CN109795339B - Pure electric vehicle driving anti-skid system and control method - Google Patents
Pure electric vehicle driving anti-skid system and control method Download PDFInfo
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Abstract
The invention relates to a pure electric vehicle driving anti-skid system and a control method, wherein the system comprises an MCU (microprogrammed control unit) comprehensive driving controller, a driving motor and a wheel speed detection device; the wheel speed detection device is arranged on a wheel and is in communication connection with the MCU comprehensive driving controller; the driving motor is in communication connection with the MCU comprehensive driving controller and is used for driving wheels; the wheel speed detection device is used for detecting the wheel speed and/or the acceleration of the wheel and transmitting the wheel speed and/or the acceleration to the MCU comprehensive driving controller; the MCU comprehensive driving controller receives the wheel speed and/or the acceleration and calculates the slip rate; when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers a driving anti-skid function, and the total dynamic property of the vehicle is ensured by adjusting the torque of a driving motor; the scheme provided by the invention has the advantages of few control modules, high reliability, short development period and greatly reduced hardware and software cost, and the TCS function can be realized without an ESP module.
Description
Technical Field
The invention belongs to the technical field of pure electric vehicles, and particularly relates to a pure electric vehicle drive anti-skidding system and a control method.
Background
The conventional drive anti-skid control function (TCS) of the existing electric automobile is based on an ESP system, an Electronic Stability Program (ESP) system of a vehicle body judges the skid state of the vehicle and calculates the torque after the intervention of the TCS function, the requested torque is sent to a Vehicle Control Unit (VCU) through a CAN network, the VCU judges the current vehicle state of the vehicle and arbitrates the torque, the VCU sends the arbitrated torque to a Motor Controller (MCU), the MCU controls a motor to execute the requested torque of the VCU and feeds the actual torque back to the ESP control system, the ESP control system further judges and calculates according to the skid state of the vehicle and the actual torque fed back by the MCU, and the calculated requested torque is continuously sent to the VCU in the next CAN communication period; the control modules involved in this conventional scheme are ESP, VCU and MCU, the structure is relatively complex, and there are the following disadvantages:
firstly, controllers communicate with each other by using a CAN network, the communication period is long, the control is delayed, the TCS function cannot achieve the optimal effect, and obvious vehicle slip CAN still be sensed;
secondly, the scheme relates to more controllers, one of the controllers has problems that the functions cannot be realized, the reliability of the scheme is low, thirdly, the ESP hardware and software are high in price, the functions need to be calibrated in winter and summer, the function realization cost is high, and the development period is long.
Disclosure of Invention
The invention designs a pure electric vehicle driving anti-skidding system and a control method, which solve the problems of complex structure and high cost of the existing pure electric vehicle driving anti-skidding system.
In order to solve the technical problems, the invention adopts the following scheme:
a pure electric vehicle driving anti-skid system comprises an MCU comprehensive driving controller, a driving motor and a wheel speed detection device; the wheel speed detection device is arranged on a wheel and is in communication connection with the MCU comprehensive driving controller; the driving motor is in communication connection with the MCU comprehensive driving controller and is used for driving wheels; the wheel speed detection device is used for detecting the wheel speed and/or the acceleration of the wheel and transmitting the wheel speed and/or the acceleration to the MCU comprehensive driving controller; the MCU comprehensive driving controller receives the wheel speed and/or the acceleration and calculates the slip rate; when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers the driving antiskid function, and the total dynamic property of the vehicle is ensured by adjusting the torque of the driving motor.
Further, the MCU comprehensive driving controller calculates the ground adhesion in real time; and when the slip rate exceeds a threshold value, the MCU comprehensive driving controller adjusts the torque of the driving motor by using the ground adhesion.
Furthermore, the pure electric vehicle driving anti-skid system also comprises a BMS power battery control system and a power high-voltage battery; the BMS power battery control system is in communication connection with the MCU comprehensive driving controller through a CAN bus; the power high-voltage battery is electrically connected with the MCU comprehensive driving controller; the BMS power battery control system is used for providing maximum continuous discharge power, maximum instantaneous discharge power, real-time electric quantity, minimum monomer voltage and fault information for the MCU comprehensive driving controller; the power high-voltage battery is used for providing a power supply for the whole vehicle.
Further, the driving motor comprises a first motor and a second motor; the wheels comprise front wheels and rear wheels; the first motor is in driving connection with the front wheel through a speed reducer and is used for driving the front wheel; the second motor is in driving connection with the rear wheel through a speed reducer and is used for driving the rear wheel; the wheel speed detection devices are respectively arranged on the front wheel and the rear wheel.
