CN109878347B - Wheel torque distribution method of multi-axis driving distributed vehicle - Google Patents

Wheel torque distribution method of multi-axis driving distributed vehicle Download PDF

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CN109878347B
CN109878347B CN201910237861.4A CN201910237861A CN109878347B CN 109878347 B CN109878347 B CN 109878347B CN 201910237861 A CN201910237861 A CN 201910237861A CN 109878347 B CN109878347 B CN 109878347B
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torque
wheel
wheels
distribution
vehicle
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CN109878347A (en
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连小珉
杜鹏
徐达
陈浩
江燕华
王源
袁良信
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Tsinghua University
Beijing Automotive Research Institute Co Ltd
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Tsinghua University
Beijing Automotive Research Institute Co Ltd
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Abstract

The invention provides a wheel torque distribution method of a multi-axis driving distributed vehicle, which converts a vehicle longitudinal force and a vehicle yaw moment instruction of an upper layer controller into a wheel analysis longitudinal torque and a wheel analysis steering torque difference, and divides the wheel torque distribution into a left-right distribution stage and a front-back distribution stage; when left and right distribution is carried out, one side wheel is regarded as a whole, and the principle of steering priority is adopted; the front and back distribution adopts a mode of considering the average distribution under different wheel limit values, so that the torque burden of wheels on the same side is close, the torques of the wheels on the same side are mutually compensated, and the distribution of the torque sum of the wheels on the same side is accurately realized. The invention decomposes the complex multi-shaft wheel torque distribution problem into the torque distribution problem of fewer wheels, reduces the complexity of wheel torque distribution, ensures the dynamic property and steering stability of the vehicle and the maximum realization of the demand instruction of an upper layer controller, and is particularly suitable for the wheel torque distribution under the working condition of wheel capacity limitation or damage.

Description

Wheel torque distribution method of multi-axis driving distributed vehicle
Technical Field
The invention belongs to the field of vehicle dynamics control, and particularly relates to a wheel torque distribution method of a multi-axis driving distributed vehicle.
Background
The distributed vehicle is a vehicle with a motor directly arranged in a wheel (namely, a hub motor) or nearby (namely, a wheel-side motor) and realizes the control of the vehicle through the torque of the motor. The distributed vehicle has the outstanding advantages of short driving transmission chain, high transmission efficiency, compact structure and the like, and is widely concerned by automobile industry research personnel year by year.
At present, the whole vehicle control of the distributed vehicle can be realized by an upper layer controller and a lower layer controller, wherein the upper layer controller obtains an upper layer demand instruction of the vehicle according to the operation of a driver, the vehicle state and the like, and the upper layer demand instruction comprises the longitudinal force and the yaw moment of the vehicle; and the bottom controller distributes wheel torque according to the demand instruction of the upper controller, so that the control of the whole vehicle is realized.
The multi-shaft driving distributed vehicle generally has a plurality of power sources, increases the combination mode and complexity of vehicle power distribution, and can combine various optimization targets, such as dynamic property, economy, stability and the like, to distribute wheel torque.
The wheel torque distribution method generally adopted by the conventional bottom controller is to establish a wheel torque distribution optimization function and solve the wheel torque distribution optimization function so as to improve the economy, stability and the like of the whole vehicle, but the optimization solving problem is not only constrained by an equation realized by the longitudinal force and the yaw moment of the vehicle, but also constrained by an inequality of a torque capacity limit value of a single wheel, and the calculation cost is high in the conventional solving method, so that the optimal solution is difficult to solve in control time under various complex working conditions of the vehicle, such as the torque distribution in a limp-home mode; secondly, the parameters of the optimization function need to be calibrated according to different working conditions, and the research and development cost of the torque distribution algorithm is increased, so that the optimization function is difficult to apply to actual vehicles. In addition, a rule-based wheel torque distribution method is also provided, at present, two-axis vehicles are mostly distributed, wheel torques of front and rear axes are firstly determined, and then torque commands of left and right wheels of each axis are determined, at this time, when the wheel torque of one axis cannot be realized due to a torque capacity limit value, the wheel torque of the other axis cannot be compensated, and the torque commands of an upper layer controller are lost due to improper torque distribution.
In the wheel torque distribution, when the wheels cannot meet the requirement of an upper controller due to torque limit values, some current schemes select a longitudinal force priority principle, so that although the longitudinal requirement of the vehicle is ensured, the yaw moment of the vehicle is influenced, and particularly the stability control of the vehicle is not facilitated at high speed or on a low-attachment road surface. In some cases, the longitudinal force priority or the steering priority is selected by determining a condition. However, the priority determination condition is complicated, and is associated with ground adhesion, driver operation, and the like, which increases the complexity of vehicle torque distribution. If the steering yaw moment is selected to be preferred all the time, the steering stability of the vehicle is always preferred, the steering radius of the vehicle can be reduced at low speed, good stability can be obtained at high speed, torque distribution is simplified, and the steering safety of the vehicle is improved.
In summary, for the multi-axis driving distributed vehicle torque distribution problem, if the existing torque distribution mode for solving the optimization function is adopted, the problem is constrained by a plurality of equalities and inequalities, the solving and calculating cost is high, and the optimization function parameters need to be determined by experiments, so that the research and development cost is increased. However, the current rule-based torque distribution mode cannot fully exert all torque capacities of the wheels to realize the demand instruction of the upper controller, and when the wheel torque limit cannot meet the demand instruction of the upper controller, the current algorithm cannot well solve the balance coordination between the steering stability and the dynamic property, is not favorable for the stability control of the vehicle at high speed or low load, and influences the steering safety of the vehicle.
