CN109795338A - A kind of vector control method for electric wheel truck - Google Patents
A kind of vector control method for electric wheel truck Download PDFInfo
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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
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- Y02T10/64—Electric machine technologies in electromobility
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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 present invention proposes a kind of vector control method for electric wheel truck, belongs to the field of Study on Vehicle Dynamic Control.The present invention is used for the drive control of electric wheel truck, and the electric wheel truck refers to the pure electric vehicle using the motor direct-drive traveling for being mounted on automotive wheel hub interior (wheel side)；This method is based on vector control system, wherein hardware carrier of the vector controller as vector control method, specifically includes: driving torque computing module, sideway torque calculation module, anti-skidding torque computing module, coordinating torque computing module, motor status management module, output interface module and output interface module.Multiple logically independent functional modules are arranged in the present invention, and system compatibility is high, highly reliable；The present invention fully considers various factors, realizes the management by synchronization of driving function control and motor status, improves the economy and safety of electric wheel truck.
Description
Technical field
The invention belongs to Study on Vehicle Dynamic Control field, in particular to a kind of vector controlled side for electric wheel truck
Method.
Background technique
As energy problem's contradiction becomes increasingly conspicuous, new-energy automobile is increasingly becoming research hotspot.Electric wheel truck, which refers to, to be adopted
It is traditional due to eliminating with the pure electric vehicle for the motor direct-drive traveling for being mounted on automotive wheel hub interior (wheel side)
Transmission mechanism, while motor has the features such as response is fast, and efficacious workaround range is wide and easily controllable, so that electric wheel truck phase
It is bigger than the vehicle performance space of other drive forms.
The vector control system of electric wheel truck is responsible for the driving function of electric wheel truck as new type power assembly structure
Control and motor status management.Such as a kind of entitled " network of electric wheel truck vector control system that the applicant has declared
The Chinese patent (application number 201711200338.1) of topological structure ", is related to the vector control system framework to electric wheel truck
Detailed description.Wherein, vector control technology operates (accelerator pedal, system according to driver using vector controller as hardware carrier
Dynamic pedal, steering wheel, gear) determine driver intention, vehicle aggregate demand torque is parsed, (speed adds in conjunction with vehicle's current condition
Speed, yaw velocity), pavement state, hub motor and cell potential limit, consider dynamics of vehicle feature, four taken turns
The torque of hub motor is allocated, and improves the economy and safety of electric wheel truck.
For vector control method, electric wheel truck drive control is divided into whole automobile control function, non-shape by existing research
At independent hardware and functional module, upsets the existing control logic in entire car controller, cause function in full-vehicle control logic
Module coupling is high, increases the computation burden of entire car controller, reduces the compatibility and reliability of system.Also, existing control
The status information that motor feedback is underused in logic processed carries out dynamic management to motor, causes Motor Capability and service life
Loss.
Summary of the invention
The purpose of the present invention is overcoming the shortcoming of prior art, a kind of vector controlled for electric wheel truck is provided
Method.The electric wheel truck is the pure electricity using the motor direct-drive traveling for being mounted on automotive wheel hub interior (wheel side)
Motor-car, the present invention can improve the comprehensive performance of electric wheel truck.
