CN112297880B - Method for constructing four-wheel independent electric drive system of electric drive automobile - Google Patents
Method for constructing four-wheel independent electric drive system of electric drive automobile Download PDFInfo
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- CN112297880B CN112297880B CN202011177975.3A CN202011177975A CN112297880B CN 112297880 B CN112297880 B CN 112297880B CN 202011177975 A CN202011177975 A CN 202011177975A CN 112297880 B CN112297880 B CN 112297880B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000004044 response Effects 0.000 claims abstract description 17
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 13
- 230000006641 stabilisation Effects 0.000 claims description 9
- 238000011105 stabilization Methods 0.000 claims description 9
- 230000010485 coping Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000011217 control strategy Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 3
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides an independent four-wheel electric drive system of an electric drive automobile and an architecture method thereof, wherein the independent four-wheel electric drive system comprises the following steps: the system comprises a response vehicle stabilizing system, a response steering differential torque control system, a limit longitudinal control torque distribution system, a performance longitudinal control torque distribution system, a signal judgment module and a torque control unit, wherein the torque control unit is used for receiving control commands of the response vehicle stabilizing system, the response steering differential torque control system, the limit longitudinal control torque distribution system, the performance longitudinal control torque distribution system and the longitudinal control torque distribution system. The invention can avoid the condition that the power driving form is single and the multi-path condition complex working condition is difficult to cover in the actual driving, and has a coping scheme for coping with various possibilities of the actual mass production vehicle; meanwhile, the humanized design can be improved, and the requirements of customers can be met by providing different power driving modes so as to improve the product competitiveness in the consumer market.
Description
Technical Field
The invention relates to a four-wheel independent electric drive control technology, in particular to a construction method of a four-wheel independent electric drive system.
Background
In the world facing more and more stringent emission regulations and more scarce petroleum resources, the motorization of automobiles is a main direction of the current automobile industry revolution, and in the main direction, the electric vehicle of the four-wheel independent electric drive system becomes an emerging field. Four-wheel independent drive electric vehicles enter the public view with better power economy and more flexible control strategy schemes.
The longitudinal torque control architecture of the existing four-wheel independent electric drive system is much more extensive, and the torque required by the whole vehicle is generally directly input into a longitudinal torque distribution module and then output. However, this method can be used in experiments, but there are many problems in putting into practice or mass production. Such as:
1. the power form is single, and the complex working conditions of multiple road conditions encountered by actual driving cannot be covered;
2. there is no alternative to cope with the multiple possibilities that occur in actual mass-produced vehicles;
3. the power driving mode cannot be changed due to lack of human-based consideration for customers, and the competitiveness of products facing the consumer market is lack.
Disclosure of Invention
In order to solve the problems, the invention provides a four-wheel independent electric drive system of an electric drive automobile and an architecture method thereof, so as to avoid the condition that the power drive form is single and the situation that the actual driving meets the complex working conditions of multiple paths of conditions is difficult to cover, and have a coping scheme for coping with multiple possibilities of the actual mass production vehicle; meanwhile, the humanized design can be improved, and the requirements of customers can be met by providing different power driving modes, so that the product competitiveness can be improved for the consumer market.
In order to realize the purpose, the technical scheme of the invention is as follows:
a four-wheel independent electric drive system for an electric drive vehicle, comprising:
a responsive vehicle stabilization system for preventing runaway of an electrically driven vehicle when it reaches its dynamic limit;
the response steering differential torque control system is used for distributing torque when the electrically driven automobile steers;
the limiting value longitudinal control torque distribution system is used for distributing torque when an electric drive automobile carries out torque limitation;
the performance longitudinal control torque distribution system is used for distributing torque when the electric drive automobile is subjected to dynamic promotion;
the longitudinal control torque distribution system is used for distributing torque when the electric drive automobile has no other system signals;
the signal judgment module is used for judging a vehicle stabilizing system signal, a steering differential system signal, a limit control system signal and a performance control system signal so as to execute a control command;
and the torque control unit is used for receiving control commands of the response vehicle stabilizing system, the response steering differential torque control system, the limit value longitudinal control torque distribution system, the performance longitudinal control torque distribution system and the longitudinal control torque distribution system.
Further, the system also comprises a longitudinal control following torque distribution system which is used for distributing the torque when the power requirements of the front and rear shafts of the electric drive automobile with the double battery packs are not matched with the power requirements of the front and rear battery packs.
