CN112140903A - Simple electronic differential chassis control system - Google Patents
Simple electronic differential chassis control system Download PDFInfo
- Publication number
- CN112140903A CN112140903A CN202010846709.9A CN202010846709A CN112140903A CN 112140903 A CN112140903 A CN 112140903A CN 202010846709 A CN202010846709 A CN 202010846709A CN 112140903 A CN112140903 A CN 112140903A
- Authority
- CN
- China
- Prior art keywords
- electronic
- wheel
- electronic differential
- control system
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000712 assembly Effects 0.000 claims abstract description 14
- 238000000429 assembly Methods 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 10
- 230000007246 mechanism Effects 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- 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
- B60L15/2036—Electric differentials, e.g. for supporting steering 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
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
Abstract
The invention discloses a simple electronic differential chassis control system which comprises a single-chip microcomputer electronic differential controller, an electronic steering wheel, an electronic accelerator, two driving motors, Hall encoders, speed reducers and wheel assemblies, wherein the number of the driving motors is two, the speed reducer is connected between each driving motor and each wheel assembly, the two driving motors respectively drive the corresponding wheel assemblies to provide forward power for the wheel assemblies, and the electronic steering wheel is an angle sensor in the shape of the steering wheel. This simple and easy electronic differential mechanism chassis control system can realize electronic chassis wheel rotational speed accurate control and independent control, simple structure, and mutual noninterference each other, and the error of greatly reduced mechanical differential mechanism in the control process realizes accurate regulation, small, low in manufacturing cost, machinery passes the merit loss little, can be fine be applicable to various small-size electric motor cars and use.
Description
Technical Field
The invention relates to the technical field of vehicle control systems, in particular to a simple electronic differential chassis control system.
Background
The electronic control of the chassis is developed with the high speed of the electronic technology, especially the large scale integrated circuit and microcomputer technology, the electronization degree of the automobile is higher and higher, the automobile chassis system also changes the previous mechanical structure which completely depends on a hydraulic or pneumatic actuating mechanism to transmit force, and starts to step into the electronic servo control stage, the electronic control technology of the chassis can be divided into drive control, brake control, steering control, body posture control and comprehensive control according to the automobile structure and the assembly control function, wherein the drive control technology comprises traction control, cruise control and the like, the brake control comprises anti-lock braking, auxiliary control of brake pressure and the like, the steering control comprises electric power steering, four-wheel steering control and the like, the body posture control comprises semi-active/active suspension, body height adjustment, anti-roll control and the like; the comprehensive control comprises antiskid control, stability control and the like.
The electronic differential mechanism is an extended function of the ABS and is used for identifying whether wheels of an automobile lose grounding friction force or not so as to control slipping wheels of the automobile, because the differential mechanism allows the wheels on two sides of a transmission shaft to rotate at different rotating speeds, if the wheels on one side of the transmission shaft slip or hang up, the wheels on the other side completely lack power, when an EDS electronic differential lock automatically detects the phenomenon that the rotating speeds of the wheels on two sides are different due to slipping or hanging of the wheels through a sensor of the ABS system, the wheels on the slipping side can be braked through the ABS system, so that driving force is effectively applied to the wheels on the non-slipping side, and the automobile can be ensured to start stably. When the running condition of the vehicle is recovered to be normal, the electronic differential lock stops acting. When two wheels of an automobile driving shaft start on the road surfaces with different adhesion coefficients respectively, for example, one driving wheel is on a dry asphalt road surface, the other driving wheel is on an ice surface, the EDS electronic differential lock can automatically detect the rotating speeds of the left wheel and the right wheel through a sensor of the ABS system, and when the rotating speeds of the wheels on two sides are different due to wheel slipping, the EDS system can brake the wheel on the slipping side through the ABS system, so that the driving force is effectively applied to the wheel on the non-slipping side, and the automobile is ensured to start stably.
The mechanical differential of the current chassis control system of the electronic differential has errors in the control process, cannot realize accurate adjustment, and has large volume, high manufacturing cost and large mechanical power transmission loss, thus being not suitable for various small electric vehicles.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a simple chassis control system of an electronic differential, which solves the problems that the existing mechanical differential has errors in the control process, cannot realize accurate adjustment, and is large in size, high in manufacturing cost, large in mechanical power transmission loss and not suitable for various small electric vehicles.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a simple and easy electronic differential mechanism chassis control system, includes singlechip electron differential controller, electron steering wheel, electron throttle, driving motor, hall encoder, reduction gear and wheel subassembly, driving motor's quantity is two, and every driving motor with all be connected with the reduction gear between the wheel subassembly, two driving motor drives respectively and corresponds the wheel subassembly provides the power that advances for it.
