CN110239363A - Electric car dynamic stabilization system - Google Patents
Electric car dynamic stabilization system Download PDFInfo
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- CN110239363A CN110239363A CN201910553526.5A CN201910553526A CN110239363A CN 110239363 A CN110239363 A CN 110239363A CN 201910553526 A CN201910553526 A CN 201910553526A CN 110239363 A CN110239363 A CN 110239363A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Mechanical Engineering (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The invention discloses a kind of electric car dynamic stabilization systems, belong to automobile technical field, including turning radius computing module, speed accounting calculates module, offset proportion computing module, wheel power proportion measuring and calculating module and power distribution module, in front axle and the virtual wheel of rear shaft center's point setting, turning radius is obtained by angle of turn and wheelbase, the triangle relation that front-axle steering angle and wheelbase and rear axle are formed is calculated with the formula of mathematics triangle, the velocity ratio of nearside wheel and outboard wheel is obtained in conjunction with wheel spacing, and it is basic for speed with virtual wheel, it is calculated by the quality of the vehicle and real-time speed, the dynamic gravimetric of centrifugation is offset on the basis of compensation speed difference, pass through setting, the power of driving wheel can be arranged and almost be equal with turning speed compensation and counteracting centrifugal action, reach more stable driving posture.
Description
Technical field
The present invention relates to automobile technical field, especially a kind of four-wheel electric vehicle double electric machine and four motors traveling auxiliary and
Power distribution system.
Background technique
Four-wheel electric automobile can be divided into bi-motor (forerunner/rear-guard) and four motors (4 wheel driven) electric car.
By taking the full drive electric automobile of four-wheel as an example, general four driving wheels are respectively by the independent control of hub motor, solely
The vertical revolving speed for adjusting each wheel and torque, do not need the increase and decrease that driving moment is realized by gearbox, retarder etc. and
The change of speed does not need the differential function that left and right wheels are realized by differential mechanism, but influences vulnerable to itself and external condition yet
And cause four-wheel dynamic unbalance.
As above-mentioned, electric car needs to carry out in the process of moving steering turning, turning medial wheel caused by steering and outer
The speed difference of side wheel be easy to cause and turns to outboard wheel adynamia and automobile inertial mismatch, leads to understeer, cause vehicle
Dynamic unbalance.
Summary of the invention
Goal of the invention of the invention is, in view of the above-mentioned problems, a kind of electric car dynamic stabilization system is provided, it can be to driving
Power is allocated, and is compensated and is offset centrifugal action with turning speed for the power setting of outboard wheel and be almost equal, and reaches more steady
Fixed driving posture.
In order to achieve the above objectives, the technical scheme adopted by the invention is that:
Electric car dynamic stabilization system, comprising:
Turning radius computing module: there are preceding virtual wheel corresponding with front-wheel, rear shaft center for defining at front axle center point
There is rear virtual wheel corresponding with rear-wheel at point, according to the steering angle of electric car, in conjunction with the wheel spacing and front-wheel of electric car
With the wheelbase of rear-wheel, calculates and obtain the turning radius that coaxial driving wheel and the axis are virtually taken turns；
Speed accounting calculates module: the turning radius for virtually taking turns according to the coaxial driving wheel of electric car and the axis,
It calculates and obtains the coaxial driving wheel of electric car compared to the speed accounting that the axis is virtually taken turns；It is obtained coaxially specifically, calculating
The ratio for the turning radius that the outboard wheel and nearside wheel of driving wheel are virtually taken turns with the axis respectively, or calculate and obtain the outer of driving wheel
Side wheel and the nearside wheel ratio with the rear turning radius virtually taken turns respectively, are compared as the driving wheel outboard wheel with nearside wheel respectively
In the speed accounting virtually taken turns；
It offsets proportion computing module: for the quality according to electric car, calculating and obtain the coaxial driving wheel of electric car
Compared to the counteracting proportion for the counteracting centrifugal force effect that the axis is virtually taken turns；
Wheel power proportion measuring and calculating module: for turning radius, the speed accounting according to the coaxial driving wheel of electric car
The turning radius virtually taken turns with counteracting proportion and the axis calculates and obtains electric car driving wheel on the basis of compensation speed difference
The power that centrifugal force effect is offset in superposition distributes accounting；Wherein, when electric car is front-wheel drive or rear wheel drive, according to same
The turning radius that turning radius, speed accounting and the counteracting proportion of the driving wheel of axis and the axis are virtually taken turns, obtains outside driving wheel
Side wheel and nearside wheel virtually take turns the speed that centrifugal force effect is offset in superposition on the basis of compensation speed is poor compared to the axis respectively,
Then, according to the speed of the driving wheel outboard wheel and nearside wheel, the power phase of the driving wheel outboard wheel and nearside wheel is obtained respectively
Power than total output power in the driving wheel distributes accounting；When electric car is four-wheel drive, according to turning for driving wheel
Curved radius, speed accounting and the turning radius offsetting proportion and virtually taking turns afterwards obtain driving wheel outboard wheel and nearside wheel difference
Compared to the speed that centrifugal force effect is offset in rear virtual wheel superposition on the basis of compensation speed is poor, then, according to the driving wheel
The speed of outboard wheel and nearside wheel, the power for obtaining the driving wheel outboard wheel and nearside wheel respectively are total defeated compared to the driving wheel
The power of power distributes accounting out；
Power distribution module: for distributing accounting according to power of the aforementioned electric car driving wheel under the steering angle,
The driving power of each driving wheel is distributed accordingly, to control the output torque of the driving motor of each driving wheel, so that electronic vapour
Vehicle stablizes traveling.