Furthermore, the wheel speed detection device is a Hall wheel speed sensor or a GPS navigation module; the Hall wheel speed sensor is used for detecting the wheel speed and/or acceleration of the wheel; the GPS navigation module is used for detecting the wheel speed of the wheel.
Correspondingly, the invention also provides a pure electric vehicle driving antiskid control method, which comprises the pure electric vehicle driving antiskid system; also comprises the following steps:
s1: the wheel speed detection device detects the wheel speed and/or acceleration of the pure electric vehicle wheel and transmits the wheel speed and/or acceleration to the MCU comprehensive driving controller;
s2: the MCU comprehensive driving controller calculates the slip rate of the wheel according to the wheel speed;
s3: when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers the driving antiskid function;
s4: the MCU comprehensive driving controller ensures the overall dynamic property of the vehicle by adjusting the torque of the driving motor.
The pure electric vehicle driving antiskid system and the control method provided by the invention have the following beneficial effects:
the MCU drives the integrated controller to independently realize the TCS function, the MCU drives the integrated controller to directly judge the vehicle slipping state through four wheel speed sensors, the current states and the road surface adhesive force of a battery and a motor are integrated, and the motor is directly controlled to execute the calculation torque after the driving anti-slipping torque is calculated, so that the TCS function is realized; according to the scheme, the CAN network communication time among the control modules is eliminated, the torque response speed is higher, and the driving anti-skid control effect is better; the control system provided by the invention has the advantages of few control modules, high reliability, realization of TCS function without ESP module, no need of winter calibration and summer calibration required in ESP development process, short development period and greatly reduced hardware and software cost.
Drawings
FIG. 1: the invention discloses a structural schematic diagram of a pure electric vehicle driving antiskid system;
FIG. 2: the invention relates to a flow chart of a pure electric vehicle driving antiskid control method.
Detailed Description
The invention will be further explained with reference to the accompanying drawings:
FIG. 1 shows a pure electric vehicle driving antiskid system, which comprises an MCU comprehensive driving controller, a driving motor and a wheel speed detection device; the functions of the MCU comprehensive driving controller comprise the main functions of a vehicle controller and a motor controller of the pure electric vehicle, and the functions comprise a vehicle gear control function, a running power calculation and arbitration function, a motor driving control function, a high-low voltage accessory control function, a high-voltage power distribution function, an energy recovery control function, a cruising mileage calculation function and the like; the wheel speed detection device is arranged on a wheel of the pure electric vehicle and is in communication connection with the MCU comprehensive driving controller; specifically, the wheel speed detection device is connected with the MCU comprehensive drive controller through a hard wire, has the characteristics of high transmission speed and high detection precision, can detect the change of the wheel speed of four wheels more quickly and reliably, and judges whether a slip state occurs or not; the driving motor is in communication connection with the MCU comprehensive driving controller and is used for driving wheels; specifically, the driving motor is connected with the MCU comprehensive driving controller through a three-phase high-voltage wire harness, and the MCU comprehensive driving controller controls the driving motor to execute different torques by changing three-wire alternating current, so that the response speed is high, and the control precision is high; the wheel speed detection device is used for detecting the wheel speed and/or the acceleration of the wheel and transmitting the wheel speed and/or the acceleration to the MCU comprehensive driving controller; the MCU comprehensive driving controller receives the wheel speed and/or the acceleration and calculates the slip rate; when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers a driving antiskid function and ensures the overall dynamic property of the vehicle by adjusting the torque of a driving motor; specifically, the MCU comprehensive driving controller also calculates the ground adhesion in real time; when the slip ratio exceeds a threshold value, the MCU comprehensive driving controller adjusts the torque of the driving motor on the basis of the ground adhesion; specifically, when the MCU comprehensive drive controller triggers the drive anti-skid function, the front and rear drive motors are rapidly and respectively controlled to carry out torque adjustment according to the ground adhesion calculated in real time, the torque adjustment is carried out on the basis of the current ground adhesion, and the large torque of a driver is responded to the maximum extent on the basis of rapidly finishing the vehicle skid state and preventing skid, so that the dynamic property of the vehicle is ensured.
