CN109795339A - A kind of pure electric automobile Anti-slip regulation system and control method - Google Patents
A kind of pure electric automobile Anti-slip regulation system and control method 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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Abstract
The present invention relates to a kind of pure electric automobile Anti-slip regulation system and control method, system includes the comprehensive drive control device of MCU, driving motor and wheel speed detector；Wheel speed detector is set on wheel, with the comprehensive drive control device communication connection of MCU；Driving motor and the comprehensive drive control device communication connection of MCU, for driving wheel；Wheel speed detector is used to detect the wheel speed and/or acceleration of wheel, and is transmitted to the comprehensive drive control device of MCU；The comprehensive drive control device of MCU receives wheel speed and/or acceleration, and calculates slip rate；When slip rate or acceleration exceed threshold value, the comprehensive drive control device of MCU triggers Anti-slip regulation function, by adjusting the torque of driving motor to guarantee vehicle overall kinetic；Schedule control module provided by the invention is few, high reliablity, and not needing ESP module can be realized TCS function, and the development cycle is short, hardware and software cost is greatly lowered.
Description
Technical field
The invention belongs to pure electric automobile technical fields, and in particular to a kind of pure electric automobile Anti-slip regulation system and control
Method.
Background technique
The traditional Anti-slip regulation control function (TCS) of existing electric car is to be stablized based on ESP system by body electronics
(ESP) system judges the slipping state of vehicle and calculates the torque after the intervention of TCS function, and requested torque is sent out by CAN network
Entire car controller (VCU) is given, torque is arbitrated after judging vehicle current vehicle condition by VCU, then after being arbitrated by VCU
Torque be sent to electric machine controller (MCU), MCU control motor execute VCU requested torque simultaneously actual torque is fed back into ESP
Control system, ESP control system is done further judgement according to the actual torque that vehicle slip state and MCU are fed back and is calculated, under
One CAN communication period continues the requested torque after calculating being sent to VCU；The control module that this traditional scheme is related to be ESP,
VCU and MCU, structure is relative complex, and suffers from the drawback that
First, controller is communicated using CAN network between each other, and communication cycle is long, and control has delay, and TCS function can not
It is optimal effect, can still experiences apparent vehicle slip；
Second, the program is related to that controller is more, one of them goes wrong, and function cannot achieve, the reliability of the program
Low, third, ESP hardware and software price is higher, and need to be by winter calibration and summer calibration, and function cost of implementation is higher, opens
It is long to send out the period.
Summary of the invention
The present invention devises a kind of pure electric automobile Anti-slip regulation system and control method, and which solve existing pure electric vehicle vapour
The anti-problem that structure is complicated, at high cost of vehicle driving.
In order to solve above-mentioned technical problem, present invention employs following scheme:
A kind of pure electric automobile Anti-slip regulation system includes the comprehensive drive control device of MCU, driving motor and wheel speed detection dress
It sets；Wheel speed detector is set on wheel, and is communicated to connect with the comprehensive drive control device of MCU；Driving motor and the comprehensive drive of MCU
Movement controller communication connection, for driving wheel；Wheel speed detector is used to detect the wheel speed and/or acceleration of wheel, and passes
Transport to the comprehensive drive control device of MCU；The comprehensive drive control device of MCU receives wheel speed and/or acceleration, and calculates slip rate；Work as cunning
When shifting rate or acceleration exceed threshold value, the comprehensive drive control device of MCU triggers Anti-slip regulation function, and by adjusting driving motor
Torque is to guarantee vehicle overall kinetic.
Further, the comprehensive drive control device of MCU calculates traction in real time；When slip rate exceeds threshold value, MCU is comprehensive
It closes drive control device and torque adjusting is carried out to driving motor with traction.
Further, pure electric automobile Anti-slip regulation system further includes having BMS power battery control system and power high pressure
Battery；BMS power battery control system passes through CAN bus and the comprehensive drive control device communication connection of MCU；Power high-tension battery with
The comprehensive drive control device electrical connection of MCU；BMS power battery control system is used to provide to the comprehensive drive control device of MCU maximum
Continuous discharge power, maximum instantaneous discharge power, real time electrical quantity, minimum monomer voltage and fault message；Power high-tension battery is used
In to vehicle provide electrical source of power.
