CN112477626B - Pre-control method and system for preventing automobile driving wheel from slipping - Google Patents
Pre-control method and system for preventing automobile driving wheel from slipping Download PDFInfo
- Publication number
- CN112477626B CN112477626B CN202011379699.9A CN202011379699A CN112477626B CN 112477626 B CN112477626 B CN 112477626B CN 202011379699 A CN202011379699 A CN 202011379699A CN 112477626 B CN112477626 B CN 112477626B
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- motor
- torque
- driving wheel
- slipping
- 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.)
- Active
Links
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
-
- 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
-
- 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
- B60L2240/423—Torque
-
- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of automobile control, in particular to a pre-control method and a system for preventing automobile driving wheels from slipping, wherein the pre-control method comprises the following steps: determining the required torque of the vehicle according to the opening of an accelerator pedal and the actual rotating speed of a motor; and judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, if so, determining a corrective torque for preventing the slipping according to the actual rotating speed of the motor and the target rotating speed, and adjusting the output torque of the motor according to the required torque and the corrective torque so as to adjust the rotating speed of the motor. The problem that in the prior art, when the driving wheel slips, the driving wheel can be identified and adjusted, and the expected wheel rotating speed is calculated inaccurately according to the ground adhesion coefficient, so that the slipping cannot be controlled effectively can be solved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a pre-control method and a pre-control system for preventing an automobile driving wheel from slipping.
Background
The global unbalanced energy distribution and the global environmental pollution are increasingly important factors for restricting the development of human beings and social economy, and the development and commercialization of new energy automobiles, particularly pure electric automobiles, are effective measures for relieving energy pressure and reducing environmental pollution.
The pure electric vehicle is driven by the driving motor, and the driving motor has the characteristics of high response speed, smaller rotational inertia than a traditional internal combustion engine of the vehicle and the like, so that the pure electric vehicle can react faster than the traditional internal combustion engine vehicle under the working conditions of acceleration, overtaking, climbing and the like. However, once the pure electric vehicle runs on a low-adhesion road surface or a driving wheel presses a deceleration strip to empty instantaneously, a slip phenomenon is more likely to occur, and compared with a traditional internal combustion engine vehicle, the pure electric vehicle is more likely to cause danger. For example causing an overspeed failure of the motor, a "tire burn" of the driving wheels, or even a loss of steering.
In the prior art, the expected wheel rotating speed at the moment is calculated according to the expected slip ratio and is compared with the actual wheel rotating speed, and the output torque and the rotating speed of the motor are adjusted by the hub motor controller, so that the slip ratio in the driving process of the electric automobile is reduced, and the driving antiskid is realized. However, the technology can only identify and adjust when the driving wheel slips, and in addition, the determination and the value of the expected slip rate are related to the current road adhesion coefficient, so that the current road condition is difficult to obtain in real time in real vehicle application, the expected slip rate and the expected wheel rotating speed are inaccurate to predict, the driving wheel cannot be controlled to slip timely and effectively, and dangerous working conditions such as overspeed, steering loss and the like can be caused.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a pre-control method and a pre-control system for preventing the driving wheel of an automobile from slipping, which can solve the problem that in the prior art, when the slipping of the driving wheel occurs, the recognition can be carried out for adjustment, and the calculation of the expected wheel rotating speed according to the ground adhesion coefficient is not accurate, so that the slipping cannot be effectively controlled.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
in one aspect, the present invention provides a pre-control method for preventing a driving wheel of an automobile from slipping, comprising the steps of:
determining the required torque of the vehicle according to the opening of an accelerator pedal and the actual rotating speed of a motor;
and judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, if so, determining a corrective torque for preventing the slipping according to the actual rotating speed of the motor and the target rotating speed, and adjusting the output torque of the motor according to the required torque and the corrective torque so as to adjust the rotating speed of the motor.
In some optional embodiments, the determining whether to slip according to the rotation speed of the motor and the rotation speed of the driving wheel specifically includes the following steps:
determining the change rate of the rotating speed of the motor and the change rate of the rotating speed of the driving wheel according to the actual rotating speed of the motor and the rotating speed of the driving wheel;
and when the change rate of the rotating speed of the motor exceeds a preset threshold value and is consistent with the change trend of the change rate of the rotating speed of the driving wheel, judging that the motor is in a slipping state.