Preferably, with the above solutions, as shown in fig. 1, in this embodiment, the pure electric vehicle driving anti-skid system further includes a BMS power battery control system and a power high-voltage battery; the BMS power battery control system is in communication connection with the MCU comprehensive driving controller through a CAN bus; the power high-voltage battery is electrically connected with the MCU comprehensive driving controller through a direct-current high-voltage wire harness; the BMS power battery control system is used for providing maximum continuous discharge power, maximum instantaneous discharge power, real-time electric quantity, minimum monomer voltage and fault information for the MCU comprehensive driving controller; calculating the maximum discharge power P allowed by the power batteryBattery with a battery cellMonitoring the fault state of the battery in real time; on the other hand, the real-time states of the two driving motors are monitored through hard wires and the MCU comprehensively drives and controls the state of the internal driving controllerState, calculating the maximum driving power P of the driving motorFirst motorAnd PSecond electric machineSynthesis of PBattery with a battery cell、PFirst motorAnd PSecond electric machine(ii) a Synthesize P = P according to the formulaFirst motor+PSecond electric machineCalculating the real-time maximum driving power of a first motor (namely the motor 1) and a second motor (namely the motor 2); specifically the torque is calculated from P = T × n; the power high-voltage battery is used for providing a power supply for the whole vehicle.
Preferably, in combination with the above scheme, as shown in fig. 1, in the present embodiment, the driving motor includes a first motor and a second motor; the wheels comprise front wheels and rear wheels; the first motor is in driving connection with the front wheel through a speed reducer and is used for driving the front wheel; the second motor is in driving connection with the rear wheel through a speed reducer and is used for driving the rear wheel; the wheel speed detection devices are respectively arranged on the front wheel and the rear wheel and used for detecting the wheel speed and the acceleration of the front wheel and the rear wheel.
Preferably, in combination with the above solution, as shown in fig. 1, in this embodiment, the wheel speed detection device is a hall wheel speed sensor or a GPS navigation module; the Hall wheel speed sensor is used for detecting the wheel speed and/or acceleration of the wheel; the GPS navigation module is used for detecting the wheel speed of the wheel; the Hall wheel speed sensor consists of a sensing head and a gear ring, wherein the sensing head consists of a permanent magnet, a Hall element, an electronic circuit and the like; the Hall wheel speed sensor has the advantages that the voltage amplitude value of an output signal is not influenced by the rotating speed, the frequency response is high, and the anti-electromagnetic wave interference capability is strong; specifically, the MCU comprehensive driving controller converts the voltage fed back by the Hall wheel speed sensor into the current wheel speed of each wheel, and performs filtering processing to shield burrs and signal interference; the method for calculating the slip ratio of each wheel comprises the following steps: because the vehicle is driven by four wheels, each wheel has power output, four wheels are likely to slip, the wheel with the lowest rotating speed is taken as a reference wheel speed under normal conditions, and the speed converted by the wheel speed is defaulted as the real speed of the vehicle; for a special working condition, all four wheels slip, the MCU comprehensive driving controller sets critical wheel speed acceleration according to the current output torque and the current gradient of the vehicle, and when the acceleration of the wheel speed exceeds the critical wheel speed acceleration, all four wheels are judged to slip; and if the GPS module is available for navigation, the speed of the GPS module is used as a reference wheel speed to calculate the slip rate, and if the GPS module is unavailable for navigation, the front and rear driving motors reduce the torque by a fixed gradient.
Correspondingly, in combination with the above scheme, as shown in fig. 2, the invention further provides a pure electric vehicle drive anti-skid control method, which includes the pure electric vehicle drive anti-skid system; also comprises the following steps:
s1: the wheel speed detection device detects the wheel speed and/or acceleration of the pure electric vehicle wheel and transmits the wheel speed and/or acceleration to the MCU comprehensive driving controller;
s2: the MCU comprehensive driving controller calculates the slip rate of the wheel according to the wheel speed;
s3: when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers the driving antiskid function;
s4: the MCU comprehensive driving controller ensures the overall dynamic property of the vehicle by adjusting the torque of the driving motor.
Preferably, in combination with the above solution, as shown in fig. 2, in the present embodiment, in the step S1, the wheel speed detecting device is a hall wheel speed sensor or a GPS navigation module; the Hall wheel speed sensor is used for detecting the wheel speed and/or acceleration of the wheel; the GPS navigation module is used for detecting the wheel speed of the wheel.
Preferably, in combination with the above scheme, as shown in fig. 2, in this embodiment, before the step of S1, the following steps are further included:
s10: the MCU integrated drive controller calculates the maximum drive torque that the drive motor can execute.