Disclosure of Invention
The invention aims to solve the problems that calculation and solving costs are high, optimization parameters are difficult to determine, wheel torques cannot be mutually compensated to realize a requirement instruction of an upper-layer controller to the maximum extent, and the like in the conventional multi-shaft driving vehicle torque distribution. A multi-axis drive distributed vehicle wheel torque distribution method is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a wheel torque distribution method of a multi-shaft driving distributed vehicle, wherein the multi-shaft driving distributed vehicle comprises 2N wheels which are symmetrically arranged left and right, each wheel is driven by a corresponding motor, each motor is controlled by a motor controller, and the motor is a hub motor or a wheel-side motor; characterized in that the wheel torque distribution method comprises the steps of:
1) establishing a vehicle coordinate system
Defining a vehicle coordinate system OXYZ according to international standards, wherein an origin O of the coordinate system is a mass center of the vehicle, a coordinate axis X is a forward direction of the vehicle, a coordinate axis Y is a left direction of the forward direction of the vehicle, and a coordinate axis Z is outward perpendicular to a straight surface;
the torque coordinate direction of the wheels is specified to be positive when consistent with the Y direction, otherwise, the torque coordinate direction is negative; when the longitudinal force direction of the vehicle is consistent with the X direction, the longitudinal force direction is positive, otherwise, the longitudinal force direction is negative; when the direction of the vehicle yaw moment is consistent with the Z direction, the vehicle yaw moment is positive, otherwise, the vehicle yaw moment is negative;
2) analyzing longitudinal force and transverse moment of vehicle
Acquiring upper layer controller demand instructions including vehicle longitudinal force FxYaw moment M with vehiclez(ii) a The wheel is regulated not to slip, and the longitudinal force F of the vehicle is obtainedxConverted to the sum of the torque of the left and right wheels and defined as the wheel resolved longitudinal torque sum TaaYaw moment M of the vehicle to be acquiredzConverted into torque difference of left and right wheels and defined as wheel analysis steering torque difference TsaThe calculation formulas are respectively shown in formulas (1) and (2):
Taa＝Fxr (1)
Figure BDA0002008757800000021
in the formulas (1) and (2), r is the rolling radius of the wheel, and B is the wheel track of the vehicle;
3) distribution of wheel torque according to steering priority
When multi-axis driving distributed vehicle wheel torque distribution is carried out, influence of a front wheel steering angle on the ground acting force direction of a front wheel is ignored, one side wheel is regarded as a whole, upper-layer control required torque is distributed left and right, and left and right wheel torques and T are obtainedL、TRThen, the torque sum of the left wheel and the right wheel is distributed front and back, so that the torque of each wheel is obtained; the method specifically comprises the following steps:
3.1) left-right distribution of wheel torque demand
3.1.1) limiting the wheel resolved longitudinal torque and the wheel resolved steering torque difference
Analyzing the longitudinal torque and the T of the wheels according to the positive and negative maximum torque limit values of the left and right wheelsaaAnd resolving wheel steering torqueDifference TsaLimiting to obtain the limited longitudinal torque and T of the wheelaDifference of steering torque T with wheels(ii) a Wherein,
for wheel longitudinal torque sum TaAccording to the principle of steering priority, the yaw moment to the vehicle cannot be formed when left-right distribution is performed, and the longitudinal torque and T are analyzed by equation (3)aaAnd (4) limiting:
Figure BDA0002008757800000031
in the formula (3), TaIn order to limit the rear wheel longitudinal torque sum,
Figure BDA0002008757800000032
the sum of the forward maximum torques of the left wheels,
Figure BDA0002008757800000033
the negative maximum torque sum of the left wheel is shown,
Figure BDA0002008757800000034
the sum of the maximum torque in the forward direction of the right wheel,
Figure BDA0002008757800000035
the calculation formula is shown in formulas (4) and (5) respectively as the negative maximum torque sum of the wheels on the right side:
Figure BDA0002008757800000036
Figure BDA0002008757800000037
in the formulas (4) and (5),
Figure BDA0002008757800000038
positive and negative torque capacity limits for the ith left wheel,
Figure BDA0002008757800000039
the positive and negative maximum torque limit values of the jth wheel on the right side are respectively obtained by the feedback of a corresponding motor controller for controlling each wheel;
steering torque difference T for wheelsThe steering torque difference T is analyzed by the equation (6) according to the steering priority rulesaAnd (4) limiting:
Figure BDA00020087578000000310
in the formula (6), TsThe other variables have the same physical meanings as the wheel steering torque difference after limitation;
3.1.2) calculating the characteristic torque difference
The left and right wheel torques are respectively composed of a straight-going torque and a yaw torque, and the straight-going torque is composed of a wheel longitudinal torque and a wheel TaCalculating to obtain; yaw torque steering torque difference T by wheelssCalculating to obtain; resolving the steering torque difference T according to the wheels determined in the step 2)saThe characteristic torque difference is calculated and used for judging whether the sum of the straight-moving torque and the yaw torque of the left wheel and the right wheel exceeds the torque limit values of the left wheel and the right wheel, and the expression is shown as the formula (7):
Figure BDA0002008757800000041
in the formula (7), the reaction mixture is,
Tsaresolving a steering torque difference for the wheels determined according to step 2);
Figure BDA0002008757800000042