Purpose to realize the present invention adopts the following technical scheme that
A kind of vector control method for electric wheel truck proposed by the present invention, the electric wheel truck are using installation
In the pure electric vehicle of the motor direct-drive traveling of automotive wheel hub interior (wheel side), which is characterized in that this method is specific
The following steps are included:
1) setting one includes vector controller, entire car controller, accelerator pedal sensor, N number of axle and is installed on each
Total 2N Wheel hub drive unit at axle both ends；Each Wheel hub drive unit structure is identical, respectively by 1 hub motor and 1
A hub motor control device composition, is successively numbered each hub motor, is denoted as ij, wherein i represents the hub motor institute
Axle, i=1,2 ..., N, footmark j is used to indicate the relative position of hub motor and axle, and when j=1 indicates wheel hub electricity
Machine is located at vehicle left side, and when j=2 indicates that hub motor is located at vehicle right side；Vector controller include driving torque computing module,
Sideway torque calculation module, anti-skidding torque computing module, coordinating torque computing module, motor status management module, input interface
Module and output interface module；
2) vector controller obtains vehicle shape from entire car controller, each Wheel hub drive unit and accelerator pedal sensor respectively
State information and motor status information are integrated into vehicle input dope vector C by input interface modulevc, expression formula is as follows:
Cvc={ αb, Gs, δ, Pdis, Pchr, ax, ay, ωr, Vx, Vy}
Each axle hub motor status inputs dope vector Cci, expression formula is as follows:
And accelerator pedal opening information αa；
The vehicle inputs dope vector CvcIn, αbFor brake pedal aperture, GsFor gear, δ is steering wheel angle, Pdis
For the maximum allowable discharge power of battery, PchrFor the maximum allowable charge power of battery, axFor automobile longitudinal acceleration, ayFor automobile cross
To acceleration, ωrFor automobile yaw velocity, VxFor longitudinal speed, VyFor lateral speed, passed through respectively by vector controller
Vehicle CAN bus obtains in real time from entire car controller；
Each axle hub motor status inputs dope vector CciIn,It is i-thjThe maximum forward of a hub motor
Ability,It is i-thjThe maximum reverse ability of a hub motor,It is i-thjThe real-time revolving speed of a hub motor,It is
ijThe real-time torque of a hub motor,It is i-thjThe malfunction of a hub motor, definition is when i-thjA hub motor occurs
When failure,When i-thjWhen a hub motor does not break down,It is i-thjThe real-time temperature of a hub motor
Degree is obtained by power CAN bus from each Wheel hub drive unit by vector controller in real time respectively；
3) vehicle is inputted into dope vector Cvc, each axle hub motor status input dope vector CciIt is opened with accelerator pedal
Spend αaComposition control inputs dope vector Sc, and it is transferred to driving torque computing module, sideway torque calculation module, anti-skidding respectively
Torque calculation module, coordinating torque computing module and motor status management module；
4) driving torque computing module and sideway torque calculation module are according to vector controlled information input vector ScIt calculates
To desired torque vector Tde, and it is transferred to anti-skidding torque computing module, detailed process is as follows:
4.1) driving torque computing module is according to vector controlled information input vector ScIn accelerator opening angle signal αb、
Gear signal Gs, in conjunction with motor current time maximum capacityIt parses driver to accelerate to be intended to, expectation driving is calculated
Torque Ttd；Wherein, motor current time maximum capacityIt is calculated by each hub motor maximum forward/reversing ability, such as
Shown in following formula:
4.2) sideway torque calculation module is according to vector controlled information input vector ScIn steering wheel angle δ, automobile it is horizontal
Pivot angle speed omegar, vehicle lateral acceleration ax, automobile longitudinal acceleration ay, lateral vehicle velocity Vx, longitudinal vehicle velocity Vy, with stability control
It is made as target and desired sideway torque T is calculatedsd；
4.3) the expected driving torque T obtained by step 4.1)tdAnd the expectation sideway torque T that step 4.2) obtainssdGroup
At desired torque vector Tde, and it is transferred to anti-skidding torque computing module；
5) anti-skidding torque computing module is according to vector controlled information input vector ScWith desired torque vector TdeIt is calculated
Anti-skidding torque vector Tan, and it is transferred to coordinating torque computing module, detailed process is as follows:
5.1) according to vector controlled information input vector ScIn the real-time revolving speed of each hub motorLongitudinal vehicle velocity Vx, automobile
Yaw velocity ωr, and wheel slip state is judged by following formula
In formula,Respectively indicate the slip state of the corresponding wheel by each In-wheel motor driving, 0 indicates wheel slip, 1
Indicate that wheel does not trackslip,Respectively indicate the slippage rate of the corresponding wheel by each In-wheel motor driving, λ0For sliding mode judgement
Threshold value is taken as 20%~30%；
According to wheel slip stateTo vehicle slip state hvJudged: being thought if any wheel trackslips
Vehicle trackslips, i.e. hv=0, otherwise it is assumed that vehicle does not trackslip, i.e. hv=1, expression formula is as follows:
5.2) the vehicle slip state h in step 5.1) is combinedvWith the expectation torque vector T in step 4.3)de, calculate
To anti-skidding torque vector Tan, it is shown below:
In formula, DT=[dpq]∈RN×2, indicate expectation torque allocation matrix, define the element d in the allocation matrixpqIt is as follows
Shown in formula:
Define Tdn=[Tank]T∈R2N×1, TankIt is i-thjThe anti-skidding torque of a hub motor, n=[nk]T∈R2N×1It indicates
Hub motor revolving speed vector, footmark corresponding relationship are shown below:
K=2 (i-1)+j (i=1,2, N；J=1,2)
By anti-skidding torque vector TanIt is transferred to coordinating torque computing module；
6) coordinating torque computing module is according to vector controlled information input vector Sc, anti-skidding torque vector TanElectricity is calculated
Machine torque instruction vector T, detailed process is as follows:
6.1) according to anti-skidding torque vector TanWith hub motor revolving speed vector n, being calculate by the following formula automobile current time need to
Seek power Pv:
6.2) according to current time demand power PvDirection and size, compare, calculate with battery maximum capacity
To Proportional coefficient K, detailed process is as follows:
A) work as Pv0 when, by current time demand power PvDope vector S is inputted with controlcIn battery maximum discharge function
Rate PdisComparison, is calculate by the following formula Proportional coefficient K:
B) work as PvWhen≤0, by current time demand power PvDope vector S is inputted with controlcIn battery maximum charge function
Rate PchrComparison, is calculate by the following formula Proportional coefficient K:
6.3) Proportional coefficient K and anti-skidding torque vector T for combining step 6.2) to obtainan, motor torque command is calculated
Vector T, is shown below:
T=KTan
In formula, T=[Tk]T∈R2N×1, TkIndicate i-thjA torque instruction for indicating each hub motor；
7) motor status management module is according to vector controlled information input vector ScIn each hub motor malfunction obtain
Hub motor fault message EfIf there are failures for any hub motor, E is rememberedf=1, otherwise it is assumed that hub motor does not break down,
Remember Ef=0, expression formula is as follows:
By vector controlled information input vector ScIn each hub motor temperature maximum value as hub motor temperature information
EK, by hub motor fault message EfWith hub motor temperature information EKForm hub motor status information Em；
8) by hub motor torque instruction vector T and hub motor status information vector EmForm vector controlled output information
Vector So, and it is transferred to output interface module；
9) output interface module splits vector controlled output information vector S according to information receiving endo, it is respectively sent to each letter
Cease receiving end.
The features of the present invention and beneficial effect are:
1. electric wheel truck vector control method proposed by the present invention is being sweared for the vector control system of electric wheel truck
Multiple logics mutually independent functional module is set in amount controller, utmostly reduces the adjustment to entire car controller, and
Existing dynamics Controlling algorithm can be merged, system compatibility is strong, high reliablity；
2. electric wheel truck vector control method proposed by the present invention fully considers dynamic property, the economy of electric wheel truck
The feedback information of property and control stability and hub motor and battery, is separately provided motor status management module to provide wheel
Hub motor status information realizes the dynamic management of driving function control and motor status, improves the economy of electric wheel truck
Property and safety.
Detailed description of the invention
Fig. 1 is the vector control system structure chart that the present invention is arranged.
Fig. 2 is vector control method flow diagram of the invention.