Further, driving motor includes first motor and the second motor；Wheel includes front wheels and rear wheels；First electricity
Machine is connect by retarder with front-wheel drive, for driving front-wheel；Second motor is connect by retarder with rear wheel drive, is used for
Drive rear-wheel；Wheel speed detector is respectively arranged in front wheels and rear wheels.
Further, wheel speed detector is Hall wheel speed sensor or GPS navigation module；Hall wheel speed sensor
For detecting the wheel speed and/or acceleration of wheel；GPS navigation module is used to detect the wheel speed of wheel.
It correspondingly, include described above pure the present invention also provides a kind of pure electric automobile Anti-slip regulation control method
Electric car Anti-slip regulation system；Further include having following steps:
S1: the wheel speed and/or acceleration of wheel speed detector detection pure electric automobile wheel, and it is transmitted to the comprehensive driving control of MCU
Device processed；
S2:MCU integrates drive control device according to the slip rate of wheel speed calculation wheel；
S3: when slip rate or acceleration exceed threshold value, the comprehensive drive control device of MCU triggers Anti-slip regulation function；
The comprehensive drive control device of S4:MCU is by adjusting the torque of driving motor to guarantee vehicle overall kinetic.
The pure electric automobile Anti-slip regulation system and control method that the invention provides have the advantages that
TCS function is implemented separately in MCU driving integrated controller, and MCU driving integrated controller directly passes through four wheel speed sensors
Judge vehicle slip state, the current state and road adherence of comprehensive battery and motor calculate after Anti-slip regulation torque directly
It controls motor and executes calculated torque, realize TCS function；This scheme eliminates the CAN network communication time between each control module,
Torque responsive speed faster, Anti-slip regulation control effect more preferably；Control system provided by the invention has control module few, reliable
Property it is high, not needing ESP module can be realized TCS function, without the calibration of winter needed for ESP development process and summer calibration, open
The period is short for hair, hardware and software cost is greatly lowered.
Detailed description of the invention
A kind of Fig. 1: pure electric automobile Anti-slip regulation system structure diagram of the present invention；
A kind of Fig. 2: pure electric automobile Anti-slip regulation control method flow chart of the present invention.
Specific embodiment
With reference to the accompanying drawing, the present invention will be further described:
Fig. 1 shows a kind of pure electric automobile Anti-slip regulation system, include the comprehensive drive control device of MCU, driving motor and
Take turns speed detector；The function of the comprehensive drive control device of MCU includes the vehicle control device and electric machine controller of pure electric automobile
Major function, function include automobile gear level control function, driving dynamics calculate and arbitration function, drive and control of electric machine function,
High-low pressure attachment control function, high-voltage power distribution function, energy regenerating control function and course continuation mileage computing function etc.；Wheel
Speed detector is set on the wheel of pure electric automobile, and is communicated to connect with the comprehensive drive control device of MCU；Specifically, wheel speed
Detection device integrates drive control device by rigid line and MCU and connect, and has the characteristics that transmission speed is fast, detection accuracy is high, can be with
Faster, it more reliably detects the variation of four-wheel wheel speed, and judges whether slipping state occurs；Driving motor and the comprehensive drive of MCU
Movement controller communication connection, for driving wheel；Specifically, driving motor and the comprehensive drive control device of MCU are by passing through three-phase
High-voltage wiring harness connection, the comprehensive drive control device of MCU execute different torques by changing three line alternating currents to control driving motor,
Fast response time, control precision are high in this way；Wheel speed detector is used to detect the wheel speed and/or acceleration of wheel, and is transmitted to
MCU integrates drive control device；The comprehensive drive control device of MCU receives wheel speed and/or acceleration, and calculates slip rate；Work as slip rate
Or acceleration, when exceeding threshold value, the comprehensive drive control device of MCU triggers Anti-slip regulation function, and the torque by adjusting driving motor
To guarantee vehicle overall kinetic；Specifically, the comprehensive drive control device of MCU also calculates traction in real time；Work as slip rate
When beyond threshold value, the comprehensive drive control device of MCU carries out torque adjusting to driving motor based on traction；Specifically,
When the comprehensive drive control device triggering Anti-slip regulation function of MCU, while according to the traction calculated in real time, control respectively rapidly
Front and back driving motor carries out torque adjusting, and torque adjusting is carried out based on Current terrestrial adhesive force, is beaten with terminating vehicle rapidly
Sliding state and on the basis of preventing skidding, responds the large torque of driver to the maximum extent, guarantees the dynamic property of vehicle.