the negative limit steering torque difference of the left wheels represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheels is equal to the negative maximum torque limit value when the vehicle turns anticlockwise;
Figure BDA0002008757800000043
the steering torque difference of the right wheel positive limit,the steering torque difference is represented when the sum of the straight-going torque and the yaw torque of the right wheel is equal to the positive maximum torque limit value when the vehicle turns anticlockwise;
Figure BDA0002008757800000044
the steering torque difference is the positive limit steering torque difference of the left wheel, and represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheel is equal to the positive maximum torque limit value when the vehicle turns clockwise;
Figure BDA0002008757800000045
the negative limit steering torque difference of the right wheel represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the right wheel is equal to the negative maximum torque limit value when the vehicle turns clockwise;
3.1.3) matching the torque sum of the left wheel and the right wheel according to the characteristic torque difference, wherein the specific distribution mode is as follows:
3.1.3.1) determining the steering torque difference T of the wheelssPositive or negative of (1), if TsIf not less than 0, entering step 3.1.3.2), otherwise entering step 3.1.3.6);
3.1.3.2) determining the steering torque difference T of the wheelssRight positive limit steering torque difference
Figure BDA0002008757800000046
Left negative limit steering torque difference
Figure BDA0002008757800000047
The minimum value of the three is the steering torque difference T of the wheelssThen go to step 3.1.3.3); if the minimum value is the steering torque difference of the positive limit on the right side
Figure BDA0002008757800000048
Step 3.1.3.4 is entered); if the minimum value is the left negative limit steering torque difference
Figure BDA0002008757800000049
Step 3.1.3.5 is entered);
3.1.3.3) calculating the left and right side wheel torques and T according to equation (8)L、TR：
Figure BDA00020087578000000410
The torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.4) calculate the left and right side wheel torques and according to equation (9):
Figure BDA00020087578000000411
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.5) calculate the left and right side wheel torques and according to equation (10):
Figure BDA0002008757800000051
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.6) determining the wheel steering torque difference TsRight negative limit steering torque difference
Figure BDA0002008757800000052
Left positive limit steering torque difference
Figure BDA0002008757800000053
The maximum value of the three is the steering torque difference T of the wheelssThen go to step 3.1.3.3); if the maximum value is the steering torque difference of the negative limit on the right side
Figure BDA0002008757800000054
Step 3.1.3.7 is entered); if the maximum value is the left positive limit steering torque difference
Figure BDA0002008757800000055
Step 3.1.3.8);
3.1.3.7) calculate the left and right side wheel torques and according to equation (11):
Figure BDA0002008757800000056
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.8) calculate the left and right side wheel torques and according to equation (12):
Figure BDA0002008757800000057
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.2) front and back distribution of same-side wheel torque and
the front and back distribution of the torque sum of the wheels on the same side adopts an average distribution mode, the distribution methods of the torque sum of the wheels on the left side and the torque sum of the wheels on the right side are consistent, and the front and back distribution of the torque sum of the wheels on the left side is executed according to the following steps:
3.2.1) left wheel Torque and TLIf left side wheel torque and TLIf not less than 0, entering the step 3.2.2); if left wheel torque and TLIf less than 0, entering step 3.2.7);
3.2.2) Forward maximum Torque Limit in left N wheels
Figure BDA0002008757800000058
Sequencing from small to large to obtain a new sequence
Figure BDA0002008757800000059
k represents the t-thiThe positive torque capacity limit of each wheel is arranged at the k-th position in the positive torque limit sequence of the left wheel; let the number of dispensing times be s, the initial value of s is 1, if
Figure BDA00020087578000000510
Step 3.2.3) is entered; otherwise, s is 2, go to step 3.2.4);
3.2.3) calculate the left wheel torques according to equation (13):
Figure BDA00020087578000000511
the torque distribution of the left wheel is completed;
3.2.4) if
Figure BDA00020087578000000512
Step 3.2.5) is entered, otherwise step 3.2.6) is entered;
3.2.5) calculates the left hand wheel torques according to equation (14):
Figure BDA0002008757800000061
the torque distribution of the left wheel is completed;
3.2.6) let s be s +1, if s is N +1, then the left wheel torque distribution is completed, otherwise return to step 3.2.4);
3.2.7) negative maximum Torque Limit in left N wheels
Figure BDA0002008757800000062
Sequencing from big to small to obtain a new sequence
Figure BDA0002008757800000063
k represents the r-thiThe negative direction maximum torque limit value of each wheel is arranged at the kth position in the negative direction torque limit value sequence of the left wheels; let the number of dispensing times be s, the initial value of s is 1, if
Figure BDA0002008757800000064
Step 3.2.8 is entered); otherwise, s is 2, go to step 3.2.9);
3.2.8) calculates the left-hand wheel torques according to equation (15):
Figure BDA0002008757800000065
the torque distribution of the left wheel is completed;
3.2.9) if
Figure BDA0002008757800000066
Step 3.2.10) is entered, otherwise step 3.2.11) is entered;
3.2.10) calculates the left-hand wheel torques according to equation (16):
Figure BDA0002008757800000067
the torque distribution of the left wheel is completed;
3.2.11) let s be s +1, if s is N +1, then the left wheel torque distribution is completed, otherwise return to step 3.2.9);
and performing front-back distribution of the right wheel torque sum by referring to the left side to complete wheel torque distribution.
