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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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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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

一种多轴驱动分布式车辆的车轮扭矩分配方法A wheel torque distribution method for a multi-axle drive distributed vehicle

技术领域technical field

本发明属于车辆动力学控制领域，特别涉及一种多轴驱动分布式车辆的车轮扭矩分配方法。The invention belongs to the field of vehicle dynamics control, and in particular relates to a wheel torque distribution method of a multi-axis drive distributed vehicle.

背景技术Background technique

分布式车辆是指将电机直接安装在车轮内(即采用轮毂电机)或者附近(即采用轮边电机)的车辆，通过电机扭矩实现车辆的控制。分布式车辆具有驱动传动链短、传动效率高、结构紧凑等突出优点，逐年来一直广受汽车业研发人员的关注。Distributed vehicles refer to vehicles in which the motor is directly installed in the wheel (that is, using in-wheel motors) or nearby (that is, using wheel-side motors), and the vehicle is controlled by motor torque. Distributed vehicles have outstanding advantages such as short drive chain, high transmission efficiency, and compact structure, and have been widely concerned by R&D personnel in the automotive industry year by year.

目前，对于分布式车辆的整车控制可通过上层控制器与底层控制器实现，其中，上层控制器根据驾驶员操作与车辆状态等，得到车辆的上层需求指令，包括车辆纵向力与横摆力矩；底层控制器根据上层控制器的需求指令，进行车轮扭矩分配，实现对整车的控制。At present, the whole vehicle control of distributed vehicles can be realized by the upper controller and the lower controller. The upper controller obtains the upper-layer demand instructions of the vehicle according to the driver's operation and vehicle status, including the vehicle's longitudinal force and yaw moment. ; The bottom controller performs wheel torque distribution according to the demand instructions of the upper controller to realize the control of the whole vehicle.

多轴驱动分布式车辆一般具有多个动力源，增加了车辆动力分配的组合方式与复杂度，可以结合多种优化目标，如动力性、经济性、稳定性等进行车轮扭矩分配。Distributed vehicles with multi-axle drive generally have multiple power sources, which increases the combination and complexity of vehicle power distribution, and can combine various optimization objectives, such as power, economy, stability, etc. for wheel torque distribution.

目前底层控制器一般采用的车轮扭矩分配方法是通过建立车轮扭矩分配优化函数并对其进行求解，以此提升整车经济性、稳定性等，但优化求解问题不仅受到车辆纵向力与横摆力矩实现的等式约束，还受到单个车轮的扭矩能力限值的不等式约束，在车辆的各种复杂工况，如跛行模式下的扭矩分配，目前的求解方法，计算花费大，很难在控制时间内求解得到最优解；其次，优化函数的参数需要根据不同工况进行标定，增加了扭矩分配算法的研发成本，因此其很难在实际车辆中应用。此外，还有基于规则的车轮扭矩分配方法，目前多是针对两轴车辆进行分配，先对前、后轴车轮扭矩进行确定，再确定每个轴的左右轮的扭矩指令，此时当某一轴车轮扭矩由于扭矩能力限值不能实现时，不能由另一轴进行补偿，导致由于扭矩分配不当，损失了上层控制器的扭矩指令。At present, the wheel torque distribution method generally adopted by the underlying controller is to establish the wheel torque distribution optimization function and solve it, so as to improve the economy and stability of the vehicle, but the optimization problem is not only affected by the longitudinal force and yaw moment of the vehicle. The realized equality constraint is also constrained by the inequality constraint of the torque capacity limit of a single wheel. In various complex working conditions of the vehicle, such as the torque distribution in the limp mode, the current solution method is computationally expensive and it is difficult to control the time. Second, the parameters of the optimization function need to be calibrated according to different working conditions, which increases the research and development cost of the torque distribution algorithm, so it is difficult to apply it in actual vehicles. In addition, there is a rule-based wheel torque distribution method. Currently, it is mostly distributed for two-axle vehicles. First, the wheel torque of the front and rear axles is determined, and then the torque command of the left and right wheels of each axle is determined. When the axle wheel torque cannot be achieved due to the torque capacity limit, it cannot be compensated by another axle, resulting in the loss of the torque command of the upper controller due to improper torque distribution.

在车轮扭矩分配中，当车轮由于扭矩限值不能实现上层控制器需求时，目前的一些方案是选用纵向力优先原则，此时虽保证了车辆的纵向需求，但却影响了车辆的横摆力矩，特别是在高速或者低附路面时不利于车辆的稳定性控制。还有一部分方案为通过判断条件，选择纵向力优先或者转向优先。但是优先判断条件较为复杂，与地面附着和驾驶员操作等相关，增加了车辆扭矩分配的复杂度。而若一直选用转向横摆力矩优先，始终以车辆的转向稳定性为优先，在低速时不仅能够减小车辆转向半径，在高速时，还能够得到良好的稳定性，简化扭矩分配，提升车辆转向安全性。In the wheel torque distribution, when the wheels cannot meet the requirements of the upper controller due to the torque limit, some current solutions are to use the longitudinal force priority principle. Although the longitudinal demand of the vehicle is guaranteed at this time, it affects the yaw moment of the vehicle. , especially at high speed or low road surface, it is not conducive to the stability control of the vehicle. Another part of the scheme is to choose longitudinal force priority or steering priority through judgment conditions. However, the priority judgment conditions are more complicated, and are related to ground adhesion and driver operation, which increases the complexity of vehicle torque distribution. However, if the steering yaw moment priority is always selected, the steering stability of the vehicle is always given priority, which can not only reduce the steering radius of the vehicle at low speed, but also obtain good stability at high speed, simplify the torque distribution, and improve the steering of the vehicle. safety.

综上，对于多轴驱动分布式车辆扭矩分配问题，若采用现有的求解优化函数的扭矩分配方式，则会受到多个等式和不等式约束，求解计算花费大，且优化函数参数需试验确定，增加研发成本。而目前采用的基于规则的扭矩分配方式，则不能完全发挥车轮的全部扭矩能力实现上层控制器的需求指令，在车轮扭矩限值不能满足上层控制器需求指令时，目前的算法还未能够很好解决转向稳定性与动力性之间的平衡协调，在高速或者低附时不利于车辆的稳定性控制，影响车辆转向安全性。To sum up, for the multi-axis drive distributed vehicle torque distribution problem, if the existing torque distribution method for solving the optimization function is used, it will be constrained by multiple equations and inequalities, and the calculation cost is high, and the parameters of the optimization function need to be determined experimentally. , increasing R&D costs. However, the current rule-based torque distribution method cannot fully utilize the full torque capacity of the wheels to realize the demand command of the upper-layer controller. When the wheel torque limit cannot meet the demand command of the upper-layer controller, the current algorithm is not very good. Solving the balance and coordination between steering stability and dynamic performance is not conducive to the stability control of the vehicle at high speed or low attachment, and affects the steering safety of the vehicle.

发明内容SUMMARY OF THE INVENTION

本发明的目的是根据针对目前多轴驱动车辆扭矩分配中，存在计算求解花费大，优化参数难以确定，车轮扭矩之间不能相互补偿最大实现上层控制器需求指令等问题。提出一种多轴驱动分布式车辆车轮扭矩分配方法。The purpose of the present invention is to solve the problems of high cost of calculation and solution, difficult to determine optimization parameters, and inability to compensate each other between wheel torques to maximize the demand command of the upper controller in the torque distribution of the current multi-axle drive vehicle. This paper proposes a method for distributing the wheel torque of a multi-axle drive distributed vehicle.