In front axle and the virtual wheel of rear shaft center's point setting, turning radius is obtained by angle of turn and wheelbase, with mathematics
The formula of triangle calculates the triangle relation that steering angle and wheelbase and rear axle are formed, and obtains nearside wheel (with friendship in conjunction with wheel spacing
The most short wheel of meeting point distance generally after nearside wheel) and outboard wheel velocity ratio, and be that speed is basic with virtual wheel, pass through the vehicle
Quality and real-time speed calculate, offset on the basis of the proportion of compensation speed difference be centrifuged dynamic gravimetric, by setting
It sets, the power of driving wheel can be arranged and almost be equal with turning speed compensation and counteracting centrifugal action, reach more stable traveling
Posture.
Four motors (4 wheel driven) power distribution setting under the conditions of full-time four-wheel drive is constant, in conjunction with the ratio before and after the car body weight
Weight, distributes power to rear axle or front axle under the conditions of certain.Specifically: 1: in high speed section by power transmission to rear axle, with
What is driven and turned to does not interfere；2: in rain and snow, according to the specific gravity of the most of automobile front axle characteristic high compared with rear axle,
Power transmission is to the higher axis of center of gravity.
Due to the adoption of the above technical scheme, the invention has the following advantages:
1. the present invention optimizes electric automobile during traveling, solves the outboard wheel power of quasi-complement steering in the process of moving and lack
It loses, offsets car mass and have inertia and lead to turn to offset, reach more stable driving posture.
2. the present invention enhances bi-motor (forerunner/rear-guard) or four motors (4 wheel driven) by adjusting power distribution in real time with this
Driving process stabilization and certain safety auxiliary.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is triangle relation schematic diagram of the invention.
Fig. 3 is system block diagram of the invention.
In attached drawing, D is wheelbase, and E is wheel spacing, and F is front axle, and G is rear axle, and Y is diagram right direction, and Z is diagram left direction.
Specific embodiment
It is further illustrated below in conjunction with specific implementation of the attached drawing to invention.
Electric car configured with entire car controller and connect with entire car controller drive control device, rotation direction sensor,
Speed acquisition device etc., and the power supply system of power supply is provided, speed acquisition device detects wheel real-time speed, rotation direction sensor detection
Steering angle of wheel, drive control device are used to control the speed of hub motor (driving motor) driving wheel, and entire car controller is used
After receiving the processing of the data union such as speed and steering angle, distributes the power such as revolving speed to instruction and exports to drive control device,
To control the power of each wheel.It is following to will be explained in detail.