In some optional embodiments, the determining the corrective torque for preventing the slip according to the actual rotation speed and the target rotation speed of the motor specifically includes:
according toIs of the formula
Calculating the corrective torque Tq Correction ，K P Proportional coefficient, K, for PID regulation I Integral coefficient, K, for PID regulation D Differential coefficient, n, for PID regulation Target Is a target rotational speed, n Slipping of The actual rotating speed of the motor is t, and the iteration step time is long.
In some alternative embodiments, the absolute value of the corrective torque does not exceed a set percentage of the peak torque of the motor at maximum.
In some alternative embodiments, the set percentage is 20%.
In some optional embodiments, the adjusting the output torque of the electric motor according to the required torque and the corrective torque to adjust the rotation speed of the electric motor specifically includes
Taking the sum of the required torque and the correcting torque as the output torque of the motor;
and adjusting the output torque of the motor through a PID algorithm so as to enable the rotating speed of the motor to approach the target rotating speed.
In some alternative embodiments, the output torque is less than or equal to a peak torque of the motor.
In some alternative embodiments, the required torque of the vehicle is determined by referring to the torque MAP table based on the accelerator opening and the actual rotation speed of the motor.
In another aspect, the present invention provides a pre-control system for preventing a driving wheel of an automobile from slipping, comprising:
the data acquisition module is used for acquiring the opening degree of an accelerator pedal, the actual rotating speed of a motor and the rotating speed of a driving wheel;
the required torque calculation module is used for determining the required torque of the vehicle according to the opening degree of an accelerator pedal and the actual rotating speed of the motor;
and the slipping pre-control module is used for judging whether slipping occurs or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, determining the correcting torque for preventing slipping according to the actual rotating speed and the target rotating speed of the adjusting motor if the slipping occurs, and adjusting the output torque of the motor according to the required torque and the correcting torque so as to adjust the rotating speed of the motor.
In some alternative embodiments, the slip pre-control module includes:
the rotating speed judging unit is used for judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel;
the correcting torque calculating unit is used for determining the correcting torque for preventing the slipping according to the actual rotating speed and the target rotating speed of the motor;
and the PID adjusting module is used for adjusting the output torque of the motor according to the required torque and the correction torque so as to adjust the rotating speed of the motor.
Compared with the prior art, the invention has the advantages that: determining the required torque of the vehicle according to the opening of an accelerator pedal and the actual rotating speed of a motor; judging whether the current actual rotating speed of the motor can cause the driving wheel to skid or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, determining the correcting torque for preventing the skid according to the actual rotating speed of the motor and the target rotating speed when the motor slips, and adjusting the output torque of the motor according to the required torque and the correcting torque so as to adjust the rotating speed of the motor. Therefore, the slipping phenomenon of the driving wheel can be pre-adjusted, the control of the rotating speed of the motor can be realized by adjusting the output torque without knowing the ground adhesion coefficient, the rotation is recovered to the normal rotating speed, the slipping of the driving wheel is effectively controlled, and the dangerous working conditions of overspeed, steering loss and the like are avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a pre-control method in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a pre-control method in an embodiment of the present invention;
FIG. 3 is a control schematic of the slip pre-control module in an embodiment of the present invention;
fig. 4 is a schematic diagram of a control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. FIG. 1 is a flow chart of a pre-control method in an embodiment of the present invention; FIG. 2 is a schematic diagram of a pre-control method in an embodiment of the present invention; FIG. 3 is a control schematic of the slip pre-control module in an embodiment of the present invention;
as shown in fig. 1 to 3, in one aspect, the present invention provides a pre-control method for preventing a driving wheel of a vehicle from slipping, comprising the steps of:
s0: and acquiring the actual rotating speed of the motor and the rotating speed of the driving wheel.
S1: and determining the required torque of the vehicle according to the opening of the accelerator pedal and the actual rotating speed of the motor.
In some optional embodiments, the required torque of the vehicle is determined by referring to a torque MAP table according to the accelerator opening and the actual rotation speed of the motor.
Referring to fig. 3, S2: and judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, if so, determining a corrective torque for preventing the slipping according to the actual rotating speed of the motor and the target rotating speed, and adjusting the output torque of the motor according to the required torque and the corrective torque so as to adjust the rotating speed of the motor.
According to the method, the rotation speed of the motor can be controlled by adjusting the output torque without knowing the ground adhesion coefficient, so that the rotation is recovered to the normal rotation speed, the driving wheel is effectively controlled to slip, and dangerous working conditions such as overspeed and steering loss are avoided.