Preferably, in combination with the above scheme, as shown in fig. 2, in this embodiment, before the step of S2, the following steps are further included:
s20: the MCU comprehensive driving controller calculates the ground adhesion; specifically, when the slip ratio of a certain wheel is calculated to be larger than the threshold value 1, the torque executed by the driving motor corresponding to the current time of X milliseconds is latched and is used as the adhesion torque which can be supported by the ground in real time, namely the ground adhesion.
Preferably, in combination with the above scheme, as shown in fig. 2, in the present embodiment, in step S4, the torque adjustment speed needs to be satisfied to decrease from the peak torque to 0 within 100ms, and needs to be satisfied to increase from 0 to the peak torque within 100 ms.
Preferably, in combination with the above scheme, as shown in fig. 2, in the present embodiment, in the step S3, when the slip ratio of the wheel is greater than the threshold value 1, the torque executed by the wheel corresponding to the driving motor at the current time is latched as the ground adhesion force that can be supported by the ground; the method specifically comprises the steps that the MCU comprehensive driving controller detects the slip rate in real time, and when the slip rate of a certain wheel is larger than a threshold value 1, the torque executed by a corresponding driving motor at the current X millisecond moment is latched and used as the real-time ground adhesion force which can be supported by the ground.
Preferably, in combination with the above scheme, as shown in fig. 2, in the present embodiment, in the step S4, the MCU integrally drives the controller to adjust the torque according to the difference between the target slip ratio and the current slip ratio; specifically, when the driving antiskid function is triggered, the MCU comprehensive driving controller rapidly and respectively controls the front and rear driving motors to carry out torque adjustment, based on the current ground adhesion, and based on the target slip rate being equal to 0, PI torque adjustment is carried out according to the difference value between the target slip rate and the current slip rate, and meanwhile, torque is properly increased tentatively to the driving motors on the side where the pulley wheel is not driven, so that the overall dynamic property of the vehicle is ensured; specifically the torque is calculated from P = T × n.
Preferably, in combination with the above scheme, as shown in fig. 2, in this embodiment, in the step S4, the MCU comprehensively drives the controller to gradually increase the torque with a certain gradient, and monitors the slip ratio in real time; if the slip ratio is obviously increased, the torque is not increased in a plurality of cycles; the MCU comprehensively drives the software and hardware running period in the controller, the resistance of the vehicle is increased due to the rising of the vehicle speed, and the possibility that the vehicle enters a high-attachment road surface exists, so that the MCU needs to respond to the large torque of a driver to the maximum extent and ensure the dynamic property of the vehicle; for ensuring the timeliness of the slip state detection and controlling the speed of the motor, the calculation period of the software of the MCU comprehensive driving controller is below 40 microseconds.
Preferably, in combination with the above scheme, as shown in fig. 2, in this embodiment, after the step of S4, the following steps are further included:
s5: the MCU comprehensive driving controller adjusts the torque of the driving motor until the slip rate or the acceleration is equal to zero, and the MCU comprehensive driving controller quits the anti-skid driving function; specifically, after the driving antiskid function is quitted, the real-time response of the torque of the driver is recovered; after the driving antiskid function is quitted, the large torque of the driver cannot be responded instantly, and the large torque is increased to the torque requested by the driver by a certain gradient, so that the dynamic property is ensured not to be suddenly changed, and the driving safety is ensured;
when the MCU comprehensive driving controller exits the driving antiskid function, the MCU comprehensive driving controller increases the torque to the request torque of the driver by a specific gradient; and/or the presence of a gas in the gas,
in the step S4, when the slip ratio is increased, the MCU comprehensive driving controller reduces the torque of the corresponding driving motor; when the slip ratio tends to decrease to be close to zero, the MCU comprehensive driving controller increases the torque of the corresponding driving motor.
Preferably, in combination with the above solution, as shown in fig. 2, in the present embodiment, in the step S1, wheel speed detection devices are respectively disposed on each wheel of the pure electric vehicle wheel, and respectively detect the wheel speed and/or acceleration of each wheel;
in the step S2, the MCU comprehensive driving controller respectively calculates the slip ratio of each wheel;
in the step S3, the MCU comprehensive driving controller judges whether each wheel slips or not according to the slip rate or the acceleration of each wheel;
when only the front wheel or the rear wheel slips, the MCU comprehensive driving controller reduces the torque of the corresponding one driving motor and increases the torque of the other driving motor;
when the front wheel and the rear wheel all slip, the MCU comprehensive driving controller simultaneously adjusts the torque of the corresponding driving motor.
