019-02-15 |
| CN109334469B true CN109334469B (en) | 2020-12-22 |
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| CN111786862B (en) * | 2019-04-04 | 2022-07-12 | 赛格威科技有限公司 | Control system and control method thereof and all-terrain vehicle |
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