Preferably, in conjunction with above scheme, as shown in Figure 1, in the present embodiment, pure electric automobile Anti-slip regulation system further includes
There are BMS power battery control system and power high-tension battery；BMS power battery control system is driven by the way that CAN bus and MCU are comprehensive
Movement controller communication connection；Power high-tension battery is electrically connected with the comprehensive drive control device of MCU by high direct voltage harness；BMS
Power battery control system be used to provide to the comprehensive drive control device of MCU maximum continuous discharge power, maximum instantaneous discharge power,
Real time electrical quantity, minimum monomer voltage and fault message；Calculate the maximum discharge power P of power battery permissionBattery, and supervise in real time
Control battery fault condition；On the other hand it is monitored in the real-time status and the comprehensive drive control of MCU of two driving motors by rigid line
The state of portion's drive control device calculates driving motor maximum drive power PFirst motorAnd PSecond motor, comprehensive PBattery、PFirst motorAnd PSecond motor；
According to the comprehensive P=P of formulaFirst motor+PSecond motorIt calculates first motor (i.e. motor 1) and the second motor (i.e. motor 2) is real-time most
Big driving power；Specifically torque is calculated according to P=T*n；Power high-tension battery is used to provide electrical source of power to vehicle.
Preferably, in conjunction with above scheme, as shown in Figure 1, driving motor includes first motor and second in the present embodiment
Motor；Wheel includes front wheels and rear wheels；First motor is connect by retarder with front-wheel drive, for driving front-wheel；Second
Motor is connect by retarder with rear wheel drive, for driving rear-wheel；Wheel speed detector is respectively arranged in front wheels and rear wheels,
Wheel speed and acceleration for front wheels and rear wheels.
Preferably, in conjunction with above scheme, as shown in Figure 1, taking turns speed detector in the present embodiment as Hall-type wheel speed sensing
Device or GPS navigation module；Hall wheel speed sensor is used to detect the wheel speed and/or acceleration of wheel；GPS navigation module is used for
Detect the wheel speed of wheel；Hall wheel speed sensor is made of sensing head and gear ring, and wherein sensing head is by permanent magnet, Hall element
It is formed with electronic circuit etc.；There is Hall wheel speed sensor output signal voltage amplitude not influenced by revolving speed, frequency is rung
The strong advantage of Ying Gao, anti-electromagnetic wave interference performance；Specifically, the comprehensive drive control device of MCU is anti-by Hall wheel speed sensor
The voltage of feedback, is converted into the wheel speed of current each wheel, and is filtered, and shields burr and signal interference；Each wheel
The calculation method of slip rate are as follows: because vehicle is four-driving-force, the dynamic output of each wheel, four wheels are likely to occur
It skids, under normal circumstances using the wheel of minimum speed as benchmark wheel speed, the speed after defaulting wheel speed conversion is the true vehicle of vehicle
Speed；For special operation condition, four wheels skid, and the comprehensive drive control device of MCU according to vehicle current output torque and is worked as
Critical wheel speed acceleration is arranged in the preceding gradient, when the acceleration of wheel wheel speed is more than the critical wheel speed acceleration, judges four vehicles
Wheel skids；If there is GPS module navigation speed at this time, using GPS module navigation speed as benchmark wheel speed calculation slip rate, if nothing
GPS module navigation speed, then front and back driving motor reduces torque with fixed gradient.