Specific embodiment
A kind of vector control method for electric wheel truck proposed by the present invention, in the following with reference to the drawings and specific embodiments
It is further described below:
A kind of vector control method for electric wheel truck of the embodiment of the present invention is mounted on automotive wheel for using
The pure electric vehicle of the motor direct-drive traveling of hub interior (wheel side), this method embodiment specifically includes the following steps:
1) setting one includes vector controller, entire car controller, accelerator pedal sensor, N number of axle and is installed on each
Total 2N Wheel hub drive unit at axle both ends；Each Wheel hub drive unit structure is identical, respectively by 1 hub motor and 1
A hub motor control device composition, is successively numbered each hub motor, is denoted as ij, wherein i represents the hub motor institute
Axle, i=1,2 ..., N, footmark j is used to indicate the relative position of hub motor and axle, and when j=1 indicates wheel hub electricity
Machine is located at vehicle left side, and when j=2 indicates that hub motor is located at vehicle right side；Vector controller include driving torque computing module,
Sideway torque calculation module, anti-skidding torque computing module, coordinating torque computing module, motor status management module, input interface
Module and output interface module；In the present embodiment, N=2 is successively numbered each hub motor, at left and right sides of front axle
Hub motor number is respectively 11, 12, the hub motor number at left and right sides of rear axle is respectively 21, 22；
2) vector controller obtains vehicle shape from entire car controller, each Wheel hub drive unit and accelerator pedal sensor respectively
State information and motor status information are integrated into vehicle input dope vector C by input interface modulevc, expression formula is as follows:
Cvc={ αb, Gs, δ, Pdis, Pchr, ax, ay, ωr, Vx, Vy}
Each axle hub motor status inputs dope vector Cci, expression formula is as follows:
And accelerator pedal opening information αa；
The vehicle inputs dope vector CvcIn, αbFor brake pedal aperture, GsFor gear, δ is steering wheel angle, Pdis
For the maximum allowable discharge power of battery, PchrFor the maximum allowable charge power of battery, axFor automobile longitudinal acceleration, ayFor automobile cross
To acceleration, ωrFor automobile yaw velocity, VxFor longitudinal speed, VyFor lateral speed, passed through respectively by vector controller
Vehicle CAN bus obtains in real time from entire car controller；
Each axle hub motor status inputs dope vector CciIn,It is i-thjThe maximum forward of a hub motor
Ability,It is i-thjThe maximum reverse ability of a hub motor,It is i-thjThe real-time revolving speed of a hub motor,It is
ijThe real-time torque of a hub motor,It is i-thjThe malfunction of a hub motor, definition is when i-thjA hub motor occurs
When failure,When i-thjWhen a hub motor does not break down,It is i-thjThe real-time temperature of a hub motor
Degree is obtained by power CAN bus from each Wheel hub drive unit by vector controller in real time respectively；
3) vehicle is inputted into dope vector Cvc, each axle hub motor status input dope vector CciIt is opened with accelerator pedal
Spend αaComposition control inputs dope vector Sc, and it is transferred to driving torque computing module, sideway torque calculation module, anti-skidding respectively
Torque calculation module, coordinating torque computing module and motor status management module；
4) driving torque computing module and sideway torque calculation module are according to vector controlled information input vector ScIt calculates
To desired torque vector Tde, and it is transferred to anti-skidding torque computing module, detailed process is as follows:
4.1) driving torque computing module is according to vector controlled information input vector ScIn accelerator opening angle signal αb、
Gear signal Gs, in conjunction with motor current time maximum capacityIt parses driver to accelerate to be intended to, expectation driving is calculated
Torque Ttd(the present embodiment driving torque TtdSpecific calculating process can be found in bibliography 1)；Wherein, motor current time is most
Big abilityIt is calculated, is shown below by each hub motor maximum forward/reversing ability:
4.2) sideway torque calculation module is according to vector controlled information input vector ScIn steering wheel angle δ, automobile it is horizontal
Pivot angle speed omegar, vehicle lateral acceleration ax, automobile longitudinal acceleration ay, lateral vehicle velocity Vx, longitudinal vehicle velocity Vy, with stability control
It is made as target and desired sideway torque T is calculatedsd(the present embodiment it is expected sideway torque TsdSpecific calculating process can be found in ginseng
Examine document 1 and bibliography 2)；
4.3) the expected driving torque T obtained by step 4.1)tdAnd the expectation sideway torque T that step 4.2) obtainssdGroup
At desired torque vector Tde, and it is transferred to anti-skidding torque computing module；
5) anti-skidding torque computing module is according to vector controlled information input vector ScWith desired torque vector TdeIt is calculated
Anti-skidding torque vector Tan, and it is transferred to coordinating torque computing module, detailed process is as follows:
5.1) according to vector controlled information input vector ScIn the real-time revolving speed of each hub motorLongitudinal vehicle velocity Vx, automobile
Yaw velocity ωr, and wheel slip state is judged by following formula
In formula,Respectively indicate the slip state of the corresponding wheel by each In-wheel motor driving, 0 indicates wheel slip, 1
Indicate that wheel does not trackslip,The slippage rate for respectively indicating the corresponding wheel by each In-wheel motor driving passes through conventional slippage rate
Calculation formula obtains, λ0Threshold value is judged for sliding mode, is generally taken as 20%~30%, the present embodiment is taken as 25%；
According to wheel slip stateTo vehicle slip state hvJudged: being thought if any wheel trackslips
Vehicle trackslips, i.e. hv=0, otherwise it is assumed that vehicle does not trackslip, i.e. hv=1, expression formula is as follows:
5.2) the vehicle slip state h in step 5.1) is combinedvWith the expectation torque vector T in step 4.3)de, calculate
To anti-skidding torque vector Tan, it is shown below:
In formula, DT=[dpq]∈R2×2, indicate expectation torque allocation matrix, define the element d in the allocation matrixpqIt is as follows
Shown in formula:
Define Tan=[Tank]T∈R4×1, TankIt is i-thjThe anti-skidding torque of a hub motor, n=[nk]T∈R4×1Indicate wheel
Hub motor speed vector, footmark corresponding relationship are shown below:
K=2 (i-1)+j (i=1,2；J=1,2)
Work as hvWhen=1, anti-skidding torque vector TanIt is about desired torque vector Tde, hub motor revolving speed vector n, Zong Xiangche
Fast VxWith automobile yaw velocity ωrFunction f, in the present embodiment the specific determining method of the function can be found in bibliography 1~
3；
By anti-skidding torque vector TanIt is transferred to coordinating torque computing module；
6) coordinating torque computing module is according to vector controlled information input vector Sc, anti-skidding torque vector TanElectricity is calculated
Machine torque instruction vector T, detailed process is as follows:
6.1) according to anti-skidding torque vector TanWith hub motor revolving speed vector n, being calculate by the following formula automobile current time need to
Seek power Pv:
6.2) according to current time demand power PvDirection and size, compare, calculate with battery maximum capacity
To Proportional coefficient K, detailed process is as follows:
A) work as PvWhen >=0, by current time demand power PvDope vector S is inputted with controlcIn battery maximum discharge function
Rate PdisComparison, is calculate by the following formula Proportional coefficient K:
B) work as PvWhen≤0, by current time demand power PvDope vector S is inputted with controlcIn battery maximum charge function
Rate PchrComparison, is calculate by the following formula Proportional coefficient K:
6.3) Proportional coefficient K and anti-skidding torque vector T for combining step 6.2) to obtainan, motor torque command is calculated
Vector T, is shown below:
T=KTan
In formula, T=[Tk]T∈R4×1, TkIndicate i-thjThe torque instruction of a hub motor；
7) motor status management module is according to vector controlled information input vector ScIn each hub motor malfunction?
To hub motor fault message EfIf there are failures for any hub motor, E is rememberedf=1, otherwise it is assumed that event does not occur for hub motor
Barrier remembers Ef=0, expression formula is as follows:
By vector controlled information input vector ScIn each hub motor temperature maximum value as hub motor temperature information
EK, by hub motor fault message EfWith hub motor temperature information EKForm hub motor status information Em；
Pass through obtained hub motor status information vector EmIt can choose and be transferred to entire car controller or by vector controlled
Device is voluntarily handled, and using the foundation as motor heat management and power supply management, and then improves motor working environment, is improved motor and is used
Service life；The present embodiment is selected hub motor status information vector EmIt is transferred to entire car controller；
8) by hub motor torque instruction vector T and hub motor status information vector EmForm vector controlled output information
Vector So, and it is transferred to output interface module；
9) output interface module splits vector controlled output information vector S according to information receiving endo, it is respectively sent to each letter
Cease receiving end.
As shown in Fig. 2, the detailed process of step 9) are as follows:
1) vector controlled output information vector SoIn hub motor status information vector EmIt is split as hub motor failure letter
Breath and hub motor temperature information, and it is transferred to entire car controller；
2) vector controlled output information vector SoIn hub motor torque instruction vector T be split as each axle hub motor
Torque instruction, and it is transferred to corresponding Wheel hub drive unit.
Corresponding information processing method involved in the method for the present invention can give reality by the programming technique of this field routine
It is existing, and be cured in vector controller, for the vector controlled to electric wheel truck.During automobile is advanced, we
Method constantly repeats, until automobile stops.