As shown in Figure 1-Figure 3, electric car dynamic stabilization system, comprising:
Turning radius computing module: there are preceding virtual wheel corresponding with front-wheel, rear shaft center for defining at front axle center point
There is rear virtual wheel corresponding with rear-wheel at point, according to the steering angle of electric car, in conjunction with the wheel spacing and front-wheel of electric car
With the wheelbase of rear-wheel, calculates and obtain the turning radius that coaxial driving wheel and the axis are virtually taken turns；
Speed accounting calculates module: the turning radius for virtually taking turns according to the coaxial driving wheel of electric car and the axis,
It calculates and obtains the coaxial driving wheel of electric car compared to the speed accounting that the axis is virtually taken turns；It is obtained coaxially specifically, calculating
The ratio for the turning radius that the outboard wheel and nearside wheel of driving wheel are virtually taken turns with the axis respectively, or calculate and obtain the outer of driving wheel
Side wheel and the nearside wheel ratio with the rear turning radius virtually taken turns respectively, are compared as the driving wheel outboard wheel with nearside wheel respectively
In the speed accounting virtually taken turns；
It offsets proportion computing module: for the quality according to electric car, calculating and obtain the coaxial driving wheel of electric car
Compared to the counteracting proportion for the counteracting centrifugal force effect that the axis is virtually taken turns；
Wheel power proportion measuring and calculating module: for turning radius, the speed accounting according to the coaxial driving wheel of electric car
The turning radius virtually taken turns with counteracting proportion and the axis calculates and obtains electric car driving wheel on the basis of compensation speed difference
The power that centrifugal force effect is offset in superposition distributes accounting；Wherein, when electric car is front-wheel drive or rear wheel drive, according to same
The turning radius that turning radius, speed accounting and the counteracting proportion of the driving wheel of axis and the axis are virtually taken turns, obtains outside driving wheel
Side wheel and nearside wheel virtually take turns the speed that centrifugal force effect is offset in superposition on the basis of compensation speed is poor compared to the axis respectively,
Then, according to the speed of the driving wheel outboard wheel and nearside wheel, the power phase of the driving wheel outboard wheel and nearside wheel is obtained respectively
Power than total output power in the driving wheel distributes accounting；When electric car is four-wheel drive, according to turning for driving wheel
Curved radius, speed accounting and the turning radius offsetting proportion and virtually taking turns afterwards obtain driving wheel outboard wheel and nearside wheel difference
Compared to the speed that centrifugal force effect is offset in rear virtual wheel superposition on the basis of compensation speed is poor, then, according to the driving wheel
The speed of outboard wheel and nearside wheel, the power for obtaining the driving wheel outboard wheel and nearside wheel respectively are total defeated compared to the driving wheel
The power of power distributes accounting out；
Power distribution module: for distributing accounting according to power of the aforementioned electric car driving wheel under the steering angle,
The driving power of each driving wheel is distributed accordingly, to control the output torque of the driving motor of each driving wheel, so that electronic vapour
Vehicle stablizes traveling.
It is following to will be explained in detail its treatment process referring to Fig. 1 and Fig. 2:
The first step has preceding virtual wheel corresponding with front-wheel, virtually takes turns out afterwards corresponding with rear-wheel at virtual wheel before defining
Virtual wheel afterwards, according to the steering angle of electric car, in conjunction with the wheel spacing and front-wheel of electric car and the wheelbase of rear-wheel, calculating is obtained
Obtain the turning radius that driving wheel (front-wheel and/or rear-wheel) and the axis coaxially virtually takes turns (preceding virtual wheel and/or rear virtual wheel).Turn
It is detected to sensor and obtains steering angle, entire car controller receives steering angle and then presses pre-set programs processing.
In electric car turning, front-wheel is ∠ A steering with steering angle, and front-wheel is ∠ A steering, preceding void with steering angle
The extension line of the axis extension line and rear nearside wheel C2 axis of quasi- wheel B is intersected in point O, and joint O is turning for the steering angle
To center.Outboard wheel C1, rear nearside wheel C2, preceding outboard wheel C3, preceding nearside wheel C4, preceding virtual wheel B and rear virtual wheel B1 can be with afterwards
Joint O forms triangle relation.Preceding outboard wheel and rear outboard wheel and joint angle ∠ C3OC1 are ∠ 1, preceding virtual wheel and rear void
Quasi- wheel is ∠ 2, preceding nearside wheel and rear nearside wheel with joint angle ∠ BOB1 and joint angle ∠ C4OC2 is ∠ 3.Wherein,
It is aftermentioned to be illustrated in the case where no rear-axle steering, at this point, ∠ C4C2O is right angle.Referring to Fig. 1 and Fig. 2, tool
Body is as follows:
Joint O to front axle center point distance RBThe turning radius of virtual wheel B, R before asB=D ÷ sin ∠ 2；
The distance R of joint O axis center into preceding nearside wheelC4The turning radius of as preceding nearside wheel C4, RC4=D ÷ sin
∠3；
The distance R of joint O axis center into preceding outboard wheelC3The turning radius of as preceding outboard wheel C3, RC4=D ÷ sin
∠1；
Joint O to rear shaft center's point distance RB1The turning radius of virtual wheel B1, R after asB1=D*cot ∠ 2；
The distance R of joint O axis center into rear nearside wheelC2The turning radius of nearside wheel C2 after as,
The distance R of joint O axis center into rear outboard wheelC1The turning radius of outboard wheel C1 after as,
Wherein, ∠ 2=∠ A,D is the wheelbase of front-wheel and rear-wheel, after E is
The wheel spacing of wheel.The steering angle ∠ A that the present invention program is suitable for front-wheel is greater than 0 ° and less than 90 °.