为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:

本发明提出的一种多轴驱动分布式车辆的车轮扭矩分配方法，所述多轴驱动分布式车辆含有左右对称设置的共计2N个车轮，各车轮分别由一个相应的电机驱动，各电机分别由一个电机控制器控制，所述电机为轮毂电机或轮边电机；其特征在于，所述车轮扭矩分配方法包括以下步骤：The present invention proposes a method for distributing wheel torque of a multi-axis driving distributed vehicle. The multi-axis driving distributed vehicle includes a total of 2N wheels arranged symmetrically on the left and right sides, each wheel is driven by a corresponding motor, and each motor is respectively driven by A motor controller controls, the motor is an in-wheel motor or a wheel-side motor; it is characterized in that, the wheel torque distribution method comprises the following steps:

1)建立车辆坐标系1) Establish the vehicle coordinate system

根据国际标准定义车辆坐标系OXYZ，令坐标系原点O为车辆质心，坐标轴X为车辆的前进方向，坐标轴Y为车辆前进方向的左侧方向，坐标轴Z为垂直于直面向外；Define the vehicle coordinate system OXYZ according to international standards, let the origin O of the coordinate system be the center of mass of the vehicle, the coordinate axis X is the forward direction of the vehicle, the coordinate axis Y is the left direction of the vehicle forward direction, and the coordinate axis Z is perpendicular to the straight outward;

规定车轮扭矩坐标方向与Y方向一致时为正，反之为负；车辆纵向力方向与X方向一致时为正，反之为负；车辆横摆力矩方向与Z方向一致时为正，反之为负；It is stipulated that when the direction of the wheel torque coordinate is consistent with the Y direction, it is positive, otherwise it is negative; when the vehicle longitudinal force direction is consistent with the X direction, it is positive, otherwise it is negative; when the vehicle yaw moment direction is consistent with the Z direction, it is positive, otherwise it is negative;

2)解析车辆纵向力与横摆力矩2) Analyze vehicle longitudinal force and yaw moment

获取上层控制器需求指令，包括车辆纵向力Fx与车辆横摆力矩Mz；规定车轮不打滑，将获取的车辆纵向力Fx转化为左右侧车轮的扭矩和，并定义为车轮解析纵向扭矩和Taa，将获取的车辆横摆力矩Mz转化为左右侧车轮的扭矩差，并定义为车轮解析转向扭矩差Tsa，计算公式分别如式(1)、(2)所示：Obtain the demand command of the upper-level controller, including the vehicle longitudinal force F x and the vehicle yaw moment M z ; stipulate that the wheel does not slip, convert the acquired vehicle longitudinal force F x into the torque sum of the left and right wheels, and define it as the wheel analytical longitudinal torque and T aa , the obtained vehicle yaw moment M z is converted into the torque difference between the left and right wheels, and is defined as the wheel analytical steering torque difference T sa , and the calculation formulas are shown in equations (1) and (2) respectively:

Taa＝Fxr (1)T aa =F x r (1)

Figure BDA0002008757800000021
Figure BDA0002008757800000021

式(1)、(2)中，r为车轮滚动半径，B为车辆轮距；In formulas (1) and (2), r is the rolling radius of the wheel, and B is the track of the vehicle;

3)根据转向优先原则分配车轮扭矩3) Distribute wheel torque according to steering priority principle

在进行多轴驱动分布式车辆车轮扭矩分配时，忽略前轮转向角对前轮地面作用力方向的影响，将一侧车轮视为一个整体，先进行上层控制需求扭矩的左右分配，得到左、右侧车轮扭矩和TL、TR，再进行左、右侧车轮扭矩和的前后分配，从而得到各车轮扭矩；具体包括以下步骤：When distributing the wheel torque of the multi-axle drive distributed vehicle, the influence of the steering angle of the front wheel on the direction of the ground force on the front wheel is ignored, and one wheel is regarded as a whole. The right wheel torque sum T L , T R , and then the front and rear distribution of the left and right wheel torque sum, so as to obtain the torque of each wheel; the specific steps include the following:

3.1)左右分配车轮需求扭矩3.1) Distribute the required torque of the wheels left and right

3.1.1)限制车轮解析纵向扭矩和与车轮解析转向扭矩差3.1.1) Limit the wheel-resolved longitudinal torque and the wheel-resolved steering torque difference

根据左、右侧车轮正向与负向最大扭矩限值对解析车轮纵向扭矩和Taa与解析车轮转向扭矩差Tsa进行限制，得到限制后的车轮纵向扭矩和Ta与车轮转向扭矩差Ts；其中，According to the positive and negative maximum torque limits of the left and right wheels, the analytical wheel longitudinal torque and T aa and the analytical wheel steering torque difference T sa are limited, and the limited wheel longitudinal torque sum T a and the wheel steering torque difference T are obtained s ; where,

对于车轮纵向扭矩和Ta，根据转向优先的原则，在进行左右分配时不能形成对车辆的横摆力矩，利用式(3)对解析纵向扭矩和Taa进行限制：For the wheel longitudinal torque and T a , according to the principle of steering priority, the yaw moment to the vehicle cannot be formed when the left-right distribution is performed, and the analytical longitudinal torque and T aa are limited by formula (3):

Figure BDA0002008757800000031
Figure BDA0002008757800000031

式(3)中，Ta为限制后的车轮纵向扭矩和，

Figure BDA0002008757800000032
为左侧车轮的正向最大扭矩和，
Figure BDA0002008757800000033
为左侧车轮负向最大扭矩和，
Figure BDA0002008757800000034
为右侧车轮正向最大扭矩和，
Figure BDA0002008757800000035
为右侧车轮负向最大扭矩和，计算公式分别如式(4)、(5)所示：In formula (3), T a is the wheel longitudinal torque sum after limitation,
Figure BDA0002008757800000032
is the forward maximum torque sum of the left wheel,
Figure BDA0002008757800000033
is the negative maximum torque sum of the left wheel,
Figure BDA0002008757800000034
is the sum of the maximum forward torque of the right wheel,
Figure BDA0002008757800000035
is the negative maximum torque sum of the right wheel, and the calculation formulas are shown in formulas (4) and (5) respectively:

Figure BDA0002008757800000036
Figure BDA0002008757800000036

Figure BDA0002008757800000037
Figure BDA0002008757800000037

式(4)、(5)中，

Figure BDA0002008757800000038
分别为左侧第i个车轮的正向和负向最大扭矩限值，
Figure BDA0002008757800000039
分别为右侧第j个车轮的正向和反向最大扭矩限值，分别由控制各车轮的相应电机控制器反馈得到；In formulas (4) and (5),
Figure BDA0002008757800000038
are the positive and negative maximum torque limits of the ith wheel on the left, respectively,
Figure BDA0002008757800000039
are the forward and reverse maximum torque limits of the jth wheel on the right, respectively, which are fed back by the corresponding motor controllers that control each wheel;