The electronic steering wheel is an angle sensor in the shape of a steering wheel, and transmits collected steering signals to the single-chip electronic differential controller to provide steering information for the single-chip electronic differential controller.
The electronic throttle is an accelerator-shaped angle sensor, and transmits acquired signals serving as a running speed set value into the single-chip electronic differential controller to serve as a basis for the chassis advancing speed.
The Hall encoder can accurately measure the rotating speed of the corresponding driving motor by calculating the number of pulses output by the Hall encoder per second.
Preferably, the wheel assembly is composed of four wheels, and the four wheels respectively include a left front universal wheel, a right front universal wheel, a left rear wheel and a right rear wheel, and the left rear wheel and the right rear wheel respectively correspond to one of the driving motors.
Preferably, the driving motor is a direct current motor, the model is MY1120ZXF, the rated voltage is 36V, the rated power is 350w, the rated rotating speed is 2000r/min, the performance is high, the excitation loss is avoided, the heat dissipation is easy, the service life is long, the operation is reliable, and the maintenance is simple and convenient.
Preferably, the single chip microcomputer model used by the single chip microcomputer electronic differential controller is STM32F103ZET 6.
Preferably, still include the lithium cell, the lithium cell with driving motor, hall encoder, the equal electric connection of electron differential controller and reduction gear for provide the power for each module.
Preferably, when the rotating direction is judged, the hall encoder is used for providing two paths of pulse signals with the phase difference of 90 degrees, and the electronic steering wheel and the electronic throttle are matched to control the steering and the speed of the vehicle, so that the differential speed control is realized.
(III) advantageous effects
The invention provides a simple electronic differential chassis control system. Compared with the prior art, the method has the following beneficial effects: the simple electronic differential chassis control system comprises a single-chip microcomputer electronic differential controller, an electronic steering wheel, an electronic throttle, two driving motors, Hall encoders, reducers and wheel assemblies, wherein the number of the driving motors is two, the reducers are connected between each driving motor and the wheel assemblies, the two driving motors respectively drive the corresponding wheel assemblies to provide advancing power for the wheel assemblies, the electronic steering wheel is a steering wheel-shaped angle sensor and transmits collected steering signals to the single-chip microcomputer electronic differential controller to provide steering information for the single-chip microcomputer electronic differential controller, the electronic throttle is an accelerator-shaped angle sensor and transmits the collected signals into the single-chip microcomputer electronic differential controller as driving speed set values to serve as the basis of the advancing speed of the chassis, and the Hall encoders can accurately measure the rotating speeds of the corresponding driving motors by calculating the number of pulses output by the Hall encoders per second, the electric chassis differential mechanism has the advantages that the accurate control and the independent control of the rotating speed of the wheels of the electric chassis can be realized, the structure is simple, mutual noninterference is realized, the error of the mechanical differential mechanism in the control process is greatly reduced, the accurate adjustment, the size is small, the manufacturing cost is low, the mechanical power transmission loss is small, and the electric chassis differential mechanism is suitable for various small electric vehicles and can be used well.
Drawings
FIG. 1 is a schematic block diagram of the architecture of the system of the present invention.
In the figure, 1 a single chip microcomputer electronic differential controller, 2 an electronic steering wheel, 3 an electronic throttle, 4 a driving motor, 5 a Hall encoder, 6 a speed reducer, 7 wheel assemblies, 71 a left front universal wheel, 72 a right front universal wheel, 73 a left rear wheel and 74 a right rear wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a technical solution: a simple electronic differential chassis control system comprises a single-chip electronic differential controller 1, an electronic steering wheel 2, an electronic throttle 3, driving motors 4, a Hall encoder 5, a speed reducer 6 and wheel assemblies 7, wherein the single-chip electronic differential controller 1 uses a single-chip model STM32F103ZET6, the number of the driving motors 4 is two, the speed reducer 6 is connected between each driving motor 4 and each wheel assembly 7, the two driving motors 4 respectively drive the corresponding wheel assemblies 7 to provide forward power for the wheel assemblies, each wheel assembly 7 consists of four wheels and respectively comprises a left front universal wheel 71, a right front universal wheel 72, a left rear wheel 73 and a right rear wheel 74, the left rear wheel 73 and the right rear wheel 74 respectively correspond to one driving motor 4, the driving motors 4 adopt direct current motors with models of MY1120ZXF, rated voltage 36V, rated power 350w and rated rotating speed 2000r/min, its advantages are high performance, no exciting loss, easy radiation, long service life, reliable running and simple maintenance.
The electronic steering wheel 2 is an angle sensor in the shape of a steering wheel, transmits collected steering signals to the single-chip electronic differential controller 1, and provides steering information for the single-chip electronic differential controller.