In some optional embodiments, the determining whether to slip according to the rotation speed of the motor and the rotation speed of the driving wheel specifically includes the following steps: determining the change rate of the rotating speed of the motor and the change rate of the rotating speed of the driving wheel according to the actual rotating speed of the motor and the rotating speed of the driving wheel; and when the change rate of the rotating speed of the motor exceeds a preset threshold value and is consistent with the change trend of the change rate of the rotating speed of the driving wheel, judging that the motor is in a slipping state.
In this embodiment, a preset threshold for the change rate of the rotation speed of the motor is correspondingly set for the change rate of the opening of each throttle. When acceleration or deceleration is needed, the change rate of the rotating speed of the motor is consistent with the change rate of the rotating speed of the driving wheel, and no slipping occurs only if the change rate of the rotating speed of the motor does not exceed a preset threshold value.
Preferably, the determining of the corrective torque for preventing the slip according to the actual rotation speed and the target rotation speed of the motor specifically comprises:
according to the formula
Calculating the corrective torque Tq Correction ，K P Proportional coefficient, K, for PID regulation I Integral coefficient, K, for PID regulation D Differential coefficient, n, for PID regulation Target Is a target rotational speed, n Slipping of the wheel The actual rotating speed of the motor is t, and the iteration step time is long.
In the present embodiment, the target rotation speed n Target The rotating speed before slipping and the rotating speed change rate of the motor are smaller than the rotating speed when the preset change rate corresponding to the change rate of the opening of the throttle is set. Actual speed n of the motor Slipping of The actual rotating speed of the motor when the driving wheel slips is judged.
Preferably, the absolute value of the corrective torque does not exceed a set percentage of the peak torque of the motor at maximum.
And calculating the initial correcting torque required for adjusting the slip rotating speed (namely the actual rotating speed of the motor) to the target rotating speed through a PID algorithm, wherein the initial correcting torque is limited within a maximum reference value and a minimum reference value allowed by the correcting torque, and if the initial correcting torque exceeds the maximum reference value or the minimum reference value allowed by the correcting torque, the maximum reference value or the minimum reference value allowed by the correcting torque is directly adopted as the anti-slip correcting torque. The minimum reference value is the output torque required to be reduced by the motor, namely, the negative torque, and the maximum reference value is the output torque required to be increased by the motor, namely, the positive torque. The motor output torque that needs to be increased and the output torque that needs to be decreased are both set percentages that do not exceed the peak torque of the motor.
Preferably, the set percentage of the output torque required to be increased and the set percentage of the output torque required to be decreased are both no more than 20% of the peak torque of the motor. Therefore, the set value can protect the working safety of the motor.
In some optional embodiments, the output torque of the motor is adjusted according to the required torque and the corrective torque to adjust the rotation speed of the motor, specifically including taking the sum of the required torque and the corrective torque as the output torque of the motor; and adjusting the output torque of the motor through a PID algorithm so as to enable the rotating speed of the motor to approach the target rotating speed.
Preferably, the output torque is less than or equal to the peak torque of the motor, so as to protect the operation safety of the motor.
Fig. 4 is a schematic diagram of a control system according to an embodiment of the present invention, referring to fig. 1 and 4, in another aspect, the present invention provides a pre-control system for preventing a driving wheel of a vehicle from slipping, including: the data acquisition module is used for acquiring the opening degree of an accelerator pedal, the actual rotating speed of a motor and the rotating speed of a driving wheel; the device also comprises a required torque calculation module, a torque calculation module and a torque calculation module, wherein the required torque calculation module is used for determining the required torque of the vehicle according to the opening degree of an accelerator pedal and the actual rotating speed of the motor; the device also comprises a slipping pre-control module which is used for judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, if so, determining the correcting torque for preventing the slipping according to the actual rotating speed and the target rotating speed of the adjusting motor, and adjusting the output torque of the motor according to the required torque and the correcting torque so as to adjust the rotating speed of the motor.
Preferably, the slip pre-control module includes: the rotating speed judging unit is used for judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel; the correcting torque calculating unit is used for determining the correcting torque for preventing the slipping according to the actual rotating speed and the target rotating speed of the motor; and the PID adjusting module is used for adjusting the output torque of the motor according to the required torque and the correction torque so as to adjust the rotating speed of the motor.