对于车轮转向扭矩差Ts，根据转向优先原则，利用式(6)对解析转向扭矩差Tsa进行限制：For the wheel steering torque difference T s , according to the steering priority principle, the analytical steering torque difference T sa is limited by formula (6):

Figure BDA00020087578000000310
Figure BDA00020087578000000310

式(6)中，Ts为限制后的车轮转向扭矩差，其余变量物理含义同前；In formula (6), T s is the wheel steering torque difference after the limitation, and the physical meanings of other variables are the same as before;

3.1.2)计算特征扭矩差3.1.2) Calculate characteristic torque difference

设左、右侧车轮扭矩和分别均由直行扭矩与横摆扭矩组成，直行扭矩由车轮纵向扭矩和Ta计算得到；横摆扭矩由车轮转向扭矩差Ts计算得到；根据步骤2)确定的车轮解析转向扭矩差Tsa的正负计算特征扭矩差，用于判断左、右侧车轮的直行扭矩与横摆扭矩之和，是否超出左、右车轮扭矩限值，表达式如式(7)所示：It is assumed that the left and right wheel torque sums are respectively composed of straight travel torque and yaw torque, the straight travel torque is calculated from the wheel longitudinal torque and T a ; the yaw torque is calculated from the wheel steering torque difference T s ; The positive and negative calculation of the characteristic torque difference of the wheel analytical steering torque difference T sa is used to judge whether the sum of the straight travel torque and yaw torque of the left and right wheels exceeds the torque limit of the left and right wheels. The expression is as formula (7) shown:

Figure BDA0002008757800000041
Figure BDA0002008757800000041

式(7)中，In formula (7),

Tsa为根据步骤2)确定的车轮解析转向扭矩差；T sa is the wheel analytical steering torque difference determined according to step 2);

Figure BDA0002008757800000042
为左侧车轮负极限转向扭矩差，表示车辆逆时针转向时，左侧车轮直行扭矩与横摆扭矩的和等于负向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000042
is the negative limit steering torque difference of the left wheel, which means the steering torque difference when the sum of the left wheel straight-forward torque and the yaw torque is equal to the negative maximum torque limit when the vehicle turns counterclockwise;

Figure BDA0002008757800000043
为右侧车轮正极限转向扭矩差，表示车辆逆时针转向时，右侧车轮直行扭矩与横摆扭矩的和等于正向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000043
is the positive limit steering torque difference of the right wheel, which means that when the vehicle turns counterclockwise, the sum of the straight-forward torque and the yaw torque of the right wheel is equal to the steering torque difference when the positive maximum torque limit is reached;

Figure BDA0002008757800000044
为左侧车轮正极限转向扭矩差，表示车辆顺时针转向时，左侧车轮直行扭矩与横摆扭矩的和等于正向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000044
is the positive limit steering torque difference of the left wheel, indicating that when the vehicle turns clockwise, the steering torque difference when the sum of the left wheel straight-forward torque and the yaw torque is equal to the positive maximum torque limit;

Figure BDA0002008757800000045
为右侧车轮负极限转向扭矩差，表示车辆顺时针转向时，右侧车轮直行扭矩与横摆扭矩的和等于负向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000045
is the negative limit steering torque difference of the right wheel, which means that when the vehicle turns clockwise, the sum of the right wheel straight-forward torque and the yaw torque is equal to the steering torque difference when the negative maximum torque limit is reached;

3.1.3)根据上述特征扭矩差分配左右侧车轮扭矩和，具体分配方式如下：3.1.3) Distribute the left and right wheel torque sum according to the above characteristic torque difference, and the specific distribution method is as follows:

3.1.3.1)判断车轮转向扭矩差Ts的正负，若Ts≥0，则进入步骤3.1.3.2)，否则进入步骤3.1.3.6)；3.1.3.1) Determine whether the wheel steering torque difference T s is positive or negative, if T s ≥ 0, go to step 3.1.3.2), otherwise go to step 3.1.3.6);

3.1.3.2)判断车轮转向扭矩差Ts、右侧正极限转向扭矩差

Figure BDA0002008757800000046
左侧负极限转向扭矩差
Figure BDA0002008757800000047
三者中的最小值，若最小值为车轮转向扭矩差Ts，则进入步骤3.1.3.3)；若最小值为右侧正极限转向扭矩差
Figure BDA0002008757800000048
则进入步骤3.1.3.4)；若最小值为左侧负极限转向扭矩差
Figure BDA0002008757800000049
则进入步骤3.1.3.5)；3.1.3.2) Determine the wheel steering torque difference T s and the right positive limit steering torque difference
Figure BDA0002008757800000046
Left negative limit steering torque difference
Figure BDA0002008757800000047
The minimum value among the three, if the minimum value is the wheel steering torque difference T s , then go to step 3.1.3.3); if the minimum value is the right positive limit steering torque difference
Figure BDA0002008757800000048
Then go to step 3.1.3.4); if the minimum value is the left negative limit steering torque difference
Figure BDA0002008757800000049
Then go to step 3.1.3.5);

3.1.3.3)按照式(8)计算左、右侧车轮扭矩和TL、TR：3.1.3.3) Calculate the left and right wheel torques and TL and TR according to formula (8):

Figure BDA00020087578000000410
Figure BDA00020087578000000410

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.4)按照式(9)计算左、右侧车轮扭矩和：3.1.3.4) Calculate the sum of the left and right wheel torques according to formula (9):

Figure BDA00020087578000000411
Figure BDA00020087578000000411

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.5)按照式(10)计算左、右侧车轮扭矩和：3.1.3.5) Calculate the left and right wheel torque sum according to formula (10):

Figure BDA0002008757800000051
Figure BDA0002008757800000051

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.6)判断车轮转向扭矩差Ts、右侧负极限转向扭矩差

Figure BDA0002008757800000052
左侧正极限转向扭矩差
Figure BDA0002008757800000053
三者中的最大值，若最大值为车轮转向扭矩差Ts，则进入步骤3.1.3.3)；若最大值为右侧负极限转向扭矩差
Figure BDA0002008757800000054
则进入步骤3.1.3.7)；若最大值为左侧正极限转向扭矩差
Figure BDA0002008757800000055
则进入步骤3.1.3.8)；3.1.3.6) Determine the wheel steering torque difference T s and the right negative limit steering torque difference
Figure BDA0002008757800000052
Left positive limit steering torque difference
Figure BDA0002008757800000053
The maximum value among the three, if the maximum value is the wheel steering torque difference T s , then go to step 3.1.3.3); if the maximum value is the right negative limit steering torque difference
Figure BDA0002008757800000054
Then go to step 3.1.3.7); if the maximum value is the left positive limit steering torque difference
Figure BDA0002008757800000055
Then go to step 3.1.3.8);

3.1.3.7)按照式(11)计算左、右侧车轮扭矩和：3.1.3.7) Calculate the left and right wheel torque sum according to formula (11):

Figure BDA0002008757800000056
Figure BDA0002008757800000056

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.8)按照式(12)计算左、右侧车轮扭矩和：3.1.3.8) Calculate the left and right wheel torque sum according to formula (12):

Figure BDA0002008757800000057
Figure BDA0002008757800000057

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.2)前后分配同侧车轮扭矩和3.2) Front and rear distribution of the same side wheel torque and