The electronic throttle 3 is an accelerator-shaped angle sensor, and transmits the acquired signal as a running speed set value into the single-chip electronic differential controller 1 as a basis for the chassis advancing speed.
The rotating speed of the corresponding driving motor 4 can be accurately measured by the Hall encoder 5 through calculating the number of pulses output by the Hall encoder 5 per second, and when the rotating direction is judged, the Hall encoder 5 is used for providing two paths of pulse signals with the phase difference of 90 degrees and is matched with the electronic steering wheel 2 and the electronic throttle 3 to control the steering and the vehicle speed, so that the differential control is realized.
The invention also comprises a lithium battery which is electrically connected with the driving motor 4, the Hall encoder 5, the electronic differential controller 1 and the speed reducer 6 and used for providing power for each module.
In conclusion, the invention can realize the accurate control and the independent control of the rotating speed of the wheel of the electric chassis, has simple structure and no mutual interference, greatly reduces the error of the mechanical differential in the control process, realizes the accurate adjustment, has small volume, low manufacturing cost and small mechanical power transmission loss, and can be well suitable for various small-sized electric vehicles.
And those not described in detail in this specification are well within the skill of those in the art.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A simple electronic differential chassis control system is characterized in that: the device comprises a single-chip microcomputer electronic differential controller (1), an electronic steering wheel (2), an electronic throttle (3), two driving motors (4), a Hall encoder (5), a speed reducer (6) and wheel assemblies (7), wherein the number of the driving motors (4) is two, the speed reducer (6) is connected between each driving motor (4) and each wheel assembly (7), and the two driving motors (4) respectively drive the corresponding wheel assemblies (7) to provide advancing power for the wheel assemblies;
the electronic steering wheel (2) is a steering wheel-shaped angle sensor, and transmits the collected steering signals to the single-chip electronic differential controller (1) to provide steering information for the single-chip electronic differential controller;
the electronic throttle (3) is an accelerator-shaped angle sensor, and transmits the acquired signal as a running speed set value into the single-chip electronic differential controller (1) to be used as a basis for the chassis advancing speed;
the Hall encoder (5) can accurately measure the rotating speed of the corresponding driving motor (4) by calculating the number of pulses output by the Hall encoder (5) per second.
2. A simplified electronic differential chassis control system as set forth in claim 1, wherein: the wheel assembly (7) is composed of four wheels and respectively comprises a left front universal wheel (71), a right front universal wheel (72), a left rear wheel (73) and a right rear wheel (74), and the left rear wheel (73) and the right rear wheel (74) respectively correspond to the driving motors (4).
3. A simplified electronic differential chassis control system as set forth in claim 1, wherein: the driving motor (4) adopts a direct current motor, the model is MY1120ZXF, the rated voltage is 36V, the rated power is 350w, and the rated rotating speed is 2000 r/min.
4. A simplified electronic differential chassis control system as set forth in claim 1, wherein: the single chip microcomputer model used by the single chip microcomputer electronic differential controller (1) is STM32F103ZET 6.
5. A simplified electronic differential chassis control system as set forth in claim 1, wherein: the lithium battery is electrically connected with the driving motor (4), the Hall encoder (5), the electronic differential controller (1) and the speed reducer (6) and used for providing power for each module.
6. A simplified electronic differential chassis control system as set forth in claim 1, wherein: when the rotating direction is judged, the Hall encoder (5) is used for providing two paths of pulse signals with the phase difference of 90 degrees, and the electronic steering wheel (2) and the electronic throttle (3) are matched to control the steering and the speed of the vehicle, so that the differential speed control is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846709.9A CN112140903A (en) | 2020-08-21 | 2020-08-21 | Simple electronic differential chassis control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010846709.9A CN112140903A (en) | 2020-08-21 | 2020-08-21 | Simple electronic differential chassis control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112140903A true CN112140903A (en) | 2020-12-29 |
Family
ID=73888841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010846709.9A Pending CN112140903A (en) | 2020-08-21 | 2020-08-21 | Simple electronic differential chassis control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112140903A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167082A (en) * | 2011-03-21 | 2011-08-31 | 武汉理工大学 | Difference active steering system of electric wheel driving automobile and control method thereof |