Vector control method proposed by the present invention use vector definition information flow, can expand on the basis of the present invention or
The dimension of vector is reduced, electric wheel truck drive control functions similar applied to mechanical structure but that driving motor number is different are real
It is existing.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Bibliography explanation:
Vertically and horizontally kinematic synthesis controls Beijing [D]: Tsinghua University to 1: Dai Yifan distribution electro-motive vehicle of bibliography,
2013.
2: Wu Dongmei distributed-driving electric automobile dynamics Controlling mechanism of bibliography and control strategy research [D] are lucky
Woods: Jilin University, 2015.
Bibliography 3: Li Gang line traffic control four motorized wheels hub motor electric car stability and Energy Saving Control are studied
The Jilin [D]: Jilin University, 2013.
Claims (2)
1. a kind of vector control method for electric wheel truck, which is characterized in that this method specifically includes the following steps:
1) setting one includes vector controller, entire car controller, accelerator pedal sensor, N number of axle and is installed on each axle
Total 2N Wheel hub drive unit at both ends；Each Wheel hub drive unit structure is identical, respectively by 1 hub motor and 1 wheel
Hub electric machine controller composition, is successively numbered each hub motor, is denoted as ij, wherein i is represented where the hub motor
Axle, i=1,2 ..., N, footmark j are used to indicate the relative position of hub motor and axle, and when j=1 indicates hub motor position
Indicate that hub motor is located at vehicle right side when vehicle left side, j=2；Vector controller includes driving torque computing module, sideway
Torque calculation module, anti-skidding torque computing module, coordinating torque computing module, motor status management module, input interface module
And output interface module；
2) vector controller obtains whole vehicle state letter from entire car controller, each Wheel hub drive unit and accelerator pedal sensor respectively
Breath and motor status information are integrated into vehicle input dope vector C by input interface modulevc, expression formula is as follows:
Cvc={ αb, Gs, δ, Pdis, Pchr, ax, ay, ωr, Vx, Vy}
Each axle hub motor status inputs dope vector Cci, expression formula is as follows:
And accelerator pedal opening information αa；
The vehicle inputs dope vector CvcIn, αbFor brake pedal aperture, GsFor gear, δ is steering wheel angle, PdisFor battery
Maximum allowable discharge power, PchrFor the maximum allowable charge power of battery, axFor automobile longitudinal acceleration, ayIt is laterally accelerated for automobile
Degree, ωrFor automobile yaw velocity, VxFor longitudinal speed, VyFor lateral speed, vehicle CAN is passed through by vector controller respectively
Bus obtains in real time from entire car controller；
Each axle hub motor status inputs dope vector CciIn,It is i-thjThe maximum forward ability of a hub motor,It is i-thjThe maximum reverse ability of a hub motor,It is i-thjThe real-time revolving speed of a hub motor,It is i-thjIt is a
The real-time torque of hub motor,It is i-thjThe malfunction of a hub motor, definition is when i-thjA hub motor breaks down
When,When i-thjWhen a hub motor does not break down, It is i-thjThe real time temperature of a hub motor,
Obtained in real time by power CAN bus from each Wheel hub drive unit by vector controller respectively；
3) vehicle is inputted into dope vector Cvc, each axle hub motor status input dope vector CciWith accelerator pedal aperture αaGroup
Dope vector S is inputted at controlc, and it is transferred to driving torque computing module, sideway torque calculation module, anti-skidding torque meter respectively
Calculate module, coordinating torque computing module and motor status management module；
4) driving torque computing module and sideway torque calculation module are according to vector controlled information input vector ScExpectation is calculated
Torque vector Tae, and it is transferred to anti-skidding torque computing module, detailed process is as follows:
4.1) driving torque computing module is according to vector controlled information input vector ScIn accelerator opening angle signal αb, gear
Signal Gs, in conjunction with motor current time maximum capacityIt parses driver to accelerate to be intended to, expected driving torque is calculated
Ttd；Wherein, motor current time maximum capacityIt is calculated by each hub motor maximum forward/reversing ability, such as following formula
It is shown:
4.2) sideway torque calculation module is according to vector controlled information input vector ScIn steering wheel angle δ, automobile yaw angle speed
Spend ωr, vehicle lateral acceleration ax, automobile longitudinal acceleration ay, lateral vehicle velocity Vx, longitudinal vehicle velocity Vy, using stability control as mesh