Further, the responsive vehicle stabilization system includes an ESP torque distribution system, an ESC torque distribution system, and an ABS torque distribution system.
A method for constructing a four-wheel independent electric drive system of an electric drive automobile comprises the following steps:
acquiring the total torque requirement of the whole vehicle;
judging whether a vehicle stabilizing system signal exists or not;
if yes, entering a response vehicle stabilizing system, executing a four-wheel torque control command of the vehicle stabilizing system, and not executing a control command meeting the total torque requirement of the whole vehicle;
if no vehicle stabilization system signal exists, judging whether a steering differential system signal exists or not;
if a steering differential system signal exists, entering a response steering differential torque control system, and carrying out torque control on a driving system on the corresponding side on the premise of meeting the total torque requirement of the whole vehicle;
if no steering differential system signal exists, judging whether a limit value control system signal exists or not;
if the limited value control system signal enters the limited value longitudinal control torque distribution system, in the limited value longitudinal control torque distribution system, the total torque required by the whole vehicle is not preferentially met, but the torque required by the whole vehicle is met under the condition that the torque required by the whole vehicle can be met, or the corresponding torque is output under the condition that only part of the required torque can be met;
if the system signal is controlled without limit value, judging that there is no performance control system signal;
if a performance control system signal exists, entering a performance longitudinal control torque distribution system, and taking the requirement of the whole vehicle dynamic property as a first principle in the performance longitudinal control torque distribution system;
if no performance control system signal is detected, the longitudinal control torque distribution system is entered, and an economic priority control command is executed on the premise of meeting the total torque requirement of the whole vehicle.
Further, in the limit value longitudinal control torque distribution system, if the forward drive or the backward drive cannot work, the driving system outputs the limit torque and works only with the backward drive or the forward drive.
Further, in the performance longitudinal control torque distribution system, when the gradient signal is greater than the target value, the rear drive mode will be performed, or the full-time four-wheel drive mode will be performed with the driver selecting the power priority mode.
Further, in a longitudinally controlled torque distribution system, the distribution of front and rear axle torque is required to meet economic objectives.
Furthermore, the battery package of electric drive car is the double cell package, if there is no ability control system signal, gets into and follows vertical control torque distribution system, judges when the front and back axle power demand of the independent electric drive system of four-wheel and front and back battery package mismatch, and it is the whole car torque demand of priority satisfied, still falls power and follows battery package power output.
Further, the vehicle stabilization system signals include ESP system signals, ESC system signals, and ABS system signals.
Compared with the prior art, the invention has the beneficial effects that:
1. the control strategy of the driving system can provide various power driving forms and cover multi-path complex working conditions.
2. The driving system provided by the invention can meet different conditions or diversified power system requirements of the actual vehicle, and the strategy architecture can be expanded.
3. The driving system has strong expansibility, and is very convenient for optimizing and improving the control strategy of the whole vehicle.
4. The driving system of the invention can be suitable for pure electric vehicles, hydrogen fuel vehicles, electric hybrid electric vehicles and other electric driving vehicles.
Drawings
FIG. 1 is a schematic diagram of a prior art control method for a four-wheel independent electric drive system;
FIG. 2 is a schematic diagram of a method for constructing a four-wheel independent electric drive system of an electric drive vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an architecture method of a four-wheel independent electric drive system of an electric drive vehicle according to an embodiment of the present invention (when a battery pack of the electric drive vehicle is a dual battery pack).
Detailed Description
The specific contents of the present invention will be further described with reference to the accompanying drawings and examples.
As shown in fig. 1, the longitudinal torque control architecture of the four-wheel independent electric drive system in the prior art is much more extensive, and usually, the required torque of the whole vehicle directly enters a longitudinal torque distribution module and then is output.
However, such architecture solutions exist today: the power form is single, and the complex working conditions of multiple road conditions encountered by actual driving cannot be covered; there is no alternative to cope with various possibilities that occur in actual mass-produced vehicles; the method has the problems that the customer lacks humanized consideration, the power driving form cannot be changed, and the product facing to the consumer market lacks competitiveness.