| CN103112367A (en) * | 2013-03-01 | 2013-05-22 | 西南大学 | Driving control system of electric automobile with rear wheels driven by independent motors |
| CN203246319U (en) * | 2013-05-11 | 2013-10-23 | 安徽安凯汽车股份有限公司 | Motor driving control system of pure electric bus |
| CN104192207A (en) * | 2014-08-13 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Electronic differential mechanism control system based on FPGA technology and having fault-tolerant capability and control method of electronic differential mechanism control system |
| CN106864306A (en) * | 2017-02-21 | 2017-06-20 | 长沙理工大学 | A kind of distributed-driving electric automobile multi-mode electronic differential control system |
| CN108860296A (en) * | 2018-08-24 | 2018-11-23 | 厦门理工学院 | Electric car electronic differential control system and electric car based on steering angle closed loop |
| CN109130884A (en) * | 2018-08-27 | 2019-01-04 | 泸州开士乐工程技术有限责任公司 | A kind of E-Diff control system |
| CN208411970U (en) * | 2018-06-28 | 2019-01-22 | 武汉科技大学 | A kind of three-wheeled electric vehicle of having electronic differential steering system |
| KR20190067417A (en) * | 2017-12-07 | 2019-06-17 | 두산인프라코어 주식회사 | Control device and method for wheel slip of construction machinery |
-
2020
- 2020-08-21 CN CN202010846709.9A patent/CN112140903A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167082A (en) * | 2011-03-21 | 2011-08-31 | 武汉理工大学 | Difference active steering system of electric wheel driving automobile and control method thereof |
| CN103112367A (en) * | 2013-03-01 | 2013-05-22 | 西南大学 | Driving control system of electric automobile with rear wheels driven by independent motors |
| CN203246319U (en) * | 2013-05-11 | 2013-10-23 | 安徽安凯汽车股份有限公司 | Motor driving control system of pure electric bus |
| CN104192207A (en) * | 2014-08-13 | 2014-12-10 | 济宁中科先进技术研究院有限公司 | Electronic differential mechanism control system based on FPGA technology and having fault-tolerant capability and control method of electronic differential mechanism control system |
| CN106864306A (en) * | 2017-02-21 | 2017-06-20 | 长沙理工大学 | A kind of distributed-driving electric automobile multi-mode electronic differential control system |
| KR20190067417A (en) * | 2017-12-07 | 2019-06-17 | 두산인프라코어 주식회사 | Control device and method for wheel slip of construction machinery |
| CN208411970U (en) * | 2018-06-28 | 2019-01-22 | 武汉科技大学 | A kind of three-wheeled electric vehicle of having electronic differential steering system |
| CN108860296A (en) * | 2018-08-24 | 2018-11-23 | 厦门理工学院 | Electric car electronic differential control system and electric car based on steering angle closed loop |
| CN109130884A (en) * | 2018-08-27 | 2019-01-04 | 泸州开士乐工程技术有限责任公司 | A kind of E-Diff control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101939196B (en) | System for controlling a vehicle with determination of the speed thereof relative to the ground | |
| CN101088818B (en) | Antiskid control system and method for electromobile | |
| CN102219018B (en) | The system of propulsive effort is distributed in vehicle | |
| CN102658812B (en) | Composite braking phase plane anti-lock control method for electrical driven automobile | |
| CN103612634B (en) | The evaluation method of distributing In-wheel motor driving electronlmobil coefficient of road adhesion | |
| CN104276155B (en) | It is a kind of based on left and right Electric Motor Wheel it is differential/the Control of Electric Vehicles method of control for brake | |
| CN110103725B (en) | Distributed driving automobile stability control method based on hub motor rotating speed signal | |
| CN101519040A (en) | Double-motor skidproof differential drive axle of electric automobile | |
| CN110466361B (en) | Vehicle control unit of pure electric vehicle driven by two-wheel hub motor and control method | |
| CN103448559B (en) | Pure electric vehicle mechanism autocontrol system | |
| CN103523022A (en) | Hybrid electric vehicle speed estimating method | |
| CN101905659A (en) | Regenerative brake control system and method | |
| US11648933B2 (en) | Method for controlling wheel slip of vehicle | |
| CN102267459A (en) | Driving antiskid adjustment and control method for motor-driven vehicle | |
| CN207875607U (en) | Electric controlled brake system for automobile | |
| CN113085575B (en) | Four-wheel drive torque limiting method and device based on vertical load estimation | |
| CN101795920A (en) | Vehicle control device and method of controlling vehicle | |
| CN111923888B (en) | Hybrid commercial vehicle braking mode management method | |
| CN114312345A (en) | Dynamic and smooth compensation distribution control method for front and rear axle torques of four-wheel-drive pure electric vehicle | |
| CN114084114B (en) | Braking system and braking method for vehicle | |
| CN109353323A (en) | The ABS control system and method for Electro-hydraulic brake based on hub motor | |
| CN1987483A (en) | Speed homing method for four wheel driving electric automobile | |
| CN112140903A (en) | Simple electronic differential chassis control system | |
| CN110015280A (en) | Control method, control system and the vehicle of vehicle braking torque output | |
| CN209111947U (en) | A kind of box-like electric car of Bi-motor set takes turns control structure entirely |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201229 |
|
| RJ01 | Rejection of invention patent application after publication |