The invention has the characteristics and beneficial effects that:
the invention provides a wheel torque distribution method of a multi-axis driving distributed vehicle, which converts a longitudinal force and a yaw moment instruction of an upper layer controller into a wheel analysis longitudinal torque and a wheel analysis steering torque difference, and divides the wheel torque distribution into a left-right distribution stage and a front-back distribution stage. When left and right distribution is carried out, the wheels on one side are regarded as a whole, and the steering stability control of the vehicle is ensured by adopting the principle of steering priority; the front and back distribution adopts a mode of average distribution under consideration of different wheel limit values, so that the torque loads of wheels on the same side are close, the torques of the wheels on the same side can be mutually compensated, and the torque sum of the wheels on the same side can be accurately realized. The wheel torque limit value is fed back in real time and can reflect the working state of a wheel motor in the running process.
According to the wheel torque distribution method, based on vehicle dynamics, the complex multi-axis wheel torque distribution problem is decomposed into the torque distribution problem of fewer wheels, the complexity of wheel torque distribution is reduced, and the dynamic property and steering stability of a vehicle and the maximum realization of the demand instruction of an upper controller are ensured; in the wheel torque distribution process, the influence of different wheel torque limit values on torque distribution is considered, wheels on the same side are mutually compensated, and the multi-axle distributed type vehicle torque distribution method is particularly suitable for multi-axle distributed vehicle torque distribution under the working condition that the capacity of certain wheels is limited or damaged. The concrete embodiment is as follows:
1. according to the wheel torque distribution method of the multi-axis driving distributed vehicle, the torque distribution of the multi-axis driving vehicle is divided into left-right distribution and front-back distribution, the distribution problem of the torque of one multi-wheel is simplified into the torque distribution problem of two fewer wheels, and the wheel torque distribution method can be simplified. The adopted wheel torque distribution method is particularly suitable for wheel torque distribution of a multi-shaft driving distributed vehicle without a mechanical steering system.
2. According to the wheel torque distribution method of the multi-axis driving distributed vehicle, when the wheel torque capacity meets the requirement of an upper controller, the intention of an upper control instruction can be accurately realized, so that the vehicle has good dynamic property and stability.
3. According to the wheel torque distribution method of the multi-axis driving distributed vehicle, when the wheel torque capacity cannot meet the requirement of an upper controller, the requirement instruction of the upper controller is realized to the maximum extent according to the principle of steering priority (steering yaw moment priority). The steering radius of the vehicle can be reduced at low speed so as to improve the steering performance of the vehicle, and meanwhile, the stability control of the vehicle at high speed can be ensured, and the device is particularly suitable for torque distribution under the working conditions that the capacity of certain wheels is limited or damaged.
4. According to the wheel torque distribution method for the multi-shaft driving distributed vehicle, when one wheel on one side cannot meet the torque requirement on the same side, the other wheels on the same side can compensate, and the torque sum of the wheels on the same side is accurately achieved.
5. The wheel torque distribution method of the multi-axis driving distributed vehicle can be popularized to the multi-axis driving distributed vehicle with the same structure and a plurality of driving wheels on one side.
6. According to the wheel torque distribution method of the multi-shaft driving distributed vehicle, the distribution parameters are real-time feedback parameters of the wheel motor, the method is suitable for various working conditions of the vehicle, the states of the wheel motor can be fed back through different wheel torque responses under the same input, and the motor states can be monitored.
Drawings
FIG. 1 is a schematic view of a vehicle coordinate system defined by an embodiment of the present invention.
Detailed Description
The invention provides a wheel torque distribution method of a multi-shaft driving distributed vehicle, which is further described by combining specific examples and drawings as follows:
the invention provides a multi-axis driving distributed vehicle wheel torque distribution method, which is used for a distributed vehicle driven by 2N (in the embodiment, N is 3) in-wheel motors, wherein each motor is controlled by a motor controller, and the motor is an in-wheel motor or a wheel-side motor, and the method specifically comprises the following steps:
1) establishing a vehicle coordinate system
A vehicle coordinate system xyz is defined, and the positive and negative of each parameter in the vehicle coordinate system are defined.
A vehicle coordinate system oyx is defined according to international standards, and an origin O of the coordinate system is a center of mass of the vehicle, a coordinate axis X is a forward direction of the vehicle, a coordinate axis Y is a left direction of the forward direction of the vehicle, and a coordinate axis Z is outward perpendicular to a straight plane, as shown in fig. 1.
The method comprises the steps that when the direction of a T coordinate of wheel torque is consistent with the Y direction, the direction is positive, otherwise, the direction is negative; when the longitudinal force direction of the vehicle is consistent with the X direction, the longitudinal force direction is positive, otherwise, the longitudinal force direction is negative; when the vehicle yaw moment direction is consistent with the Z direction, the vehicle yaw moment direction is positive, and otherwise, the vehicle yaw moment direction is negative.
The hub motors of the left and right wheels of the vehicle are sequentially sequenced from front to back, in the embodiment, the left wheel of the vehicle is sequenced into (1, 2, 3) from front to back, and the right wheel is sequenced into (1, 2, 3) from front to back; and corresponding the feedback information of the motor controller to the sequencing of each hub motor one by one.