Second step calculates according to the turning radius that the coaxial driving wheel of electric car and the axis are virtually taken turns and obtains electronic vapour
The coaxial driving wheel of vehicle is compared to the speed accounting that the axis is virtually taken turns.Calculate the outboard wheel and nearside wheel for obtaining coaxial driving wheel
The ratio for the turning radius virtually taken turns with the axis respectively, or calculate obtain driving wheel outboard wheel and nearside wheel respectively with rear void
The ratio of the turning radius of quasi- wheel, as the driving wheel outboard wheel and nearside wheel respectively compared to the speed accounting virtually taken turns；
Specifically, calculating the turning radius for obtaining coaxial outboard wheel and nearside wheel when electric car is front-wheel drive or rear wheel drive
Difference virtually takes turns the ratio of turning radius with the axis, respectively as coaxial outboard wheel and nearside wheel compared to the speed that the axis is virtually taken turns
Accounting；And when electric car is four-wheel drive, the turning radius for obtaining each wheel and virtually taking turns, each wheel difference
Compared to the turning radius ratio coaxially virtually taken turns, respectively as each wheel compared to the speed accounting that the axis is virtually taken turns.
One carriage turning virtually takes turns B axis before front axle under conditions of front-wheel is responsible for turning to and not having rear-axle steering
Extended line and turning benchmark of the rear axle extended axis of the horse joint O as the vehicle, the speed of four wheels is to hand over when steering
The speed difference formed on the basis of meeting point O.And coaxial outside wheel speed vOutsideWith its inside wheel speed vIt is interiorDifference calculates public in conjunction with arc length
Formula can obtain vOutside/vIt is interior=ROutside/RIt is interiorIf coaxial another wheel velocity can be calculated known to radius by a wheel velocity.After calculating
Out, when electric car is forerunner, preceding outboard wheel and preceding nearside wheel are respectively relative to the default speed for taking turns B and obtain a ratio；Electricity
When electrical automobile is rear-guard, rear outboard wheel and rear nearside wheel are respectively relative to the speed that default rear axle virtually takes turns B1 and obtain a ratio
Value；When electric car is 4 wheel driven, the speed that four driving wheels are respectively relative to rear virtual wheel B1 obtains ratio.Wherein, specific speed
The calculation formula for spending accounting is as follows:
Preceding outboard wheel is compared to the preceding speed accounting virtually taken turns
Preceding nearside wheel is compared to the preceding speed accounting virtually taken turns
Outboard wheel is compared to the rear speed accounting virtually taken turns afterwards
Nearside wheel is compared to the rear speed accounting virtually taken turns afterwards
Preceding outboard wheel is compared to the rear speed accounting virtually taken turns
Preceding nearside wheel is compared to the rear speed accounting virtually taken turns
It is virtual compared to the axis to calculate the coaxial driving wheel of acquisition electric car according to the quality of electric car for third step
The counteracting proportion of the counteracting centrifugal force effect of wheel.
Due to inertia, automobile is travelled with certain speed to be generated centrifugal force when turning to and acts on, if understeer may because from
Mental power function and go out road surface, if ovdersteering may because centrifugal force act on due to flip outward, lead to vehicle derailing steering angle
Degree, causes uncertain driving trace, therefore, it is necessary to be offset.
Certainly, due to taking onboard, or cargo is loaded, at this point, the quality of electric car is in addition to including electric car
Outside this weight, also the load-carryings such as all passengers should also be figured in, can estimate load-carrying in advance or by pressure sensor or
Weight sensor etc. detects seat and boot weight to obtain load-carrying, to obtain more accurately gross mass, and then passes through setting
Gross mass and preset relational expression obtain being more in line with actual counteracting proportion.This step can also be placed in first two steps it is rapid before.