同侧车轮扭矩和的前后分配采用平均分配方式，左、右侧车轮扭矩和的分配方法一致，对左侧车轮扭矩和的前后分配按照以下步骤执行：The front and rear distribution of the torque sum of the same side wheels adopts an even distribution method, and the distribution method of the left and right wheel torque sums is the same. The front and rear distribution of the left wheel torque sum is performed according to the following steps:

3.2.1)判断左侧车轮扭矩和TL的正负，若左侧车轮扭矩和TL≥0，则进入步骤3.2.2)；若左侧车轮扭矩和TL＜0，则进入步骤3.2.7)；3.2.1) Determine the positive or negative of the left wheel torque and T L , if the left wheel torque and T L ≥ 0, go to step 3.2.2); if the left wheel torque and T L <0, go to step 3.2 .7);

3.2.2)将左侧N个车轮中正向最大扭矩限值

Figure BDA0002008757800000058
由小到大进行排序，得到一个新的序列
Figure BDA0002008757800000059
k表示第ti个车轮的正向最大扭矩限值在左侧车轮正向扭矩限值序列中排第k个位置；设分配次数为s，s的初始值为1，若
Figure BDA00020087578000000510
则进入步骤3.2.3)；否则s＝2，进入步骤3.2.4)；3.2.2) Limit the forward maximum torque in the left N wheels
Figure BDA0002008757800000058
Sort from small to large to get a new sequence
Figure BDA0002008757800000059
k indicates that the forward maximum torque limit of the t i -th wheel is in the k-th position in the forward torque limit sequence of the left wheel; set the number of assignments as s, and the initial value of s is 1. If
Figure BDA00020087578000000510
Then go to step 3.2.3); otherwise s=2, go to step 3.2.4);

3.2.3)按照式(13)计算左侧各车轮扭矩：3.2.3) Calculate the torque of each wheel on the left side according to formula (13):

Figure BDA00020087578000000511
Figure BDA00020087578000000511

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.4)若

Figure BDA00020087578000000512
则进入步骤3.2.5)，否则进入步骤3.2.6)；3.2.4) If
Figure BDA00020087578000000512
Then go to step 3.2.5), otherwise go to step 3.2.6);

3.2.5)按照式(14)计算左侧各车轮扭矩：3.2.5) Calculate the torque of each wheel on the left side according to formula (14):

Figure BDA0002008757800000061
Figure BDA0002008757800000061

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.6)令s＝s+1，若s＝N+1，则左侧车轮扭矩分配完成，否则返回步骤3.2.4)；3.2.6) Let s=s+1, if s=N+1, the left wheel torque distribution is completed, otherwise return to step 3.2.4);

3.2.7)将左侧N个车轮中负向最大扭矩限值

Figure BDA0002008757800000062
由大到小进行排序，得到一个新的序列
Figure BDA0002008757800000063
k表示第ri个车轮的负向最大扭矩限值在左侧车轮负向扭矩限值序列中排第k个位置；设分配次数为s，s的初始值为1，若
Figure BDA0002008757800000064
则进入步骤3.2.8)；否则s＝2，进入步骤3.2.9)；3.2.7) Set the negative maximum torque limit in the left N wheels
Figure BDA0002008757800000062
Sort from largest to smallest to get a new sequence
Figure BDA0002008757800000063
k indicates that the negative maximum torque limit of the ri-th wheel is the k -th position in the negative torque limit sequence of the left wheel; let the number of assignments be s, and the initial value of s is 1. If
Figure BDA0002008757800000064
Then go to step 3.2.8); otherwise s=2, go to step 3.2.9);

3.2.8)按照式(15)计算左侧各车轮扭矩：3.2.8) Calculate the torque of each wheel on the left side according to formula (15):

Figure BDA0002008757800000065
Figure BDA0002008757800000065

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.9)若

Figure BDA0002008757800000066
则进入步骤3.2.10)，否则进入步骤3.2.11)；3.2.9) If
Figure BDA0002008757800000066
Then go to step 3.2.10), otherwise go to step 3.2.11);

3.2.10)按照式(16)计算左侧各车轮扭矩：3.2.10) Calculate the torque of each wheel on the left side according to formula (16):

Figure BDA0002008757800000067
Figure BDA0002008757800000067

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.11)令s＝s+1，若s＝N+1，则左侧车轮扭矩分配完成，否则返回步骤3.2.9)；3.2.11) Let s=s+1, if s=N+1, the left wheel torque distribution is completed, otherwise return to step 3.2.9);

对右侧车轮扭矩和的前后分配参照左侧进行，完成车轮扭矩分配。The front-to-rear distribution of the right-hand wheel torque sum is done with reference to the left-hand side to complete the wheel torque distribution.

本发明的特点及有益效果在于：The characteristics and beneficial effects of the present invention are:

本发明提出的一种多轴驱动分布式车辆的车轮扭矩分配方法，通过将上层控制器的纵向力与横摆力矩指令转化为车轮解析纵向扭矩和与车轮解析转向扭矩差，并将车轮的扭矩分配分为左右分配与前后分配两个阶段。左右分配时将一侧车轮视为一个整体，采用转向优先的原则，保证车辆的转向稳定性控制；前后分配采用考虑不同车轮限值下的平均分配的方式，使同侧车轮扭矩负担相近，同侧车轮之间扭矩还可相互补偿，准确实现同侧车轮扭矩和。车轮扭矩限值为实时反馈，能够反映运行过程中车轮电机的工作状态。The method for distributing the wheel torque of a multi-axis drive distributed vehicle proposed by the present invention converts the longitudinal force and yaw moment command of the upper controller into the wheel analytical longitudinal torque and the wheel analytical steering torque difference, and converts the wheel torque into The allocation is divided into two stages: left and right allocation and front and rear allocation. In the left and right distribution, one side of the wheel is regarded as a whole, and the principle of steering priority is adopted to ensure the steering stability control of the vehicle; the front and rear distribution adopts an even distribution method considering different wheel limits, so that the torque burden of the same side wheel is similar, and the same The torques between the wheels on the same side can also be compensated for each other, and the torque sum of the wheels on the same side can be accurately realized. The wheel torque limit is a real-time feedback, which can reflect the working state of the wheel motor during operation.

本发明提出的车轮扭矩分配方法，以车辆动力学为基础，将复杂的多轴车轮扭矩分配问题分解为较少车轮的扭矩分配问题，降低了车轮扭矩分配的复杂度，保证车辆的动力性与转向稳定性，以及上层控制器需求指令的最大实现；且在车轮扭矩分配过程中，考虑不同车轮扭矩限值对扭矩分配的影响，同侧车轮之间相互补偿，特别适用于某些车轮能力限制或者损坏的工况下的多轴分布式车辆扭矩分配。具体体现为：The wheel torque distribution method proposed by the present invention, based on vehicle dynamics, decomposes the complex multi-axle wheel torque distribution problem into the torque distribution problem of fewer wheels, reduces the complexity of wheel torque distribution, and ensures the dynamic performance of the vehicle. Steering stability, and the maximum realization of the demand command of the upper controller; and in the process of wheel torque distribution, considering the influence of different wheel torque limits on torque distribution, the wheels on the same side compensate each other, especially for certain wheel capacity restrictions Or multi-axle distributed vehicle torque distribution in damaged conditions. Specifically reflected as:

1、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，将多轴驱动车辆的扭矩分配分为左右分配与前后分配，将一个多车轮扭矩的分配问题，简化为两个较少车轮的扭矩分配问题，能够简化车轮扭矩分配方法。采取的车轮扭矩分配方法特别适用于无机械转向系统多轴驱动分布式车辆的车轮扭矩分配。1. The wheel torque distribution method of a multi-axle drive distributed vehicle proposed by the present invention divides the torque distribution of the multi-axle drive vehicle into left and right distribution and front and rear distribution, and simplifies the torque distribution problem of one multi-wheel drive into two fewer wheels. The problem of torque distribution can be simplified, and the wheel torque distribution method can be simplified. The adopted wheel torque distribution method is especially suitable for wheel torque distribution of multi-axle drive distributed vehicles without mechanical steering system.