2) Analyzing longitudinal force and transverse moment of vehicle
Acquiring upper layer controller demand instructions including vehicle longitudinal force FxYaw moment M with vehiclez(ii) a The wheel is regulated not to slip, and the longitudinal force F of the vehicle is obtainedxConverted to the sum of the torque of the left and right wheels and defined as the wheel resolved longitudinal torque sum TaaYaw moment M of the vehicle to be acquiredzConverted into torque difference of left and right wheels and defined as wheel analysis steering torque difference TsaThe calculation formulas are respectively shown in formulas (1) and (2):
Taa＝Fxr (1)
Figure BDA0002008757800000081
in the formulas (1) and (2), r is the rolling radius of the wheel, B is the wheel track of the vehicle, and the rolling radius is determined by the design of the whole vehicle and is a known quantity;
3) distribution of wheel torque according to steering priority
When multi-axis driving distributed vehicle wheel torque distribution is carried out, the influence of the steering angle of the front wheels on the ground acting force direction of the front wheels is ignored. The influence of the torque of the wheels on the same side on the motion of the vehicle is consistent, so that the wheels on one side can be regarded as a whole, the upper-layer control required torque is firstly distributed leftwards and rightwards to obtain the torque of the wheels on the left side and the right side and the torque T of the wheels on the right sideL、TRAnd then the torque sum of the left and right wheels is distributed back and forth, so that the torque of each wheel is obtained. The specific implementation process is as follows:
3.1) left-right distribution of wheel torque demand
3.1.1) limiting the wheel resolved longitudinal torque and the wheel resolved steering torque difference
Calculation of vehicle longitudinal force F by upper layer controllerxYaw moment M with vehiclezThe torque capacity limits of the individual wheels are not taken into account. Therefore, the longitudinal torque and T of the wheel need to be analyzed according to the positive and negative maximum torque limit values of the left and right wheelsaaAnd resolving the wheel steering torque difference TsaLimiting to obtain the limited longitudinal torque and T of the wheelaDifference of steering torque T with wheels。
For wheel longitudinal torque sum TaSince the yaw moment to the vehicle cannot be formed when left-right distribution is performed according to the principle of steering priority, the longitudinal torque and T are analyzedaaThe limiting expression is represented by formula (3):
Figure BDA0002008757800000082
in the formula (3), TaIn order to limit the rear wheel longitudinal torque sum,
Figure BDA0002008757800000083
the sum of the forward maximum torques of the left wheels,
Figure BDA0002008757800000084
the negative maximum torque sum of the left wheel is shown,
Figure BDA0002008757800000085
the sum of the maximum torque in the forward direction of the right wheel,
Figure BDA0002008757800000086
the calculation formula is shown in formulas (4) and (5) respectively as the negative maximum torque sum of the wheels on the right side:
Figure BDA0002008757800000091
Figure BDA0002008757800000092
in the formulas (4) and (5),
Figure BDA0002008757800000093
positive and negative torque capacity limits for the ith left wheel,
Figure BDA0002008757800000094
the positive and negative maximum torque limit values of the jth wheel on the right side are respectively obtained by the feedback of a corresponding motor controller for controlling each wheel;
steering torque difference T for wheelsAnalyzing the steering torque difference T according to the steering priority principlesaWhen limiting, the steering torque difference T is analyzed only by considering whether the steering torque difference is within the wheel torque limit value rangesaThe limiting expression is represented by formula (6):
Figure BDA0002008757800000095
in the formula (6), TsThe other variables have the same physical meanings as the wheel steering torque difference after limitation;
3.1.2) calculating the characteristic torque difference
The left and right wheel torques are respectively composed of a straight-going torque and a yaw torque, and the straight-going torque is composed of a wheel longitudinal torque and a wheel TaCalculating to obtain; yaw torque steering torque difference T by wheelssAnd (4) calculating. From step 3.1.1) the straight-moving torque and yaw torque of the wheels, which are within the torque limits of the left and right wheels, respectively, can be obtained, but the sum of the straight-moving torque and yaw torque may exceed the torque limits of the wheels, so further determination is required.
Resolving the steering torque difference T according to the wheels determined in the step 2)saThe characteristic torque difference is calculated and used for judging whether the sum of the straight-moving torque and the yaw torque of the left wheel and the right wheel exceeds the torque limit values of the left wheel and the right wheel, and the expression is shown as the formula (7):
Figure BDA0002008757800000096
in the formula (7), the reaction mixture is,
Tsaresolving a steering torque difference for the wheels determined according to step 2);
Figure BDA0002008757800000097
the negative limit steering torque difference of the left wheels represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheels is equal to the negative maximum torque limit value when the vehicle turns anticlockwise;
Figure BDA0002008757800000098
the steering torque difference is the positive limit steering torque difference of the right wheels, and represents that when the vehicle turns anticlockwise, the sum of the straight-going torque and the yaw torque of the right wheels is equal to the positive maximum torqueSteering torque difference at limit;
Figure BDA0002008757800000101
the steering torque difference is the positive limit steering torque difference of the left wheel, and represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheel is equal to the positive maximum torque limit value when the vehicle turns clockwise;
Figure BDA0002008757800000102
the negative limit steering torque difference of the right wheel represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the right wheel is equal to the negative maximum torque limit value when the vehicle turns clockwise;
when the sum of the straight-ahead torque and the yaw torque in the sum of the right and left side wheel torques has not exceeded the right and left side wheel torque limit value, the wheel steering torque TsAnd wheel longitudinal torque sum TaAre independent of each other, i.e. the wheel steering torque TsThe distribution of (A) does not affect the wheel longitudinal torque and Ta(ii) a When the sum of the straight-moving torque and the yaw torque in the torque sum of the left and right wheels exceeds the torque limit value of the left and right wheels, the steering torque difference T needs to be ensured according to the steering priority principlesIs realized by the actual distributed longitudinal torque sum TaIs affected.