In summary, when the pre-control method and the system are used, the actual rotation speed of the motor and the rotation speed of the driving wheel are firstly obtained through the data acquisition module. And determining the required torque of the vehicle through a required torque calculation module according to the opening degree of an accelerator pedal and the actual rotating speed of a motor. And judging whether the current actual rotating speed of the motor is the slipping rotating speed which can cause the slipping of the driving wheel or not by a rotating speed judging unit in the slipping pre-control module according to the actual rotating speed of the motor and the rotating speed of the driving wheel. When the vehicle slips, determining a corrective torque for preventing the slip according to the slip rotating speed and the target rotating speed through a corrective torque calculating unit; and adjusting the output torque of the motor according to the required torque and the correction torque through the correction torque calculation unit so as to adjust the rotating speed of the motor. Therefore, the slipping phenomenon of the driving wheel can be pre-adjusted, the control of the rotating speed of the motor can be realized by adjusting the output torque without knowing the ground adhesion coefficient, the rotation is recovered to the normal rotating speed, the driving wheel is effectively controlled to slip, and dangerous working conditions such as overspeed and steering loss are avoided.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A pre-control method for preventing the slipping of the driving wheels of an automobile is characterized by comprising the following steps:
determining the required torque of the vehicle according to the opening of an accelerator pedal and the actual rotating speed of a motor;
judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, if so, determining a corrective torque for preventing the slipping according to the actual rotating speed of the motor and the target rotating speed, and adjusting the output torque of the motor according to the required torque and the corrective torque so as to adjust the rotating speed of the motor; the method for judging whether the sliding is caused according to the rotating speed of the motor and the rotating speed of the driving wheel specifically comprises the following steps of:
determining the change rate of the rotating speed of the motor and the change rate of the rotating speed of the driving wheel according to the actual rotating speed of the motor and the rotating speed of the driving wheel;
when the change rate of the rotating speed of the motor exceeds a preset threshold value and is consistent with the change trend of the change rate of the rotating speed of the driving wheel, judging that the motor is in a slipping state;
the output torque according to demand torque and correction torque adjustment motor to the rotational speed of adjustment motor specifically includes:
taking the sum of the required torque and the correcting torque as the output torque of the motor;
and adjusting the output torque of the motor through a PID algorithm so as to enable the rotating speed of the motor to approach the target rotating speed.
2. The pre-control method for preventing a slip of a driving wheel of a vehicle according to claim 1, wherein: the determining of the corrective torque for preventing the slipping according to the actual rotating speed and the target rotating speed of the motor specifically comprises the following steps:
according to the formula
Calculating corrective torque
，
For the scale factor of the PID adjustment,
for the integral coefficient of the PID adjustment,
for the differential coefficient of the PID adjustment,
the target rotational speed is set as the target rotational speed,
the actual rotating speed of the motor is t, and the iteration step time is long.
3. The pre-control method for preventing a slip of a driving wheel of a vehicle according to claim 2, wherein: the absolute value of the corrective torque does not exceed a set percentage of the peak torque of the motor at most.
4. The pre-control method for preventing a slip of a driving wheel of a vehicle according to claim 3, wherein: the set percentage is 20%.
5. The pre-control method for preventing a slip of a driving wheel of a vehicle according to claim 1, wherein: the output torque is less than or equal to the peak torque of the motor.
6. The pre-control method for preventing a slip of a driving wheel of a vehicle according to claim 1, wherein: and determining the required torque of the vehicle by inquiring a torque MAP table according to the opening of an accelerator pedal and the actual rotating speed of the motor.
7. A pre-control system for implementing the pre-control method for preventing a drive wheel of a vehicle from slipping according to claim 1, comprising:
the data acquisition module is used for acquiring the opening of an accelerator pedal, the actual rotating speed of a motor and the rotating speed of a driving wheel;
the required torque calculation module is used for determining the required torque of the vehicle according to the opening degree of an accelerator pedal and the actual rotating speed of the motor;
and the slipping pre-control module is used for judging whether slipping occurs or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel, determining the correcting torque for preventing slipping according to the actual rotating speed and the target rotating speed of the adjusting motor if the slipping occurs, and adjusting the output torque of the motor according to the required torque and the correcting torque so as to adjust the rotating speed of the motor.