4th step according to the turning radius of the coaxial driving wheel of electric car, speed accounting and offsets proportion and the axis
The turning radius of central point calculates and obtains superposition counteracting centrifugal force effect on the basis of compensation speed difference of electric car driving wheel
Power distribute accounting；Wherein, when electric car is front-wheel drive or rear wheel drive, according to the turning of coaxial driving wheel half
The turning radius of diameter, speed accounting and counteracting proportion and the axis center point, obtains driving wheel outboard wheel and nearside wheel distinguishes phase
The speed for offsetting centrifugal force effect is superimposed on the basis of compensation speed is poor compared with the axis center point, (that is, driving wheel outboard wheel adds
The value of upper counteracting proportion is to offset centrifugal force, and its nearside wheel subtracts the same value for offsetting proportion in the form of equilibrium valve), so
Afterwards, according to the speed of the driving wheel outboard wheel and nearside wheel, the driving wheel outboard wheel is obtained respectively and is compared with the power of nearside wheel
Accounting is distributed in the power of total output power of the driving wheel；When electric car is four-wheel drive, according to the turning of driving wheel
Radius, speed accounting and the turning radius offsetting proportion and virtually taking turns afterwards, obtain driving wheel outboard wheel and nearside wheel distinguishes phase
Compared with the speed that centrifugal force effect is offset in rear virtual wheel superposition on the basis of compensation speed is poor, then, according to outside the driving wheel
The speed of side wheel and nearside wheel obtains total output of the power compared to the driving wheel of the driving wheel outboard wheel and nearside wheel respectively
The power of power distributes accounting.
It has been observed that driving wheel is poor in addition to compensation speed, also a ratio is inputted to offset in conjunction with body quality and speed
Centrifugal force effect, although the speed of front-wheel and rear-wheel is inconsistent, in order to offset centrifugal force, relative to corresponding front axle and rear axle
The ratio of the speed of central point, input is consistent.
In the present invention, offsets centrifugal force and be divided into two parts, first part is the value that outboard wheel adds counteracting proportion, interior
Side wheel subtracts the same value for offsetting proportion in the form of equilibrium valve, to offset centrifugal force；Proportion is offset by one determined power of setting,
So that each driving wheel by a determined power proportion operation, to distribute driving motor output torque, force outside wheel speed increase and
Inside wheel speed is reduced accordingly, forms a deflection torque, to offset centrifugal force, so that automobile turns to row by preset direction
It sails.That is, the distribution of its power can actually be calculated by each driving wheel velocity ratio, and therefore, the meter of driving wheel power distribution proportion
It is as follows to calculate formula:
When electric car is front-wheel drive, preceding virtual wheel speed is v, and centrifugation is offset in superposition on the basis of compensation speed difference
Under force conditions, preceding outside wheel speed is vC3=v*i1+v*i1* k, preceding inside wheel speed are vC4=v*i2-v*i2* k, in turn
The velocity ratio v of outboard wheel and preceding nearside wheel before obtainingC3: vC4As its power ratio, therefore, the power of preceding outboard wheel distribute
Accounting is q13=vC3÷(vC3+vC4) * 100%=(i1+i1*k)÷(i1+i1*k+i2-i2* k) * 100%, the power of preceding nearside wheel
Distribution accounting is q14=vC4÷(vC3+vC4) * 100%=(i2-i2*k)÷(i1+i1*k+i2-i2* k) * 100%；
When electric car is rear wheel drive, rear virtual wheel speed is v1, compensation speed difference on the basis of superposition offset from
Under the conditions of mental power function, rear outside wheel speed vC1=v1*j1+v1*j1* k, rear inside wheel speed vC2=v1*j2-v1*j2* k, in turn
Obtain the velocity ratio v of rear outboard wheel Yu rear nearside wheelC1: vC2As its power ratio, therefore, the power of rear outboard wheel distribute
Accounting is q21=vC1÷(vC1+vC2) * 100%, the power distribution accounting of rear nearside wheel is q22=vC2÷(vC1+vC2) * 100%.
When electric car is four-wheel drive, rear virtual wheel speed is v2, compensation speed difference on the basis of superposition offset from
Under the conditions of mental power function, preceding outside wheel speed is vC3=v2*j3+v2*j3* k, preceding inside wheel speed are vC4=v2*j4-v2*j4* k,
Outside wheel speed v afterwardsC1=v2*j1+v2*j1* k, rear inside wheel speed vC2=v2*j2-v2*j2*k；And then obtain the speed of four wheels
Spend ratio vC1: vC2: vC3: vC4As its power ratio, therefore, preceding outboard wheel power distribution accounting is q33=vC3÷(vC1+vC2+
vC3+vC4) * 100%, preceding nearside wheel power distribution accounting is q34=vC4÷(vC1+vC2+vC3+vC4) * 100%, rear outside is moved in turn
It is q that power, which distributes accounting,31=vC1÷(vC1+vC2+vC3+vC4) * 100%, rear nearside wheel power distributes accounting q32=vC2÷(vC1+vC2
+vC3+vC4) * 100%.