2、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，在车轮扭矩能力满足上层控制器需求时，能够准确实现上层控制指令意图，使车辆具有良好的动力性与稳定性。2. The wheel torque distribution method of the multi-axis drive distributed vehicle proposed by the present invention can accurately realize the upper-layer control command intention when the wheel torque capacity meets the requirements of the upper-layer controller, so that the vehicle has good power and stability.

3、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，在车轮扭矩能力不能满足上层控制器需求时，根据转向优先(转向横摆力矩优先)的原则，最大实现上层控制器需求指令。在低速时能减小车辆的转向半径以改善车辆转向性能，同时可保证车辆在高速时的稳定性控制，特别适用于某些车轮能力限制或者损坏的工况的扭矩分配。3. The wheel torque distribution method of the multi-axle drive distributed vehicle proposed by the present invention, when the wheel torque capacity cannot meet the requirements of the upper controller, according to the principle of steering priority (steering yaw moment priority), the maximum demand command of the upper controller can be realized . At low speed, the steering radius of the vehicle can be reduced to improve the steering performance of the vehicle, and at the same time, it can ensure the stability control of the vehicle at high speed, and is especially suitable for torque distribution in conditions where the wheel capacity is limited or damaged.

4、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，当一侧某个车轮不能实现同侧扭矩需求时，可由同侧其余车轮进行补偿，准确实现同侧车轮扭矩和。4. In the wheel torque distribution method of the multi-axle drive distributed vehicle proposed by the present invention, when a wheel on one side cannot meet the torque demand on the same side, the other wheels on the same side can compensate for the torque sum of the wheels on the same side.

5、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，能够推广至一侧有多个驱动车轮的相同结构的多轴驱动分布式车辆。5. The wheel torque distribution method for a multi-axle drive distributed vehicle proposed by the present invention can be extended to a multi-axle drive distributed vehicle of the same structure with multiple driving wheels on one side.

6、本发明提出的多轴驱动分布式车辆的车轮扭矩分配方法，分配参数为车轮电机实时反馈参数，适用于车辆各种工况，并能通过在相同输入下的不同车轮扭矩响应，反馈车轮电机状态，能够对电机状态进行监控。6. The wheel torque distribution method of the multi-axis drive distributed vehicle proposed by the present invention, the distribution parameter is the real-time feedback parameter of the wheel motor, which is suitable for various working conditions of the vehicle, and can feedback the wheel through the torque response of different wheels under the same input. Motor status, can monitor the motor status.

附图说明Description of drawings

图1是本发明实施例所定义的车辆坐标系示意图。FIG. 1 is a schematic diagram of a vehicle coordinate system defined by an embodiment of the present invention.

具体实施方式Detailed ways

本发明提出的一种多轴驱动分布式车辆的车轮扭矩分配方法，下面结合具体实例及附图进一步说明如下：The wheel torque distribution method of a multi-axis drive distributed vehicle proposed by the present invention is further described below with reference to specific examples and accompanying drawings as follows:

本发明实施例的一种多轴驱动分布式车辆车轮扭矩分配方法，用于具有2N(本实施例N＝3)个轮毂电机驱动的分布式车辆，各电机分别由一个电机控制器控制，所述电机为轮毂电机或轮边电机，该方法实施例具体包括以下步骤：A method for distributing wheel torque of a multi-axis drive distributed vehicle in an embodiment of the present invention is used for a distributed vehicle driven by 2N (N=3 in this embodiment) in-wheel motors, each motor is controlled by a motor controller, so Said motor is an in-wheel motor or a wheel-side motor, and the method embodiment specifically includes the following steps:

1)建立车辆坐标系1) Establish the vehicle coordinate system

定义车辆坐标系OXYZ，并定义各个参数在车辆坐标系中的正负。Define the vehicle coordinate system OXYZ, and define the positive and negative of each parameter in the vehicle coordinate system.

根据国际标准定义车辆坐标系OXYZ，令坐标系原点O为车辆质心，坐标轴X为车辆的前进方向，坐标轴Y为车辆前进方向的左侧方向，坐标轴Z为垂直于直面向外，如图1所示。The vehicle coordinate system OXYZ is defined according to international standards, and the origin O of the coordinate system is the center of mass of the vehicle, the coordinate axis X is the forward direction of the vehicle, the coordinate axis Y is the left direction of the vehicle forward direction, and the coordinate axis Z is perpendicular to the straight outward, such as Figure 1.

规定车轮扭矩T坐标方向与Y方向一致时为正，反之为负；车辆纵向力方向与X方向一致时为正，反之为负；车辆横摆力矩方向与Z方向一致时为正，反之为负。It is stipulated that when the direction of the wheel torque T coordinate is consistent with the Y direction, it is positive, otherwise it is negative; when the longitudinal force direction of the vehicle is consistent with the X direction, it is positive, otherwise it is negative; when the vehicle yaw moment direction is consistent with the Z direction, it is positive, otherwise it is negative. .

将车辆左右侧车轮的轮毂电机从前至后依次排序，本实施例将车辆左侧车轮从前至后排序为(1，2，3)，右侧车轮从前至后排序为(1，2，3)；将电机控制器反馈信息与各个轮毂电机的排序一一对应。Sort the in-wheel motors of the left and right wheels of the vehicle from front to back. In this embodiment, the left wheels of the vehicle are sorted from front to back as (1, 2, 3), and the right wheels are sorted from front to back as (1, 2, 3) ; The motor controller feedback information corresponds to the order of each in-wheel motor one-to-one.