Correspondingly, in conjunction with above scheme, as shown in Fig. 2, the present invention also provides a kind of controls of pure electric automobile Anti-slip regulation
Method includes pure electric automobile Anti-slip regulation system described above；Further include having following steps:
S1: the wheel speed and/or acceleration of wheel speed detector detection pure electric automobile wheel, and it is transmitted to the comprehensive driving control of MCU
Device processed；
S2:MCU integrates drive control device according to the slip rate of wheel speed calculation wheel；
S3: when slip rate or acceleration exceed threshold value, the comprehensive drive control device of MCU triggers Anti-slip regulation function；
The comprehensive drive control device of S4:MCU is by adjusting the torque of driving motor to guarantee vehicle overall kinetic.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in S1 step, wheel speed detector is Hall in the present embodiment
Formula wheel speed sensors or GPS navigation module；Hall wheel speed sensor is used to detect the wheel speed and/or acceleration of wheel；GPS is led
Model plane block is used to detect the wheel speed of wheel.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, it is further comprising the steps of before S1 step:
The comprehensive drive control device of S10:MCU calculates the maximum drive torque that driving motor is able to carry out.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, it is further comprising the steps of before S2 step:
S20: the MCU comprehensive drive control device calculates traction；Specifically, when the slip rate for calculating certain wheel is greater than threshold
When value 1, the torque that the current X milliseconds of moment correspond to driving motor execution is latched, the attachment that can be supported as real-time ground is turned round
Square, i.e. traction.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in S4 step, torque adjustment speed needs to meet in the present embodiment
It is reduced to 0 from peak torque in 100ms, need to meet and increase to peak torque from 0 in 100ms.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, in S3 step, when the slip rate of wheel is greater than
When threshold value 1, the torque that current time wheel corresponds to driving motor execution, the traction that can be supported as ground are latched；
Specially MCU integrates drive control device real-time detection slip rate, when the slip rate of certain wheel is greater than threshold value 1, latches current X milli
Moment second corresponds to the torque of driving motor execution, the traction that can be supported as real-time ground.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, in S4 step, the comprehensive drive control device root of MCU
Torque adjusting is carried out according to the difference of target slip ratio and current slip rate；Specifically, when triggering Anti-slip regulation function, MCU is comprehensive
Control front and back driving motor carries out torque adjusting to drive control device respectively rapidly, based on Current terrestrial adhesive force, with target
Slip rate is equal to 0 for control target, carries out the adjusting of PI torque according to the difference of target slip ratio and current slip rate, while to not
The suitably tentative increase torque of driving motor of slip wheel side occurs, guarantees the dynamic property of vehicle totality；Specifically torque root
It is calculated according to P=T*n.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, in S4 step, the comprehensive drive control device of MCU with
Certain gradient is gradually increased torque, and monitors slip rate in real time；If slip rate significantly increases, torsion is not increased within several periods
Square；The soft and hardware cycle of operation in the comprehensive drive control device of MCU, because speed rises, the resistance of vehicle increases, and there are vehicles
A possibility that having entered high attached road surface, MCU need to guarantee the power of vehicle to respond the large torque of driver to the maximum extent
Property；For to guarantee the timeliness of slip state detection and the speed of control motor, the comprehensive drive control device software of MCU is calculated
Period is 40 microseconds or less.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in the present embodiment, it is further comprising the steps of after S4 step:
The comprehensive drive control device of S5:MCU adjusts the torque of driving motor, until slip rate or acceleration are equal to, zero, MCU is comprehensive to be driven
Movement controller exits Anti-slip regulation function；Specifically, after exiting Anti-slip regulation function, restore the torsion of real-time response driver
Square；Exit after Anti-slip regulation function can not instant response driver large torque, driver should be increased to certain gradient and asked
Torque is sought, guarantees that dynamic property does not mutate, guarantees drive safety；
When the comprehensive drive control device of MCU exits Anti-slip regulation function, the comprehensive drive control device of MCU is increased to specific gradient is driven
The requested torque for the person of sailing；And/or
In S4 step, when slip rate increases, the comprehensive drive control device of MCU reduces the torque of respective drive motor；Work as slip rate
Has the tendency that being decreased to the torque for increasing respective drive motor close to the comprehensive drive control device of zero, MCU.
Preferably, in conjunction with above scheme, as shown in Fig. 2, in S1 step, wheel speed detector is set respectively in the present embodiment
It is placed on each wheel of pure electric automobile wheel, and detects the wheel speed and/or acceleration of each wheel respectively；
In S2 step, the comprehensive drive control device of MCU calculates separately the slip rate of each wheel；
In S3 step, the comprehensive drive control device of MCU judges whether each wheel is beaten according to the slip rate or acceleration of each wheel
It is sliding；
When only front-wheel or rear wheels slip, the comprehensive drive control device of MCU reduces the torque of a corresponding driving motor, increases another
The torque of one driving motor；
When front vehicle wheel and rear wheel all skid, the comprehensive drive control device of MCU adjusts the torque of correspondingly driving motor simultaneously.