3.1.3) matching the torque sum of the left wheel and the right wheel according to the characteristic torque difference, wherein the specific distribution mode is as follows:
3.1.3.1) determining the steering torque difference T of the wheelssPositive or negative of (1), if TsIf not less than 0, entering step 3.1.3.2), otherwise entering step mapoly 3.1.3.6);
3.1.3.2) determining the steering torque difference T of the wheelssRight positive limit steering torque difference
Figure BDA0002008757800000103
Left negative limit steering torque difference
Figure BDA0002008757800000104
Minimum value of the three, ifFor the wheel steering torque difference TsThen go to step 3.1.3.3); if the minimum value is the steering torque difference of the positive limit on the right side
Figure BDA0002008757800000105
Step 3.1.3.4 is entered); if the minimum value is the left negative limit steering torque difference
Figure BDA0002008757800000106
Step 3.1.3.5 is entered);
3.1.3.3) calculating the left and right side wheel torques and T according to equation (8)L、TR：
Figure BDA0002008757800000107
The torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.4) calculate the left and right side wheel torques and according to equation (9):
Figure BDA0002008757800000108
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.5) calculate the left and right side wheel torques and according to equation (10):
Figure BDA0002008757800000109
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.6) determining the wheel steering torque difference TsRight negative limit steering torque difference
Figure BDA00020087578000001010
Left positive limit steering torque difference
Figure BDA00020087578000001011
The maximum value of the three is the steering torque difference T of the wheelssThen go to step 3.1.3.3); if the maximum value is the steering torque difference of the negative limit on the right side
Figure BDA00020087578000001012
Step 3.1.3.7 is entered); if the maximum value is the left positive limit steering torque difference
Figure BDA00020087578000001013
Step 3.1.3.8);
3.1.3.7) calculate the left and right side wheel torques and according to equation (11):
Figure BDA0002008757800000111
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.8) calculate the left and right side wheel torques and according to equation (12):
Figure BDA0002008757800000112
left and right wheel torque and split are complete, step 3.2).
3.2) front and back distribution of same-side wheel torque and
the influence of the torque of the wheels on the same side on the vehicle is consistent, in order to reduce the load of individual wheels and ensure that the torque commands finally distributed to the wheels on the same side are similar, the torque of the wheels on the same side is uniformly distributed; due to the difference in wheel torque capacity limits, it is necessary to accommodate different torque capacity limits of the wheels. The left and right wheel torque sums are distributed in the same manner, and the left side is taken as an example for explanation.
The torque sum of the left wheels is distributed forwards and backwards in the following specific distribution mode:
3.2.1) left wheel Torque and TLIf left side wheel torque and TLIf not less than 0, entering the step 3.2.2); if left wheel torque and TLIf less than 0, entering step 3.2.7);
3.2.2) Forward maximum Torque Limit in left N wheels
Figure BDA0002008757800000113
Sequencing from small to large to obtain a new sequence
Figure BDA0002008757800000114
k represents the t-thiThe positive torque capacity limit for an individual wheel is at the kth position in the sequence of left wheel positive torque limits. Let the number of dispensing times be s, the initial value of s is 1, if
Figure BDA0002008757800000115
Step 3.2.3) is entered; otherwise, s is 2, go to step 3.2.4);
3.2.3) calculate the left wheel torques according to equation (13):
Figure BDA0002008757800000116
the torque distribution of the left wheel is completed;
3.2.4) if
Figure BDA0002008757800000117
Step 3.2.5) is entered, otherwise step 3.2.6) is entered;
3.2.5) calculates the left hand wheel torques according to equation (14):
Figure BDA0002008757800000118
the torque distribution of the left wheel is completed;
3.2.6) let s be s +1, if s is N +1, then the left wheel torque distribution is completed, otherwise return to step 3.2.4);
3.2.7) negative maximum Torque Limit in left N wheels
Figure BDA0002008757800000121
Sequencing from big to small to obtain a new sequence
Figure BDA0002008757800000122
k represents the r-thiThe negative direction maximum torque limit value of each wheel is arranged at the kth position in the negative direction torque limit value sequence of the left wheels; let the number of dispensing times be s, the initial value of s is 1, if
Figure BDA0002008757800000123
Step 3.2.8 is entered); otherwise, s is 2, go to step 3.2.9);
3.2.8) calculates the left-hand wheel torques according to equation (15):
Figure BDA0002008757800000124
the torque distribution of the left wheel is completed;
3.2.9) if
Figure BDA0002008757800000125
Step 3.2.10) is entered, otherwise step 3.2.11) is entered;
3.2.10) calculates the left-hand wheel torques according to equation (16):
Figure BDA0002008757800000126
the torque distribution of the left wheel is completed;
3.2.11) let s be s +1, if s is N +1, then the left wheel torque distribution is complete, otherwise return to step 3.2.9).
The front-back distribution of the right wheel torque sum is carried out by referring to the left side, and the description is omitted, so that the wheel torque distribution is finally completed.
The wheel torque command can be obtained by the above steps.