Desired sideway torque T is calculated in marksd；
4.3) the expected driving torque T obtained by step 4.1)tdAnd the expectation sideway torque T that step 4.2) obtainssdComposition expectation
Torque vector Tde, and it is transferred to anti-skidding torque computing module；
5) anti-skidding torque computing module is according to vector controlled information input vector ScWith desired torque vector TdeIt is calculated anti-skidding
Torque vector Tan, and it is transferred to coordinating torque computing module, detailed process is as follows:
5.1) according to vector controlled information input vector ScIn the real-time revolving speed of each hub motorLongitudinal vehicle velocity Vx, automobile sideway
Angular velocity omegar, and wheel slip state is judged by following formula
In formula,The slip state of the corresponding wheel by each In-wheel motor driving is respectively indicated, 0 indicates wheel slip, and 1 indicates
Wheel does not trackslip,Respectively indicate the slippage rate of the corresponding wheel by each In-wheel motor driving, λ0Thresholding is judged for sliding mode
Value, is taken as 20%~30%；
According to wheel slip stateTo vehicle slip state hvJudged: if any wheel, which trackslips, is thought vehicle
It trackslips, i.e. hv=0, otherwise it is assumed that vehicle does not trackslip, i.e. hv=1, expression formula is as follows:
5.2) the vehicle slip state h in step 5.1) is combinedvWith the expectation torque vector T in step 4.3)de, it is calculated anti-
Trackslip moment vector Tan, it is shown below:
In formula, DT=[dpq]∈RN×2, indicate expectation torque allocation matrix, define the element d in the allocation matrixpqSuch as following formula institute
Show:
Define Tan=[Tank]T∈R2N×1, TankIt is i-thjThe anti-skidding torque of a hub motor, n=[nk]T∈R2N×1Indicate wheel hub
Motor speed vector, footmark corresponding relationship are shown below:
K=2 (i-1)+j (i=1,2, N；J=1,2)
By anti-skidding torque vector TanIt is transferred to coordinating torque computing module；
6) coordinating torque computing module is according to vector controlled information input vector Sc, anti-skidding torque vector TanMotor is calculated to turn
Square instructs vector T, and detailed process is as follows:
6.1) according to anti-skidding torque vector TanWith hub motor revolving speed vector n, it is calculate by the following formula automobile current time demand function
Rate Pv:
6.2) according to current time demand power PvDirection and size, compared with battery maximum capacity, ratio be calculated
COEFFICIENT K, detailed process is as follows:
A) work as PvWhen >=0, by current time demand power PvDope vector S is inputted with controlcIn battery maximum discharge power
PdisComparison, is calculate by the following formula Proportional coefficient K:
B) work as PvWhen≤0, by current time demand power PvDope vector S is inputted with controlcIn battery maximum charge power
PchrComparison, is calculate by the following formula Proportional coefficient K:
6.3) Proportional coefficient K and anti-skidding torque vector T for combining step 6.2) to obtainan, motor torque command vector is calculated
T is shown below:
T=KTan
In formula, T=[Tk]T∈R2N×1, TkIndicate i-thjA torque instruction for indicating each hub motor；
7) motor status management module is according to vector controlled information input vector ScIn each hub motor malfunction obtain wheel hub electricity
Machine fault message EfIf there are failures for any hub motor, E is rememberedf=1, otherwise it is assumed that hub motor does not break down, remember Ef=
0, expression formula is as follows:
By vector controlled information input vector ScIn each hub motor temperature maximum value as hub motor temperature information EK, by
Hub motor fault message EfWith hub motor temperature information EKForm hub motor status information Em；
8) by hub motor torque instruction vector T and hub motor status information vector EmForm vector controlled output information vector
So, and it is transferred to output interface module；
9) output interface module splits vector controlled output information vector S according to information receiving endo, it is respectively sent to each information and connects
Receiving end.
2. a kind of vector control method for electric wheel truck as described in claim 1, which is characterized in that the tool of step 9)
Body process are as follows:
1) vector controlled output information vector SoIn hub motor status information vector EmBe split as hub motor fault message and
Hub motor temperature information, and it is transferred to entire car controller；
2) vector controlled output information vector SoIn hub motor torque instruction vector T be split as each axle hub motor torque
Instruction, and it is transferred to corresponding Wheel hub drive unit.
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