Preferably, in conjunction with above scheme, when MCU comprehensive drive control device triggering Anti-slip regulation function for the first time, sliding
The threshold value of rate is set as 80%；When triggering Anti-slip regulation function second of the comprehensive drive control device of MCU, the threshold value of slip rate is set
It is set to 20%；It triggers and second trigger interval 8 seconds to 12 seconds, preferably 10 seconds for the first time；Specifically, when slip rate is more than threshold
When value, MCU comprehensive drive control device judge skidding, judge for the first time in the short time threshold value that Anti-slip regulation triggers need to be arranged compared with
Greatly, to prevent false triggering, the first side Anti-slip regulation function is exited in 10 seconds latter, and the threshold value triggered again needs to reduce, and guarantees driving
Antiskid effect；The threshold value for exiting Anti-slip regulation is close to 0, to guarantee that, when needing to activate Anti-slip regulation function, the function is always
Effectively.
Pure electric automobile Anti-slip regulation system and control method provided by the invention, it is independent by MCU driving integrated controller
Realize that TCS function, MCU driving integrated controller directly pass through four wheel speed sensors and judge vehicle slip state, comprehensive battery
With the current state and road adherence of motor, motor execution calculated torque is directly controlled after calculating Anti-slip regulation torque, is realized
TCS function；This scheme eliminates the CAN network communication time between each control module, torque responsive speed faster, Anti-slip regulation
Control effect is more preferably；Control system provided by the invention few, high reliablity with control module, not needing ESP module can be real
Existing TCS function, without the calibration of winter needed for ESP development process and summer calibration, the development cycle is short, hardware and software cost is equal
It is greatly lowered.
Using scheme provided by the invention, the response time is more shorter than traditional ESP, and TCS control effect is more preferably；It does not depend on completely
In ESP hardware and software control system, winter calibration and summer calibration are needed not move through, the cost of implementation of this function is lower, opens
It is shorter to send out the period.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (10)
1. a kind of pure electric automobile Anti-slip regulation system, which is characterized in that include MCU comprehensive drive control device, driving motor
And wheel speed detector；The wheel speed detector is set on wheel, and integrates drive control device communication link with the MCU
It connects；The driving motor and the comprehensive drive control device communication connection of the MCU, for driving the wheel；The wheel speed detection
Device is used to detect the wheel speed and/or acceleration of the wheel, and is transmitted to the comprehensive drive control device of the MCU；The MCU is comprehensive
It closes drive control device and receives the wheel speed and/or acceleration, and calculate slip rate；When the slip rate or the acceleration exceed
When threshold value, the comprehensive drive control device of the MCU triggers Anti-slip regulation function, and the torque by adjusting the driving motor to
Guarantee vehicle overall kinetic.
2. pure electric automobile Anti-slip regulation system according to claim 1, which is characterized in that the comprehensive driving control of the MCU
Device processed calculates traction in real time；When the slip rate exceeds threshold value, the comprehensive drive control device of the MCU is with the ground
Adhesive force carries out torque adjusting to the driving motor.
3. pure electric automobile Anti-slip regulation system according to claim 1, which is characterized in that further include having BMS power electric
Pond control system and power high-tension battery；The BMS power battery control system drives by the way that CAN bus and the MCU are comprehensive
Controller communication connection；The power high-tension battery and the comprehensive drive control device electrical connection of the MCU；The BMS power electric
Pond control system is used to provide maximum continuous discharge power, maximum instantaneous discharge power, reality to the comprehensive drive control device of the MCU
When electricity, minimum monomer voltage and fault message；The power high-tension battery is used to provide electrical source of power to vehicle.
4. pure electric automobile Anti-slip regulation system according to claim 1, which is characterized in that the driving motor includes
First motor and the second motor；The wheel includes front wheels and rear wheels；The first motor passes through retarder and the front-wheel
It is drivingly connected, for driving the front-wheel；Second motor is connect by retarder with the rear wheel drive, for driving
State rear-wheel；The wheel speed detector is respectively arranged on the front-wheel and the rear-wheel.
5. pure electric automobile Anti-slip regulation system according to claim 1, which is characterized in that the wheel speed detector is
Hall wheel speed sensor or GPS navigation module；The Hall wheel speed sensor be used for detect the wheel wheel speed and/or
Acceleration；The GPS navigation module is used to detect the wheel speed of the wheel.