2)解析车辆纵向力与横摆力矩2) Analyze vehicle longitudinal force and yaw moment

获取上层控制器需求指令，包括车辆纵向力Fx与车辆横摆力矩Mz；规定车轮不打滑，将获取的车辆纵向力Fx转化为左右侧车轮的扭矩和，并定义为车轮解析纵向扭矩和Taa，将获取的车辆横摆力矩Mz转化为左右侧车轮的扭矩差，并定义为车轮解析转向扭矩差Tsa，计算公式分别如式(1)、(2)所示：Obtain the demand command of the upper-level controller, including the vehicle longitudinal force F x and the vehicle yaw moment M z ; stipulate that the wheel does not slip, convert the acquired vehicle longitudinal force F x into the torque sum of the left and right wheels, and define it as the wheel analytical longitudinal torque and T aa , the obtained vehicle yaw moment M z is converted into the torque difference between the left and right wheels, and is defined as the wheel analytical steering torque difference T sa , and the calculation formulas are shown in equations (1) and (2) respectively:

Taa＝Fxr (1)T aa =F x r (1)

Figure BDA0002008757800000081
Figure BDA0002008757800000081

式(1)、(2)中，r为车轮滚动半径，B为车辆轮距，均由整车设计确定，为已知量；In formulas (1) and (2), r is the rolling radius of the wheel, and B is the wheel base of the vehicle, which is determined by the design of the whole vehicle and is a known quantity;

3)根据转向优先原则分配车轮扭矩3) Distribute wheel torque according to steering priority principle

在进行多轴驱动分布式车辆车轮扭矩分配时，忽略前轮转向角对前轮地面作用力方向的影响。则同侧车轮的扭矩对车辆的运动的影响是一致的，因此可将一侧车轮视为一个整体，先进行上层控制需求扭矩的左右分配，得到左、右侧车轮扭矩和TL、TR，再进行左、右侧车轮扭矩和的前后分配，从而得到各车轮扭矩。具体实现过程如下：The influence of the steering angle of the front wheels on the direction of the ground force on the front wheels is ignored when the wheel torque distribution of the multi-axle drive distributed vehicle is carried out. Then the influence of the torque of the wheels on the same side on the motion of the vehicle is consistent, so one wheel can be regarded as a whole, and the left and right distribution of the upper-layer control demand torque is firstly performed to obtain the left and right wheel torques and T L , T R , and then distribute the torque sum of the left and right wheels to the front and rear to obtain the torque of each wheel. The specific implementation process is as follows:

3.1)左右分配车轮需求扭矩3.1) Distribute the required torque of the wheels left and right

3.1.1)限制车轮解析纵向扭矩和与车轮解析转向扭矩差3.1.1) Limit the wheel-resolved longitudinal torque and the wheel-resolved steering torque difference

上层控制器在计算车辆纵向力Fx与车辆横摆力矩Mz时，并未考虑各个车轮的扭矩能力限值。因此需根据左、右侧车轮正向与负向最大扭矩限值对解析车轮纵向扭矩和Taa与解析车轮转向扭矩差Tsa进行限制，得到限制后的车轮纵向扭矩和Ta与车轮转向扭矩差Ts。When calculating the vehicle longitudinal force F x and the vehicle yaw moment M z , the upper controller does not consider the torque capacity limit of each wheel. Therefore, it is necessary to limit the analytical wheel longitudinal torque and the difference between T aa and analytical wheel steering torque T sa according to the positive and negative maximum torque limits of the left and right wheels, and obtain the limited longitudinal wheel torque and T a and wheel steering torque difference T s .

对于车轮纵向扭矩和Ta，根据转向优先的原则，在进行左右分配时不能形成对车辆的横摆力矩，因此，解析纵向扭矩和Taa限制表达式如式(3)所示：For the wheel longitudinal torque and T a , according to the principle of steering priority, the yaw moment to the vehicle cannot be formed when the left-right distribution is performed. Therefore, the analytical longitudinal torque and T aa limit expressions are shown in formula (3):

Figure BDA0002008757800000082
Figure BDA0002008757800000082

式(3)中，Ta为限制后的车轮纵向扭矩和，

Figure BDA0002008757800000083
为左侧车轮的正向最大扭矩和，
Figure BDA0002008757800000084
为左侧车轮负向最大扭矩和，
Figure BDA0002008757800000085
为右侧车轮正向最大扭矩和，
Figure BDA0002008757800000086
为右侧车轮负向最大扭矩和，计算公式分别如式(4)、(5)所示：In formula (3), T a is the wheel longitudinal torque sum after limitation,
Figure BDA0002008757800000083
is the forward maximum torque sum of the left wheel,
Figure BDA0002008757800000084
is the negative maximum torque sum of the left wheel,
Figure BDA0002008757800000085
is the sum of the maximum forward torque of the right wheel,
Figure BDA0002008757800000086
is the negative maximum torque sum of the right wheel, and the calculation formulas are shown in formulas (4) and (5) respectively:

Figure BDA0002008757800000091
Figure BDA0002008757800000091

Figure BDA0002008757800000092
Figure BDA0002008757800000092

式(4)、(5)中，

Figure BDA0002008757800000093
分别为左侧第i个车轮的正向和负向最大扭矩限值，
Figure BDA0002008757800000094
分别为右侧第j个车轮的正向和反向最大扭矩限值，分别由控制各车轮的相应电机控制器反馈得到；In formulas (4) and (5),
Figure BDA0002008757800000093
are the positive and negative maximum torque limits of the ith wheel on the left, respectively,
Figure BDA0002008757800000094
are the forward and reverse maximum torque limits of the jth wheel on the right, respectively, which are fed back by the corresponding motor controllers that control each wheel;

对于车轮转向扭矩差Ts，根据转向优先原则，对解析转向扭矩差Tsa进行限制时，只需考虑转向扭矩差是否在车轮扭矩限值范围内，解析转向扭矩差Tsa限制表达式如式(6)所示：For the wheel steering torque difference T s , according to the steering priority principle, when limiting the analytical steering torque difference T sa , it is only necessary to consider whether the steering torque difference is within the wheel torque limit, and the analytical steering torque difference T sa is limited by the expression (6) shows:

Figure BDA0002008757800000095
Figure BDA0002008757800000095

式(6)中，Ts为限制后的车轮转向扭矩差，其余变量物理含义同前；In formula (6), T s is the wheel steering torque difference after the limitation, and the physical meanings of other variables are the same as before;

3.1.2)计算特征扭矩差3.1.2) Calculate characteristic torque difference

设左、右侧车轮扭矩和分别均由直行扭矩与横摆扭矩组成，直行扭矩由车轮纵向扭矩和Ta计算得到；横摆扭矩由车轮转向扭矩差Ts计算得到。由步骤3.1.1)可得分别位于左、右车轮扭矩限值内的车轮直行扭矩与横摆扭矩，但直行扭矩与横摆扭矩之和可能超过车轮扭矩限值，因此需要进行进一步判断。Suppose that the left and right wheel torque sums are respectively composed of straight travel torque and yaw torque, the straight travel torque is calculated from the wheel longitudinal torque and T a ; the yaw torque is calculated from the wheel steering torque difference T s . From step 3.1.1), the wheel straight-forward torque and yaw torque that are respectively within the left and right wheel torque limits can be obtained, but the sum of the straight-forward torque and the yaw torque may exceed the wheel torque limit, so further judgment is required.