An embodiment of the present invention provides a four-wheel independent electric drive system of an electric drive vehicle, including: a responsive vehicle stabilization system for preventing runaway when the electrically driven vehicle reaches its dynamic limit; the response steering differential torque control system is used for distributing torque when the electrically driven automobile steers; the limiting value longitudinal control torque distribution system is used for distributing torque when an electric drive automobile carries out torque limitation; the performance longitudinal control torque distribution system is used for distributing torque when the electric drive automobile is subjected to dynamic promotion; the longitudinal control torque distribution system is used for distributing torque when the electric drive automobile has no other system signals; the signal judgment module is used for judging a vehicle stabilizing system signal, a steering differential system signal, a limit control system signal and a performance control system signal so as to execute a control command; and the torque control unit comprises a front axle MCU and a rear axle MCU and is used for receiving control commands of the response vehicle stabilizing system, the response steering differential torque control system, the limit value longitudinal control torque distribution system, the performance longitudinal control torque distribution system and the longitudinal control torque distribution system.
Preferably, the present embodiment further comprises a follow-up longitudinal control torque distribution system for distributing torque when the front and rear axle power requirements of the electric drive vehicle with the dual battery packs do not match the front and rear battery packs.
As shown in fig. 2, an embodiment of the present invention further provides a method for constructing a four-wheel independent electric drive system of an electric drive vehicle, including the following steps:
acquiring the total torque requirement of the whole vehicle;
judging whether an ESP system signal exists or not;
if yes, the vehicle enters a response ESP torque distribution system, executes the four-wheel torque control command of the ESP torque distribution system, and does not execute the control command meeting the total torque requirement of the whole vehicle;
if the ESP system signal does not exist, judging whether a steering differential system signal exists or not;
if a steering differential system signal exists, entering a response steering differential torque control system, and carrying out torque control on a driving system on the corresponding side on the premise of meeting the total torque requirement of the whole vehicle;
if no steering differential system signal exists, judging whether a limit value control system signal exists or not;
if the limited value control system signal enters the limited value longitudinal control torque distribution system, in the limited value longitudinal control torque distribution system, the total torque required by the whole vehicle is not preferentially met, but the torque required by the whole vehicle is met under the condition that the torque required by the whole vehicle can be met, or the corresponding torque is output under the condition that only part of the required torque can be met;
if the system signal is controlled without limit value, judging that there is no performance control system signal;
if a performance control system signal exists, entering a performance longitudinal control torque distribution system, and taking the requirement of the whole vehicle dynamic property as a first principle in the performance longitudinal control torque distribution system;
if no performance control system signal is detected, the longitudinal control torque distribution system is entered, and an economic priority control command is executed on the premise of meeting the total torque requirement of the whole vehicle.
The left front wheel, the right front wheel, the left rear wheel and the right rear wheel are controlled by the front axle MCU and the rear axle MCU respectively to execute control commands.
Preferably, in the limited value longitudinal control torque distribution system, if the forward drive or the backward drive is unable to operate, the driving system will output limited torque and only operate with the backward drive or the forward drive.
It is preferable for the present embodiment that, in the performance longitudinal control torque distribution system, when the gradient signal is greater than the target value, the rear drive mode will be performed, or the full-time four-wheel drive mode will be performed with the driver selecting entry into the power priority mode.
It is preferred for this embodiment that the front and rear axle torque distribution in the longitudinal control torque distribution system meet the economic objectives.
As shown in fig. 3, the embodiment of the present invention further provides that when the battery pack of the electric drive vehicle is a dual battery pack, if no performance control system signal is provided, the following longitudinal control torque distribution system should be entered, and it is determined whether to preferentially satisfy the torque requirement of the entire vehicle or to reduce the power to follow the power output of the battery pack when the front and rear axle power requirements of the four-wheel independent electric drive system are not matched with the front and rear battery packs.