The invention provides a multi-axis driving distributed vehicle wheel torque distribution method. Belonging to the field of vehicle dynamics control. The invention converts the longitudinal force and the yaw moment instruction of the upper layer controller into wheel analysis longitudinal torque and wheel analysis steering torque difference, limits the analysis longitudinal torque and the wheel analysis steering torque difference according to the torque capacity limit value of the wheels to obtain the longitudinal torque and the steering torque difference, and divides the torque distribution of the wheels into a left-right distribution stage and a front-back distribution stage. When left and right distribution is carried out, the wheels on one side are regarded as a whole, the principle of steering priority is adopted, the maximum realization of the demand instruction of an upper layer controller is realized, and the steering stability control of the vehicle is ensured; the front and back distribution adopts a mode of average distribution under consideration of different wheel limit values, so that the torque loads of wheels on the same side are close, the torques of the wheels on the same side can be mutually compensated, and the torque sum of the wheels on the same side can be accurately realized. The multi-axle distributed vehicle torque distribution device is particularly suitable for multi-axle distributed vehicle torque distribution under the working condition that the capacity of certain wheels is limited or damaged. Meanwhile, the wheel torque limit value is fed back in real time, and the working state of a wheel motor can be monitored.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (1)

1. A wheel torque distribution method of a multi-shaft driving distributed vehicle comprises 2N wheels which are symmetrically arranged left and right, wherein each wheel is driven by a corresponding motor, each motor is controlled by a motor controller, and the motors are hub motors or wheel-side motors; characterized in that the wheel torque distribution method comprises the steps of:
1) establishing a vehicle coordinate system
Defining a vehicle coordinate system OXYZ according to international standards, wherein an origin O of the coordinate system is a mass center of the vehicle, a coordinate axis X is a forward direction of the vehicle, a coordinate axis Y is a left direction of the forward direction of the vehicle, and a coordinate axis Z is perpendicular to the paper surface and faces outwards;
the torque coordinate direction of the wheels is specified to be positive when consistent with the Y direction, otherwise, the torque coordinate direction is negative; when the longitudinal force direction of the vehicle is consistent with the X direction, the longitudinal force direction is positive, otherwise, the longitudinal force direction is negative; when the direction of the vehicle yaw moment is consistent with the Z direction, the vehicle yaw moment is positive, otherwise, the vehicle yaw moment is negative;
2) analyzing longitudinal force and transverse moment of vehicle
Acquiring upper layer controller demand instructions including vehicle longitudinal force FxYaw moment M with vehiclez(ii) a The wheel is regulated not to slip, and the longitudinal force F of the vehicle is obtainedxConverted to the sum of the torque of the left and right wheels and defined as the wheel resolved longitudinal torque sum TaaYaw moment M of the vehicle to be acquiredzConverted into torque difference of left and right wheels and defined as wheel analysis steering torque difference TsaThe calculation formulas are respectively shown in formulas (1) and (2):
Taa＝Fxr (1)
Figure FDA0002429236580000011
in the formulas (1) and (2), r is the rolling radius of the wheel, and B is the wheel track of the vehicle;
3) distribution of wheel torque according to steering priority
When multi-axis driving distributed vehicle wheel torque distribution is carried out, influence of a front wheel steering angle on the ground acting force direction of a front wheel is ignored, one side wheel is regarded as a whole, upper-layer control required torque is distributed left and right, and left and right wheel torques and T are obtainedL、TRThen, the torque sum of the left wheel and the right wheel is distributed front and back, so that the torque of each wheel is obtained; the method specifically comprises the following steps:
3.1) left-right distribution of wheel torque demand
3.1.1) limiting the wheel resolved longitudinal torque and the wheel resolved steering torque difference
Analyzing longitudinal torque and T of the wheels according to the positive and negative maximum torque limit values of the left and right wheelsaaResolved steering torque difference T from wheelsaLimiting to obtain the limited longitudinal torque and T of the wheelaDifference of steering torque T with wheels(ii) a Wherein,
for wheel longitudinal torque sum TaAccording to the principle of steering priority, the lateral direction to the vehicle cannot be formed when left-right distribution is performedPendulum moment, longitudinal torque and T are resolved for wheel by equation (3)aaAnd (4) limiting:
Figure FDA0002429236580000021
in the formula (3), TaIn order to limit the rear wheel longitudinal torque sum,
Figure FDA0002429236580000022
the sum of the forward maximum torques of the left wheels,
Figure FDA0002429236580000023
the negative maximum torque sum of the left wheel is shown,
Figure FDA0002429236580000024
the sum of the maximum torque in the forward direction of the right wheel,
Figure FDA0002429236580000025
the calculation formula is shown in formulas (4) and (5) respectively as the negative maximum torque sum of the wheels on the right side:
Figure FDA0002429236580000026
Figure FDA0002429236580000027
in the formulas (4) and (5),
Figure FDA0002429236580000028
positive and negative torque capacity limits for the ith left wheel,
Figure FDA0002429236580000029
positive and negative maximum torque limit values of the jth wheel on the right side are respectively obtained by feedback of a corresponding motor controller for controlling each wheel;
steering torque difference T for wheelsThe steering torque difference T is analyzed by the equation (6) according to the steering priority rulesaAnd (4) limiting:
Figure FDA00024292365800000210
in the formula (6), TsThe other variables have the same physical meanings as the wheel steering torque difference after limitation;
3.1.2) calculating the characteristic torque difference
The left and right wheel torques are respectively composed of a straight-going torque and a yaw torque, and the straight-going torque is composed of a wheel longitudinal torque and a wheel TaCalculating to obtain; yaw torque steering torque difference T by wheelssCalculating to obtain; resolving the steering torque difference T according to the wheels determined in the step 2)saThe characteristic torque difference is calculated and used for judging whether the sum of the straight-moving torque and the yaw torque of the left wheel and the right wheel exceeds the torque limit values of the left wheel and the right wheel, and the expression is shown as the formula (7):