Preferably, in combination with the above scheme, when the MCU integrated drive controller triggers the drive antiskid function for the first time, the threshold of the slip ratio is set to 80%; when the MCU comprehensive driving controller triggers the driving antiskid function for the second time, the threshold value of the slippage rate is set to be 20 percent; the interval between the first triggering and the second triggering is 8 seconds to 12 seconds, preferably 10 seconds; specifically, when the slip rate exceeds a threshold value, the MCU comprehensive driving controller judges the occurrence of slip, the threshold value for primarily judging the driving anti-slip trigger in a short time needs to be set to be larger so as to prevent false triggering, and the threshold value for secondary triggering needs to be reduced within 10 seconds after the first side driving anti-slip function is withdrawn so as to ensure the driving anti-slip effect; the threshold for exiting drive antiskid is close to 0 to ensure that the drive antiskid function is always active when it needs to be activated.
According to the pure electric vehicle driving anti-skid system and the control method, the MCU drives the integrated controller to independently realize the TCS function, the MCU drives the integrated controller to directly judge the vehicle skid state through four wheel speed sensors, the current states and the road surface adhesive force of the battery and the motor are integrated, and the motor is directly controlled to execute the calculation torque after the driving anti-skid torque is calculated, so that the TCS function is realized; according to the scheme, the CAN network communication time among the control modules is eliminated, the torque response speed is higher, and the driving anti-skid control effect is better; the control system provided by the invention has the advantages of few control modules, high reliability, realization of TCS function without ESP module, no need of winter calibration and summer calibration required in ESP development process, short development period and greatly reduced hardware and software cost.
By adopting the scheme provided by the invention, the response time is shorter than that of the traditional ESP, and the TCS control effect is better; the method is completely independent of ESP hardware and software control systems, and does not need to be calibrated in winter or summer, so that the realization cost of the function is lower, and the development period is shorter.
The invention is described above with reference to the accompanying drawings, it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (9)
1. A pure electric vehicle driving anti-skid system is characterized by comprising an MCU comprehensive driving controller, a driving motor and a wheel speed detection device; the wheel speed detection device is arranged on a wheel and is in communication connection with the MCU comprehensive driving controller; the driving motor is in communication connection with the MCU comprehensive driving controller and is used for driving the wheels; the wheel speed detection device is used for detecting the wheel speed and/or the acceleration of the wheel and transmitting the wheel speed and/or the acceleration to the MCU comprehensive driving controller; the MCU comprehensive driving controller receives the wheel speed and/or the acceleration and calculates the slip rate; when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers a driving anti-skid function and ensures the overall dynamic property of the vehicle by adjusting the torque of the driving motor; and when the slip rate exceeds a threshold value, the MCU comprehensive driving controller adjusts the torque of the driving motor by the ground adhesion force.
2. The pure electric vehicle driving antiskid system according to claim 1, further comprising a BMS power battery control system and a power high voltage battery; the BMS power battery control system is in communication connection with the MCU comprehensive driving controller through a CAN bus; the power high-voltage battery is electrically connected with the MCU comprehensive driving controller; the BMS power battery control system is used for providing maximum continuous discharge power, maximum instantaneous discharge power, real-time electric quantity, minimum cell voltage and fault information for the MCU comprehensive driving controller; and the power high-voltage battery is used for providing a power supply for the whole vehicle.
3. The pure electric vehicle drive antiskid system of claim 1, wherein the drive motor comprises a first motor and a second motor; the wheels comprise front wheels and rear wheels; the first motor is in driving connection with the front wheel through a speed reducer and is used for driving the front wheel; the second motor is in driving connection with the rear wheel through a speed reducer and is used for driving the rear wheel; the wheel speed detection devices are respectively arranged on the front wheel and the rear wheel.
4. The pure electric vehicle drive anti-skid system according to claim 1, wherein the wheel speed detection device is a hall wheel speed sensor or a GPS navigation module; the Hall wheel speed sensor is used for detecting the wheel speed and/or acceleration of the wheel; the GPS navigation module is used for detecting the wheel speed of the wheel.