Claims (6)
1. A method of constructing a four-wheel independent electric drive system of an electric drive vehicle, the four-wheel independent electric drive system comprising:
a responsive vehicle stabilization system for preventing runaway of an electrically driven vehicle when it reaches its dynamic limit;
the response steering differential torque control system is used for distributing torque when the electrically driven automobile steers;
the limiting value longitudinal control torque distribution system is used for distributing torque when an electric drive automobile carries out torque limitation;
the performance longitudinal control torque distribution system is used for distributing torque when the electric drive automobile is subjected to dynamic promotion;
the longitudinal control torque distribution system is used for distributing torque when the electric drive automobile has no other system signals;
the signal judgment module is used for judging a vehicle stabilizing system signal, a steering differential system signal, a limit control system signal and a performance control system signal so as to execute a control command;
a torque control unit for receiving control commands responsive to a vehicle stability system, responsive to a steering differential torque control system, a limit longitudinal control torque distribution system, a performance longitudinal control torque distribution system, and a longitudinal control torque distribution system;
the double-battery-pack electric-driven automobile further comprises a longitudinal control following torque distribution system, wherein the longitudinal control following torque distribution system is used for distributing torque when the power requirements of the front and rear shafts of the double-battery-pack electric-driven automobile are not matched with the power requirements of the front and rear battery packs;
the responsive vehicle stabilization system comprises an ESP torque distribution system, an ESC torque distribution system and an ABS torque distribution system;
the method is characterized by comprising the following steps:
acquiring the total torque requirement of the whole vehicle;
judging whether a vehicle stabilizing system signal exists or not;
if yes, entering a response vehicle stabilizing system, executing a four-wheel torque control command of the vehicle stabilizing system, and not executing a control command meeting the total torque requirement of the whole vehicle;
if no vehicle stabilization system signal exists, judging whether a steering differential system signal exists or not;
if a steering differential system signal exists, entering a response steering differential torque control system, and carrying out torque control on a driving system on the corresponding side on the premise of meeting the total torque requirement of the whole vehicle;
if no steering differential system signal exists, judging whether a limit value control system signal exists or not;
if the limited value control system signal enters the limited value longitudinal control torque distribution system, the total torque requirement of the whole vehicle is not preferentially met in the limited value longitudinal control torque distribution system, but the total torque requirement of the whole vehicle is met under the condition that the total torque requirement of the whole vehicle can be met, or corresponding torque is output under the condition that only part of the total torque requirement of the whole vehicle can be met;
if the system signal is controlled without limit value, judging that there is no performance control system signal;
if a performance control system signal exists, entering a performance longitudinal control torque distribution system, and taking the requirement of the whole vehicle dynamic property as a first principle in the performance longitudinal control torque distribution system;
if no performance control system signal is detected, the longitudinal control torque distribution system is entered, and an economic priority control command is executed on the premise of meeting the total torque requirement of the whole vehicle.
2. The architecture method of the four-wheel independent electric drive system of the electric drive vehicle according to claim 1, characterized in that: in the limit value longitudinal control torque distribution system, if the forward drive or the backward drive can not work, the driving system outputs the limit torque and works only with the backward drive or the forward drive.
3. The architecture method of the four-wheel independent electric drive system of the electric drive vehicle according to claim 1, characterized in that: in the performance longitudinal control torque distribution system, when the grade signal is greater than the target value, the rear-drive mode will be performed, or the full-time four-drive mode will be performed when the driver selects to enter the power priority mode.
4. The architecture method of the four-wheel independent electric drive system of the electric drive vehicle according to claim 1, characterized in that: in a longitudinally controlled torque distribution system, the front and rear axle torques are distributed to meet economic objectives.
5. The architecture method of the four-wheel independent electric drive system of the electric drive vehicle according to claim 1, characterized in that: the battery package of electric drive car is the double cell package, if there is no ability control system signal, gets into and follows vertical control torque distribution system, judges when the front and back axle power demand of the independent electric drive system of four-wheel and front and back battery package mismatch, whether the total torque demand of the whole car of priority satisfied, still falls power and follows battery package power output.
6. The architecture method of the four-wheel independent electric drive system of the electric drive vehicle according to claim 1, characterized in that: the vehicle stabilization system signals include ESP system signals, ESC system signals, and ABS system signals.
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| CN202011177975.3A CN112297880B (en) | 2020-10-29 | 2020-10-29 | Method for constructing four-wheel independent electric drive system of electric drive automobile |
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| CN102826087B (en) * | 2012-08-31 | 2015-04-22 | 长城汽车股份有限公司 | Torque control method of automobile four-drive system |
| CN104786804B (en) * | 2015-04-30 | 2017-12-15 | 郑州宇通客车股份有限公司 | A kind of vehicle and its Direct wheel drives system and Direct wheel drives moment of torsion distribution method |
| CN109130888B (en) * | 2018-10-17 | 2021-12-07 | 上海爱驱汽车技术有限公司 | Control method of double-motor distributed four-wheel drive system |
| CN111196311B (en) * | 2018-11-16 | 2021-05-14 | 宝沃汽车（中国）有限公司 | Vehicle steering control method and device, controller and vehicle |
| CN109878345B (en) * | 2019-03-13 | 2020-11-03 | 浙江吉利新能源商用车集团有限公司 | Vehicle torque coordination control method and device and automobile |
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