6. a kind of pure electric automobile Anti-slip regulation control method, which is characterized in that include pure electricity described in the claims 1
Electrical automobile Anti-slip regulation system；Further include having following steps:
S1: the wheel speed and/or acceleration of wheel speed detector detection pure electric automobile wheel, and it is transmitted to the comprehensive driving control of MCU
Device processed；
The slip rate of S2: the MCU comprehensive drive control device wheel according to the wheel speed calculation；
S3: when the slip rate or the acceleration exceed threshold value, the comprehensive drive control device of the MCU triggers Anti-slip regulation function
Energy；
S4: the MCU comprehensive drive control device is by adjusting the torque of the driving motor to guarantee vehicle overall kinetic.
7. pure electric automobile Anti-slip regulation control method according to claim 6, which is characterized in that in the S1 step,
The wheel speed detector is Hall wheel speed sensor or GPS navigation module；The Hall wheel speed sensor is for detecting
The wheel speed and/or acceleration of the wheel；The GPS navigation module is used to detect the wheel speed of the wheel；Before the S1 step
It is further comprising the steps of:
S10: the MCU comprehensive drive control device calculates the maximum drive torque that the driving motor is able to carry out；And/or
It is further comprising the steps of before the S2 step:
S20: the MCU comprehensive drive control device calculates traction；And/or
In the S4 step, torque adjustment speed, which need to meet, is reduced to 0 from peak torque in 100ms, need to meet in 100ms
Peak torque is increased to from 0.
8. pure electric automobile Anti-slip regulation control method according to claim 6, which is characterized in that in the S3 step,
When the slip rate of the wheel is greater than threshold value 1, the torque that wheel described in current time corresponds to driving motor execution is latched, as
The traction that ground can support；And/or
In the S4 step, the comprehensive drive control device of the MCU is turned round according to the difference of target slip ratio and current slip rate
Square is adjusted；And/or
In the S4 step, the comprehensive drive control device of the MCU is gradually increased torque with certain gradient, and monitors sliding in real time
Rate；If slip rate significantly increases, do not increase torque within several periods；And/or
It is further comprising the steps of after the S4 step:
S5: the MCU comprehensive drive control device adjusts the torque of the driving motor, until the slip rate or the acceleration
Equal to zero, the comprehensive drive control device of the MCU exits Anti-slip regulation function；
When the comprehensive drive control device of the MCU exits Anti-slip regulation function, the comprehensive drive control device of the MCU is increased with gradient
To the requested torque of driver；And/or
In the S4 step, when the slip rate increases, the comprehensive drive control device of the MCU reduces the torsion of respective drive motor
Square；When slip rate has the tendency that being decreased to close to zero, the comprehensive drive control device of the MCU increases the torque of respective drive motor.
9. pure electric automobile Anti-slip regulation control method according to claim 6, which is characterized in that in the S1 step,
Wheel speed detector is respectively arranged on each wheel of pure electric automobile wheel, and detects the wheel of each wheel respectively
Speed and/or acceleration；
In the S2 step, the comprehensive drive control device of the MCU calculates separately the slip rate of each wheel；
In the S3 step, the slip rate or the acceleration of the comprehensive drive control device of the MCU according to each wheel
Degree judges whether each wheel skids；
When only front-wheel or rear wheels slip, the comprehensive drive control device of the MCU reduces the torque of a corresponding driving motor, increases
The torque of another big driving motor；
When front vehicle wheel and rear wheel all skid, the comprehensive drive control device of the MCU adjusts correspondingly driving motor simultaneously
Torque.
10. pure electric automobile Anti-slip regulation control method according to claim 6, which is characterized in that when the MCU is comprehensive
When drive control device triggers Anti-slip regulation function for the first time, the threshold value of the slip rate is set as 80%；It is driven when the MCU is comprehensive
When second of triggering Anti-slip regulation function of movement controller, the threshold value of the slip rate is set as 20%；The first time triggering and institute
State second of trigger interval 8 seconds to 12 seconds.
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| CN112519592A (en) * | 2019-09-18 | 2021-03-19 | 长城汽车股份有限公司 | Vehicle wheel speed control method and device and electric vehicle |
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