Wherein, k is the power counteracting proportion for offsetting centrifugal force effect.
5th step distributes accounting according to power of the aforementioned electric car driving wheel under the steering angle, and distribution is each accordingly
The driving power of a driving wheel controls the revolving speed of each driving wheel to control the output torque of the driving motor of each driving wheel,
So that electric car stablizes traveling.
As above-mentioned, under forerunner, rear-guard or 4 wheel driven, it can be concluded that each driving wheel speed arrives this turn than series of fortified passes system
The power of each driving wheel under to angle distributes ratio；Ratio is distributed based on the power again, the driving that driver inputs is moved
Power total amount is converted into the driving powertrain components of each driving wheel, completes driving power ratio process.Aforementioned driving power is electric energy,
Drive control device is sent instructions to after each driving wheel electric energy output of entire car controller conversion, drive control device controls electric energy
To the output torque of the hub motor of front-wheel and rear-wheel, to control the revolving speed of corresponding wheel, a centripetal force is formed, so that electric
Electrical automobile stable turning.
Under electric car driving wheel speedometer calculates design parameter for example: D=2600mm, E=1600mm, k=0.05 are set, it is preceding
It takes turns to Y-direction with ∠ A=30 ° steering, then, ∠ OC2C4 is right angle in the case where no rear-axle steering, so ∠ 3=∠ A=
30 °, so aforementioned formula is combined to carry out operation.Forerunner, rear-guard or 4 wheel driven are first selected, according to corresponding turning radius calculating formula,
Certainly Pythagorean theorem also can be used, the turning radius of front-wheel and rear-wheel, R can be obtainedC4=4524.8943mm, RC3=
5906.3606mm RB=5200.0000mm, RC1=5303.3321mm, RC2=3703.3321mm, RB1=4503.3321mm.
And then according to selected forerunner, rear-guard or 4 wheel driven, the speed accounting i for obtaining front-wheel and rear-wheel in the case where meeting compensation condition is calculated1、
i2、j1And j2Deng；And then obtain the speed v for forerunner's driving wheel that superposition is offset after centrifugal force effectC3And vC4Or rear-guard driving wheel
Speed vC1And vC1Or four wheel velocities.In turn, power accounting is obtained；When such as forerunner, preceding outboard wheel power accounting
59.0618%, preceding nearside wheel power accounting 40.9382%；When rear-guard, rear outboard wheel power accounting 61.2821%, rear nearside wheel
Power accounting 38.7179%.Wherein, 3=35.4 ° of ∠ 1=26.7 °, ∠.Moreover, only giving some parameters herein calculates knot
Fruit, and partial results take approximate number, other numerical value can refer to aforementioned specific calculating formula operation.
As an option, in one example, which further includes trained matching module, for setting a series of electronic vapour
The steering angle parameter value of vehicle, the corresponding power distribution accounting for training a series of each driving wheel；And in electric car
When driving according to the steering angle of electric car, directly matching is associated with corresponding power under the steering angle and distributes accounting, so that
Power distribution module distributes driving power according to the power relations of distribution of each driving wheel, to control the driving electricity of each driving wheel
The output torque of machine controls the revolving speed of each driving wheel, so that electric car stablizes traveling.Wherein, which is
Each driving wheel accounts for total driving power ratio of input, is directly converted into each driving vehicle based on steering angle and total driving power
Drive power.It is specific as follows are as follows:
It sets vehicle to travel in speed v0, first with ∠ A0 steering, the power relations of distribution of each driving wheel can be calculated at this time,
With stable steering, then with the steering angle increment repetition training of ∠ A1 obtain wheel with ∠ A0+n ∠ A1 steering when power distribution
Relationship simultaneously stores after simplifying；Then, in motion, the steering angle is corresponded directly to, corresponding power distribution accounting point is substituted into
Match.So in motor turning, instant processing routine is reduced, enhances calculation process output speed, it is more stable conducive to automobile
It turns to.
It certainly, can also be direct under the conditions of known vehicle wheelbase, wheel spacing, front-wheel steer, rear-axle steering or all-wheel steering
In speed acquisition device plug-in, outboard wheels can be directly calculated compared with parameters such as the speed differences of inboard wheel.