5. A pure electric vehicle drive antiskid control method is characterized by comprising the pure electric vehicle drive antiskid system of claim 1; also comprises the following steps:
s1: the wheel speed detection device detects the wheel speed and/or acceleration of the pure electric vehicle wheel and transmits the wheel speed and/or acceleration to the MCU comprehensive driving controller;
s2: the MCU comprehensive driving controller calculates the slip rate of the wheel according to the wheel speed;
s3: when the slip rate or the acceleration exceeds a threshold value, the MCU comprehensive driving controller triggers and drives an anti-skid function;
s4: the MCU comprehensive driving controller ensures the overall dynamic property of the vehicle by adjusting the torque of the driving motor;
the method also comprises the following steps before the step of S1:
s10: the MCU comprehensive driving controller calculates the maximum driving torque which can be executed by the driving motor; and/or the presence of a gas in the gas,
the method also comprises the following steps before the step of S2:
s20: the MCU comprehensive driving controller calculates the ground adhesion; and when the slip rate exceeds a threshold value, the MCU comprehensive driving controller adjusts the torque of the driving motor by the ground adhesion force.
6. The pure electric vehicle driving antiskid control method according to claim 5, wherein in the step S1, the wheel speed detection device is a Hall wheel speed sensor or a GPS navigation module; the Hall wheel speed sensor is used for detecting the wheel speed and/or acceleration of the wheel; the GPS navigation module is used for detecting the wheel speed of the wheel; and/or the presence of a gas in the gas,
in step S4, the torque adjustment speed is decreased from the peak torque to 0 within 100ms, and increased from 0 to the peak torque within 100 ms.
7. The pure electric vehicle driving anti-slip control method according to claim 5, wherein in the step S3, when the slip ratio of the wheel is greater than a threshold value 1, the torque executed by the wheel corresponding to the driving motor at the current moment is latched and used as a ground adhesion force which can be supported by the ground; and/or the presence of a gas in the gas,
in the step S4, the MCU integrally drives the controller to adjust the torque according to the difference between the target slip ratio and the current slip ratio; and/or the presence of a gas in the gas,
in the step S4, the MCU integrally drives the controller to gradually increase the torque with a certain gradient, and monitors the slip ratio in real time; if the slip ratio is obviously increased, the torque is not increased in a plurality of cycles; and/or the presence of a gas in the gas,
the step of S4 is followed by the steps of:
s5: the MCU comprehensive driving controller adjusts the torque of the driving motor until the slip rate or the acceleration is equal to zero, and the MCU comprehensive driving controller quits the anti-skid driving function;
when the MCU comprehensive driving controller exits the driving antiskid function, the MCU comprehensive driving controller increases the torque to the request torque of the driver in a gradient manner; and/or the presence of a gas in the gas,
in the step S4, when the slip ratio increases, the MCU integrally drives the controller to reduce the torque of the corresponding driving motor; when the slip ratio tends to decrease to be close to zero, the MCU comprehensive driving controller increases the torque of the corresponding driving motor.
8. The pure electric vehicle driving anti-skid control method according to claim 5, wherein in the step S1, wheel speed detection devices are respectively disposed on each wheel of the pure electric vehicle wheels, and respectively detect the wheel speed and/or acceleration of each wheel;
in the step S2, the MCU calculates the slip ratios of the wheels respectively;
in the step S3, the MCU integrally drives the wheels to determine whether or not each of the wheels slips based on the slip ratio or the acceleration of each of the wheels;
when only the front wheel or the rear wheel slips, the MCU comprehensive driving controller reduces the torque of one corresponding driving motor and increases the torque of the other driving motor;
when the front wheel and the rear wheel all slip, the MCU comprehensive driving controller simultaneously adjusts the torque of the corresponding driving motor.
9. The pure electric vehicle drive anti-skid control method according to claim 5, wherein when the MCU comprehensive drive controller triggers a drive anti-skid function for the first time, the threshold value of the slip rate is set to 80%; when the MCU comprehensive driving controller triggers the driving antiskid function for the second time, the threshold value of the slippage rate is set to be 20%; the first trigger and the second trigger are separated by 8 seconds to 12 seconds.
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| CN112109709B (en) * | 2019-06-20 | 2022-03-18 | 比亚迪股份有限公司 | Traction control method, device and system and electric automobile |
| CN112519592B (en) * | 2019-09-18 | 2022-07-05 | 长城汽车股份有限公司 | Vehicle wheel speed control method and device and electric vehicle |
| CN110588370B (en) * | 2019-09-30 | 2022-04-26 | 北京海纳川汽车部件股份有限公司 | Antiskid torque control method and device and vehicle |
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