根据步骤2)确定的车轮解析转向扭矩差Tsa的正负计算特征扭矩差，用于判断左、右侧车轮的直行扭矩与横摆扭矩之和，是否超出左、右车轮扭矩限值，表达式如式(7)所示：According to the positive and negative values of the wheel analytical steering torque difference T sa determined in step 2), the characteristic torque difference is calculated to determine whether the sum of the straight travel torque and yaw torque of the left and right wheels exceeds the torque limit of the left and right wheels, expressing The formula is shown in formula (7):

Figure BDA0002008757800000096
Figure BDA0002008757800000096

式(7)中，In formula (7),

Tsa为根据步骤2)确定的车轮解析转向扭矩差；T sa is the wheel analytical steering torque difference determined according to step 2);

Figure BDA0002008757800000097
为左侧车轮负极限转向扭矩差，表示车辆逆时针转向时，左侧车轮直行扭矩与横摆扭矩的和等于负向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000097
is the negative limit steering torque difference of the left wheel, which means the steering torque difference when the sum of the left wheel straight-forward torque and the yaw torque is equal to the negative maximum torque limit when the vehicle turns counterclockwise;

Figure BDA0002008757800000098
为右侧车轮正极限转向扭矩差，表示车辆逆时针转向时，右侧车轮直行扭矩与横摆扭矩的和等于正向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000098
is the positive limit steering torque difference of the right wheel, which means that when the vehicle turns counterclockwise, the sum of the straight-forward torque and the yaw torque of the right wheel is equal to the steering torque difference when the positive maximum torque limit is reached;

Figure BDA0002008757800000101
为左侧车轮正极限转向扭矩差，表示车辆顺时针转向时，左侧车轮直行扭矩与横摆扭矩的和等于正向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000101
is the positive limit steering torque difference of the left wheel, indicating that when the vehicle turns clockwise, the steering torque difference when the sum of the left wheel straight-forward torque and the yaw torque is equal to the positive maximum torque limit;

Figure BDA0002008757800000102
为右侧车轮负极限转向扭矩差，表示车辆顺时针转向时，右侧车轮直行扭矩与横摆扭矩的和等于负向最大扭矩限值时的转向扭矩差；
Figure BDA0002008757800000102
is the negative limit steering torque difference of the right wheel, which means that when the vehicle turns clockwise, the sum of the right wheel straight-forward torque and the yaw torque is equal to the steering torque difference when the negative maximum torque limit is reached;

当左右侧车轮扭矩和中的直行扭矩与横摆扭矩的和还未超过左右侧车轮扭矩限值时，车轮转向扭矩Ts和车轮纵向扭矩和Ta之间的分配彼此独立，即车轮转向扭矩Ts的分配不影响车轮纵向扭矩和Ta；当左右侧车轮扭矩和中的直行扭矩与横摆扭矩的和超过左右侧车轮扭矩限值时，此时依据转向优先原则，需保证转向扭矩差Ts的实现，则实际分配的纵向扭矩和Ta的大小受到影响。When the sum of the straight travel torque and the yaw torque in the left and right wheel torque sum has not exceeded the left and right wheel torque limit, the distribution between the wheel steering torque T s and the wheel longitudinal torque sum Ta is independent of each other, that is, the wheel steering torque The distribution of T s does not affect the wheel longitudinal torque and T a ; when the sum of the straight-forward torque and the yaw torque in the left and right wheel torque sum exceeds the left and right wheel torque limit, at this time, according to the steering priority principle, it is necessary to ensure that the steering torque difference The realization of T s , the actual distribution of longitudinal torque and the magnitude of T a are affected.

3.1.3)根据上述特征扭矩差分配左右侧车轮扭矩和，具体分配方式如下：3.1.3) Distribute the left and right wheel torque sum according to the above characteristic torque difference, and the specific distribution method is as follows:

3.1.3.1)判断车轮转向扭矩差Ts的正负，若Ts≥0，则进入步骤3.1.3.2)，否则进入步马聚3.1.3.6)；3.1.3.1) Determine whether the wheel steering torque difference T s is positive or negative, if T s ≥ 0, go to step 3.1.3.2), otherwise go to step 3.1.3.6);

3.1.3.2)判断车轮转向扭矩差Ts、右侧正极限转向扭矩差

Figure BDA0002008757800000103
左侧负极限转向扭矩差
Figure BDA0002008757800000104
三者中的最小值，若最小值为车轮转向扭矩差Ts，则进入步骤3.1.3.3)；若最小值为右侧正极限转向扭矩差
Figure BDA0002008757800000105
则进入步骤3.1.3.4)；若最小值为左侧负极限转向扭矩差
Figure BDA0002008757800000106
则进入步骤3.1.3.5)；3.1.3.2) Determine the wheel steering torque difference T s and the right positive limit steering torque difference
Figure BDA0002008757800000103
Left negative limit steering torque difference
Figure BDA0002008757800000104
The minimum value among the three, if the minimum value is the wheel steering torque difference T s , then go to step 3.1.3.3); if the minimum value is the right positive limit steering torque difference
Figure BDA0002008757800000105
Then go to step 3.1.3.4); if the minimum value is the left negative limit steering torque difference
Figure BDA0002008757800000106
Then go to step 3.1.3.5);

3.1.3.3)按照式(8)计算左、右侧车轮扭矩和TL、TR：3.1.3.3) Calculate the left and right wheel torques and TL and TR according to formula (8):

Figure BDA0002008757800000107
Figure BDA0002008757800000107

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.4)按照式(9)计算左、右侧车轮扭矩和：3.1.3.4) Calculate the sum of the left and right wheel torques according to formula (9):

Figure BDA0002008757800000108
Figure BDA0002008757800000108

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.5)按照式(10)计算左、右侧车轮扭矩和：3.1.3.5) Calculate the left and right wheel torque sum according to formula (10):

Figure BDA0002008757800000109
Figure BDA0002008757800000109

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.6)判断车轮转向扭矩差Ts、右侧负极限转向扭矩差

Figure BDA00020087578000001010
左侧正极限转向扭矩差
Figure BDA00020087578000001011
三者中的最大值，若最大值为车轮转向扭矩差Ts，则进入步骤3.1.3.3)；若最大值为右侧负极限转向扭矩差
Figure BDA00020087578000001012
则进入步骤3.1.3.7)；若最大值为左侧正极限转向扭矩差
Figure BDA00020087578000001013
则进入步骤3.1.3.8)；3.1.3.6) Determine the wheel steering torque difference T s and the right negative limit steering torque difference
Figure BDA00020087578000001010
Left positive limit steering torque difference
Figure BDA00020087578000001011
The maximum value among the three, if the maximum value is the wheel steering torque difference T s , then go to step 3.1.3.3); if the maximum value is the right negative limit steering torque difference
Figure BDA00020087578000001012
Then go to step 3.1.3.7); if the maximum value is the left positive limit steering torque difference
Figure BDA00020087578000001013
Then go to step 3.1.3.8);

3.1.3.7)按照式(11)计算左、右侧车轮扭矩和：3.1.3.7) Calculate the left and right wheel torque sum according to formula (11):

Figure BDA0002008757800000111
Figure BDA0002008757800000111

左、右侧车轮扭矩和分配完成，进入步骤3.2)；The left and right wheel torque and distribution are completed, go to step 3.2);

3.1.3.8)按照式(12)计算左、右侧车轮扭矩和：3.1.3.8) Calculate the left and right wheel torque sum according to formula (12):

Figure BDA0002008757800000112
Figure BDA0002008757800000112

左、右侧车轮扭矩和分配完成，进入步骤3.2)。Left and right wheel torque and distribution are completed, go to step 3.2).