As above-mentioned, in the case where stablizing Driving Scene, driving power is allocated, Optimization Compensation speed difference and counteracting automobile matter
Measurer, which causes to turn to for inertia, to be deviated, and more stable driving posture is reached.Certainly, it under high driving pleasure scene, can also incite somebody to action
The setting of driving wheel power is more than that turning speed compensates and offset centrifugal force effect, reaches appropriate ovdersteering, is formed certain
Drift, can be improved driving pleasure.
Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, it is all the present invention suggested by technical spirit under completed same changes or modifications change, should all belong to
In the covered the scope of the patents of the present invention.
Claims (6)
1. a kind of electric car dynamic stabilization system characterized by comprising
Turning radius computing module: there are preceding virtual wheel corresponding with front-wheel, rear shaft center Dian Chu for defining at front axle center point
Have it is corresponding with rear-wheel after virtual wheel, according to the steering angle of electric car, in conjunction with electric car wheel spacing and front-wheel with after
The wheelbase of wheel calculates and obtains the turning radius that coaxial driving wheel and the axis are virtually taken turns；
Speed accounting calculates module: the turning radius for virtually taking turns according to the coaxial driving wheel of electric car and the axis, calculates
The coaxial driving wheel of electric car is obtained compared to the speed accounting that the axis is virtually taken turns；Coaxial driving is obtained specifically, calculating
The ratio for the turning radius that the outboard wheel and nearside wheel of wheel are virtually taken turns with the axis respectively, or calculate the outboard wheel for obtaining driving wheel
With the nearside wheel ratio with the rear turning radius virtually taken turns respectively, as the driving wheel outboard wheel and nearside wheel respectively compared to this
The speed accounting virtually taken turns；
It offsets proportion computing module: for the quality according to electric car, calculating the coaxial driving wheel of acquisition electric car and compare
In the counteracting proportion for the counteracting centrifugal force effect that the axis is virtually taken turns；
Wheel power proportion measuring and calculating module: for according to the turning radius of the coaxial driving wheel of electric car, speed accounting and supporting
The turning radius that the proportion that disappears and the axis are virtually taken turns calculates acquisition electric car driving wheel and is superimposed on the basis of compensation speed difference
The power for offsetting centrifugal force effect distributes accounting；
Power distribution module: for distributing accounting according to power of the aforementioned electric car driving wheel under the steering angle, accordingly
The driving power of each driving wheel is distributed, to control the output torque of the driving motor of each driving wheel, so that electric car is steady
Fixed traveling.
2. electric car dynamic stabilization system according to claim 1, it is characterised in that: the wheel power proportion measuring and calculating
Module particular content is as follows:
When electric car is front-wheel drive or rear wheel drive, according to the turning radius of coaxial driving wheel, speed accounting and support
The turning radius that the proportion that disappears and the axis are virtually taken turns, obtains driving wheel outboard wheel and nearside wheel is virtually taken turns compared to the axis respectively
The speed of centrifugal force effect is offset in superposition on the basis of compensation speed difference, then, according to the driving wheel outboard wheel and nearside wheel
Speed, the power for obtaining the driving wheel outboard wheel and nearside wheel respectively are distributed compared to the power of total output power of the driving wheel
Accounting；
When electric car is four-wheel drive, matched according to the turning radius of driving wheel, speed accounting and counteracting and rear virtual
The turning radius of wheel obtains driving wheel outboard wheel and nearside wheel and folds on the basis of compensation speed is poor compared to rear virtual wheel respectively
The speed for offsetting centrifugal force effect is added then according to the speed of the driving wheel outboard wheel and nearside wheel, to obtain the driving wheel respectively
The power of outboard wheel and nearside wheel distributes accounting compared to the power of total output power of the driving wheel.