Figure FDA00024292365800000211
in the formula (7), the reaction mixture is,
Tsaresolving a steering torque difference for the wheels determined according to step 2);
Figure FDA00024292365800000212
the negative limit steering torque difference of the left wheels represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheels is equal to the negative maximum torque limit value when the vehicle turns anticlockwise;
Figure FDA0002429236580000031
the steering torque difference is the positive limit steering torque difference of the right wheels, and represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the right wheels is equal to the positive maximum torque limit value when the vehicle turns anticlockwise;
Figure FDA0002429236580000032
the steering torque difference is the positive limit steering torque difference of the left wheel, and represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the left wheel is equal to the positive maximum torque limit value when the vehicle turns clockwise;
Figure FDA0002429236580000033
the negative limit steering torque difference of the right wheel represents the steering torque difference when the sum of the straight-going torque and the yaw torque of the right wheel is equal to the negative maximum torque limit value when the vehicle turns clockwise;
3.1.3) matching the torque sum of the left wheel and the right wheel according to the characteristic torque difference, wherein the specific distribution mode is as follows:
3.1.3.1) determining the steering torque difference T of the wheelssPositive or negative of (1), if TsIf not less than 0, entering step 3.1.3.2), otherwise entering step 3.1.3.6);
3.1.3.2) determining the steering torque difference T of the wheelssRight positive limit steering torque difference
Figure FDA0002429236580000034
Left negative limit steering torque difference
Figure FDA0002429236580000035
The minimum value of the three is the steering torque difference T of the wheelssThen go to step 3.1.3.3); if the minimum value is the steering torque difference of the positive limit on the right side
Figure FDA0002429236580000036
Step 3.1.3.4 is entered); if the minimum value is the left negative limit steering torque difference
Figure FDA0002429236580000037
Step 3.1.3.5 is entered);
3.1.3.3) calculating the left and right side wheel torques and T according to equation (8)L、TR：
Figure FDA0002429236580000038
The torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.4) calculate the left and right side wheel torques and according to equation (9):
Figure FDA0002429236580000039
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.5) calculate the left and right side wheel torques and according to equation (10):
Figure FDA00024292365800000310
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.6) determining the wheel steering torque difference TsRight negative limit steering torque difference
Figure FDA00024292365800000311
Left positive limit steering torque difference
Figure FDA00024292365800000312
The maximum value of the three is the steering torque difference T of the wheelssThen go to step 3.1.3.3); if the maximum value is the steering torque difference of the negative limit on the right side
Figure FDA00024292365800000313
Step 3.1.3.7 is entered); if the maximum value is the left positive limit steering torque difference
Figure FDA00024292365800000314
Step 3.1.3.8);
3.1.3.7) calculate the left and right side wheel torques and according to equation (11):
Figure FDA0002429236580000041
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.1.3.8) calculate the left and right side wheel torques and according to equation (12):
Figure FDA0002429236580000042
the torque and distribution of the left and right wheels are finished, and the step 3.2) is carried out;
3.2) front and back distribution of same-side wheel torque and
the front and back distribution of the torque sum of the wheels on the same side adopts an average distribution mode, the distribution methods of the torque sum of the wheels on the left side and the torque sum of the wheels on the right side are consistent, and the front and back distribution of the torque sum of the wheels on the left side is executed according to the following steps:
3.2.1) left wheel Torque and TLIf left side wheel torque and TLIf not less than 0, entering the step 3.2.2); if left wheel torque and TL<0, then go to step 3.2.7);
3.2.2) Forward maximum Torque Limit in left N wheels
Figure FDA0002429236580000043
Sequencing from small to large to obtain a new sequence
Figure FDA0002429236580000044
k represents the t-thiThe positive torque capacity limit of each wheel is arranged at the k-th position in the positive torque limit sequence of the left wheel; let the number of dispensing times be s, the initial value of s is 1, if
Figure FDA0002429236580000045
Step 3.2.3) is entered; otherwise, s is 2, go to step 3.2.4);
3.2.3) calculate the left wheel torques according to equation (13):
Figure FDA0002429236580000046
the torque distribution of the left wheel is completed;
3.2.4) if
Figure FDA0002429236580000047
Step 3.2.5) is entered, otherwise step 3.2.6) is entered;
3.2.5) calculates the left hand wheel torques according to equation (14):
Figure FDA0002429236580000048
the torque distribution of the left wheel is completed;
3.2.6) let s be s +1, if s is N +1, then the left wheel torque distribution is completed, otherwise return to step 3.2.4);
3.2.7) negative maximum Torque Limit in left N wheels
Figure FDA0002429236580000049
Sequencing from big to small to obtain a new sequence
Figure FDA00024292365800000410
k represents the r-thiThe negative direction maximum torque limit value of each wheel is arranged at the kth position in the negative direction torque limit value sequence of the left wheels; let the number of dispensing times be s, the initial value of s is 1, if
Figure FDA00024292365800000411
Step 3.2.8 is entered); otherwise, s is 2, go to step 3.2.9);
3.2.8) calculates the left-hand wheel torques according to equation (15):
Figure FDA0002429236580000051
the torque distribution of the left wheel is completed;
3.2.9) if
Figure FDA0002429236580000052
Step 3.2.10) is entered, otherwise step 3.2.11) is entered;
3.2.10) calculates the left-hand wheel torques according to equation (16):
Figure FDA0002429236580000053
the torque distribution of the left wheel is completed;
3.2.11) let s be s +1, if s is N +1, then the left wheel torque distribution is completed, otherwise return to step 3.2.9);
and performing front-back distribution of the right wheel torque sum by referring to the left side to complete wheel torque distribution.
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