3.2)前后分配同侧车轮扭矩和3.2) Front and rear distribution of the same side wheel torque and

同侧的车轮的扭矩对车辆的影响一致，为减轻个别车轮负担，使得最终分配到同侧各车轮的扭矩指令相近，同侧车轮扭矩和采用平均分配；由于车轮扭矩能力限值的差异，因此需要适应车轮的不同扭矩能力限值。左、右侧车轮扭矩和的分配方法一致，此处以左侧为例进行说明。The torque of the wheels on the same side has the same impact on the vehicle. In order to reduce the burden on individual wheels, the torque commands finally distributed to the wheels on the same side are similar, and the torque of the wheels on the same side is evenly distributed; due to the difference in the wheel torque capacity limit, therefore Different torque capacity limits of the wheels need to be accommodated. The distribution method of the left and right wheel torque sums is the same, and the left side is used as an example to illustrate.

对左侧车轮扭矩和进行前后分配，具体分配方式如下：The left-hand wheel torque is distributed to the front and rear, and the specific distribution method is as follows:

3.2.1)判断左侧车轮扭矩和TL的正负，若左侧车轮扭矩和TL≥0，则进入步骤3.2.2)；若左侧车轮扭矩和TL＜0，则进入步骤3.2.7)；3.2.1) Determine the positive or negative of the left wheel torque and T L , if the left wheel torque and T L ≥ 0, go to step 3.2.2); if the left wheel torque and T L <0, go to step 3.2 .7);

3.2.2)将左侧N个车轮中正向最大扭矩限值

Figure BDA0002008757800000113
由小到大进行排序，得到一个新的序列
Figure BDA0002008757800000114
k表示第ti个车轮的正向最大扭矩限值在左侧车轮正向扭矩限值序列中排第k个位置。设分配次数为s，s的初始值为1，若
Figure BDA0002008757800000115
则进入步骤3.2.3)；否则s＝2，进入步骤3.2.4)；3.2.2) Limit the forward maximum torque in the left N wheels
Figure BDA0002008757800000113
Sort from small to large to get a new sequence
Figure BDA0002008757800000114
k indicates that the forward maximum torque limit of the t i wheel is at the kth position in the left wheel forward torque limit sequence. Let the number of assignments be s, and the initial value of s is 1. If
Figure BDA0002008757800000115
Then go to step 3.2.3); otherwise s=2, go to step 3.2.4);

3.2.3)按照式(13)计算左侧各车轮扭矩：3.2.3) Calculate the torque of each wheel on the left side according to formula (13):

Figure BDA0002008757800000116
Figure BDA0002008757800000116

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.4)若

Figure BDA0002008757800000117
则进入步骤3.2.5)，否则进入步骤3.2.6)；3.2.4) If
Figure BDA0002008757800000117
Then go to step 3.2.5), otherwise go to step 3.2.6);

3.2.5)按照式(14)计算左侧各车轮扭矩：3.2.5) Calculate the torque of each wheel on the left side according to formula (14):

Figure BDA0002008757800000118
Figure BDA0002008757800000118

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.6)令s＝s+1，若s＝N+1，则左侧车轮扭矩分配完成，否则返回步骤3.2.4)；3.2.6) Let s=s+1, if s=N+1, the left wheel torque distribution is completed, otherwise return to step 3.2.4);

3.2.7)将左侧N个车轮中负向最大扭矩限值

Figure BDA0002008757800000121
由大到小进行排序，得到一个新的序列
Figure BDA0002008757800000122
k表示第ri个车轮的负向最大扭矩限值在左侧车轮负向扭矩限值序列中排第k个位置；设分配次数为s，s的初始值为1，若
Figure BDA0002008757800000123
则进入步骤3.2.8)；否则s＝2，进入步骤3.2.9)；3.2.7) Set the negative maximum torque limit in the left N wheels
Figure BDA0002008757800000121
Sort from largest to smallest to get a new sequence
Figure BDA0002008757800000122
k indicates that the negative maximum torque limit of the ri-th wheel is the k -th position in the negative torque limit sequence of the left wheel; let the number of assignments be s, and the initial value of s is 1. If
Figure BDA0002008757800000123
Then go to step 3.2.8); otherwise s=2, go to step 3.2.9);

3.2.8)按照式(15)计算左侧各车轮扭矩：3.2.8) Calculate the torque of each wheel on the left side according to formula (15):

Figure BDA0002008757800000124
Figure BDA0002008757800000124

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.9)若

Figure BDA0002008757800000125
则进入步骤3.2.10)，否则进入步骤3.2.11)；3.2.9) If
Figure BDA0002008757800000125
Then go to step 3.2.10), otherwise go to step 3.2.11);

3.2.10)按照式(16)计算左侧各车轮扭矩：3.2.10) Calculate the torque of each wheel on the left side according to formula (16):

Figure BDA0002008757800000126
Figure BDA0002008757800000126

左侧车轮扭矩分配完成；The left wheel torque distribution is completed;

3.2.11)令s＝s+1，若s＝N+1，则左侧车轮扭矩分配完成，否则返回步骤3.2.9)。3.2.11) Let s=s+1, if s=N+1, the left wheel torque distribution is completed, otherwise return to step 3.2.9).

对右侧车轮扭矩和的前后分配参照左侧进行，此处不再赘述，最终完成车轮扭矩分配。The front-to-rear distribution of the right-hand wheel torque sum is carried out with reference to the left side, which will not be repeated here, and the wheel torque distribution is finally completed.

由以上步骤可得车轮扭矩指令。The wheel torque command can be obtained from the above steps.

本发明提出了一种多轴驱动分布式车辆车轮扭矩分配方法。属于车辆动力学控制领域。本发明通过将上层控制器的纵向力与横摆力矩指令转化为车轮解析纵向扭矩和与车轮解析转向扭矩差，并根据车轮的扭矩能力限值对解析纵向扭矩和与解析转向扭矩差进行限制，得到纵向扭矩和与转向扭矩差，将车轮的扭矩分配分为左右分配与前后分配两个阶段。左右分配时将一侧车轮视为一个整体，采用转向优先的原则，为上层控制器需求指令的最大实现，保证车辆的转向稳定性控制；前后分配采用考虑不同车轮限值下的平均分配的方式，使同侧车轮扭矩负担相近，同侧车轮之间扭矩还可相互补偿，准确实现同侧车轮扭矩和。特别适用于某些车轮能力限制或者损坏的工况下的多轴分布式车辆扭矩分配。同时，车轮扭矩限值为实时反馈，能够监控车轮电机的工作状态。The present invention proposes a method for distributing wheel torque of a multi-axle driving distributed vehicle. It belongs to the field of vehicle dynamics control. The invention converts the longitudinal force and yaw moment command of the upper controller into the wheel analytical longitudinal torque and the wheel analytical steering torque difference, and limits the analytical longitudinal torque and the analytical steering torque difference according to the torque capacity limit of the wheel, The longitudinal torque sum and the steering torque difference are obtained, and the torque distribution of the wheels is divided into two stages: left and right distribution and front and rear distribution. In the left and right distribution, one wheel is regarded as a whole, and the principle of steering priority is adopted to maximize the demand command of the upper controller to ensure the steering stability control of the vehicle; the front and rear distribution adopts an average distribution method considering different wheel limits , so that the torque burden of the wheels on the same side is similar, and the torques between the wheels on the same side can also compensate each other, so that the torque sum of the wheels on the same side can be accurately realized. It is especially suitable for multi-axle distributed vehicle torque distribution under certain wheel capacity limitations or damage conditions. At the same time, the wheel torque limit is a real-time feedback, which can monitor the working status of the wheel motor.

以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the 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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