3. electric car dynamic stabilization system according to claim 2, it is characterised in that: the wheel power proportion measuring and calculating
In module, preceding virtual wheel turning radius is RB, rear virtual wheel turning radius is RB1, RC4For preceding nearside wheel turning radius, RC3It is preceding
Outboard wheel turning radius, RC2For rear nearside wheel turning radius, RC1For rear outboard wheel turning radius, then the power of each driving wheel
The calculating process for distributing accounting is as follows:
When electric car is front-wheel drive, preceding virtual wheel speed is v, and centrifugation masterpiece is offset in superposition on the basis of compensation speed difference
Under the conditions of, preceding outside wheel speed is vC3=v*i1+v*i1* k, preceding inside wheel speed are vC4=v*i2-v*i2* k, it is therefore, preceding outer
The power distribution accounting of side wheel is q13=vC3÷(vC3+vC4) * 100%, the power distribution accounting of preceding nearside wheel is q14=vC4÷
(vC3+vC4) * 100%；
When electric car is rear wheel drive, rear virtual wheel speed is v1, centrifugation masterpiece is offset in superposition on the basis of compensation speed difference
Under the conditions of, rear outside wheel speed vC1=v1*j1+v1*j1* k, rear inside wheel speed vC2=v1*j2-v1*j2* k, it is therefore, rear outer
The power distribution accounting of side wheel is q21=vC1÷(vC1+vC2) * 100%, the power distribution accounting of rear nearside wheel is q22=vC2÷
(vC1+vC2) * 100%；
When electric car is four-wheel drive, rear virtual wheel speed is v2, centrifugation masterpiece is offset in superposition on the basis of compensation speed difference
Under the conditions of, preceding outside wheel speed is vC3=v2*j3+v2*j3* k, preceding inside wheel speed are vC4=v2*j4-v2*j4* k, rear outside
Wheel speed vC1=v2*j1+v2*j1* k, rear inside wheel speed vC2=v2*j2-v2*j2*k；Therefore, preceding outboard wheel power distributes accounting
For q33=vC3÷(vC1+vC2+vC3+vC4) * 100%, preceding nearside wheel power distribution accounting is q34=vC4÷(vC1+vC2+vC3+
vC4) * 100%, rear outboard wheel power distribution accounting is q31=vC1÷(vC1+vC2+vC3+vC4) * 100%, rear nearside wheel power point
With accounting q32=vC2÷(vC1+vC2+vC3+vC4) * 100%；
Wherein, k is the counteracting proportion for offsetting the power of centrifugal force effect；Preceding outboard wheel is compared to the preceding speed accounting virtually taken turnsPreceding nearside wheel is compared to the preceding speed accounting virtually taken turnsOutboard wheel is accounted for compared to the rear speed virtually taken turns afterwards
ThanNearside wheel is compared to the rear speed accounting virtually taken turns afterwardsPreceding outboard wheel is compared to the rear speed virtually taken turns
AccountingPreceding nearside wheel is compared to the rear speed accounting virtually taken turns
4. electric car dynamic stabilization system according to claim 3, it is characterised in that: the turning of the front-wheel and rear-wheel
The calculating process of radius is as follows:
In electric car turning, front-wheel is ∠ A steering with steering angle, the axis extension line and rear nearside wheel of preceding virtual wheel B
The extension line of C2 axis is intersected in point O, joint O be the turning center of the steering angle, preceding outboard wheel and rear outboard wheel with
Joint angle ∠ C3OC1 is ∠ 1, and preceding virtual wheel and afterwards virtual wheel and joint angle ∠ BOB1 are ∠ 2, and preceding nearside wheel is with after
Nearside wheel and joint angle ∠ C4OC2 are ∠ 3, wherein ∠ C4C2O is right angle in the case where no rear-axle steering；
Joint O to front axle center point distance RBThe turning radius of virtual wheel B, R before asB=D ÷ sin ∠ 2；
The distance R of joint O axis center into preceding nearside wheelC4The turning radius of as preceding nearside wheel C4, RC4=D ÷ sin ∠ 3；
The distance R of joint O axis center into preceding outboard wheelC3The turning radius of as preceding outboard wheel C3, RC4=D ÷ sin ∠ 1；
Joint O to rear shaft center's point distance RB1The turning radius of virtual wheel B1, R after asB1=D*cot ∠ 2；
The distance R of joint O axis center into rear nearside wheelC2The turning radius of nearside wheel C2 after as,
The distance R of joint O axis center into rear outboard wheelC1The turning radius of outboard wheel C1 after as,
Wherein, ∠ 2=∠ A,D is the wheelbase of front-wheel and rear-wheel, and E is rear-wheel
Take turns spacing.
5. electric car dynamic stabilization system according to claim 4, it is characterised in that: the steering angle of the preceding nearside wheel
It spends ∠ A and is greater than 0 ° and less than 90 °.
6. electric car dynamic stabilization system according to claim 1, it is characterised in that: it further include trained matching module,
For setting the steering angle parameter value of a series of electric car, the corresponding power for training a series of each driving wheel point
With accounting；And in electric automobile during traveling, according to the steering angle of electric car, directly matching is associated with corresponding power point
With accounting, so that power distribution module distributes accounting distribution driving power according to the power of each driving wheel, to control each drive
The output torque of the driving motor of driving wheel, so that electric car stablizes traveling.
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