8. A pre-control system according to claim 7, wherein: the slip pre-control module includes:
the rotating speed judging unit is used for judging whether the motor slips or not according to the actual rotating speed of the motor and the rotating speed of the driving wheel;
the correcting torque calculating unit is used for determining the correcting torque for preventing the slipping according to the actual rotating speed and the target rotating speed of the motor;
and the PID adjusting module is used for adjusting the output torque of the motor according to the required torque and the correction torque so as to adjust the rotating speed of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011379699.9A CN112477626B (en) | 2020-11-30 | 2020-11-30 | Pre-control method and system for preventing automobile driving wheel from slipping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011379699.9A CN112477626B (en) | 2020-11-30 | 2020-11-30 | Pre-control method and system for preventing automobile driving wheel from slipping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112477626A CN112477626A (en) | 2021-03-12 |
| CN112477626B true CN112477626B (en) | 2022-08-30 |
Family
ID=74937891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011379699.9A Active CN112477626B (en) | 2020-11-30 | 2020-11-30 | Pre-control method and system for preventing automobile driving wheel from slipping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112477626B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752853B (en) * | 2021-09-14 | 2023-03-24 | 湖南三一华源机械有限公司 | Vehicle driving antiskid control method and system and vehicle |
| CN113799619A (en) * | 2021-09-24 | 2021-12-17 | 极氪汽车(宁波杭州湾新区)有限公司 | Vehicle active torque reduction method, system, equipment and storage medium thereof |
| CN116215497A (en) * | 2021-12-03 | 2023-06-06 | 广州汽车集团股份有限公司 | Vehicle anti-skid control method, motor controller, system and storage medium |
| CN114475274B (en) * | 2022-03-01 | 2024-07-12 | 重庆嘉陵全域机动车辆有限公司 | Wheel side motor driven vehicle anti-skid control system and method |
| CN114954019B (en) * | 2022-06-16 | 2023-12-29 | 广东高标智能科技股份有限公司 | Anti-skid control method and device for electric vehicle and electric vehicle |
| CN114987413B (en) * | 2022-06-21 | 2024-03-12 | 北京国家新能源汽车技术创新中心有限公司 | ASR-based driving anti-slip control method and electronic equipment |
| CN118514535B (en) * | 2024-07-19 | 2024-09-20 | 博格华纳汽车零部件（武汉）有限公司 | Anti-skid control method, system and storage medium for driving electric automobile |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5473020B2 (en) * | 2010-01-22 | 2014-04-16 | 日立建機株式会社 | Electric drive vehicle |
| JP5324623B2 (en) * | 2011-06-24 | 2013-10-23 | 本田技研工業株式会社 | Vehicle drive control device |
| JP5840464B2 (en) * | 2011-11-11 | 2016-01-06 | Ntn株式会社 | Electric car |
| CN106427662A (en) * | 2016-06-30 | 2017-02-22 | 创驱（上海）新能源科技有限公司 | Anti-lock control method of new energy automobile |
| CN108437850B (en) * | 2018-03-20 | 2020-05-05 | 北京经纬恒润科技有限公司 | Anti-skid control method and device for automobile driving wheel |
| CN111731109A (en) * | 2019-03-25 | 2020-10-02 | 长城汽车股份有限公司 | Vehicle motor torque control method and device and vehicle |
-
2020
- 2020-11-30 CN CN202011379699.9A patent/CN112477626B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112477626A (en) | 2021-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112477626B (en) | Pre-control method and system for preventing automobile driving wheel from slipping | |
| CN110696829B (en) | Method and device for processing vehicle soaring and slipping, electric vehicle and storage medium | |
| CN101786452B (en) | Driving anti-slip control system of shaft-driven electric vehicle and control method thereof | |
| CN109835196B (en) | Control method and control system for motor-driven vehicle | |
| CN110356247B (en) | Distributed driving electronic differential control system and method for electric automobile | |
| EP0186122A1 (en) | Wheel slip control system | |
| US20060175997A1 (en) | Device and method for controlling prime mover | |
| CN111731109A (en) | Vehicle motor torque control method and device and vehicle | |
| KR20050057002A (en) | Device and method for controlling prime mover | |
| CN111086500B (en) | Vehicle slip protection method and system and vehicle | |
| CN109818549B (en) | Motor protection method | |
| WO2023098257A1 (en) | Vehicle anti-skid control method, motor controller, system, and storage medium | |
| US9199650B2 (en) | Vehicle driving force control device | |
| CN115246324A (en) | Torque control method and device of motor, electronic equipment and vehicle | |
| JPH0886231A (en) | Traction control system | |
| CN113263917A (en) | Application method of energy recovery technology in electric vehicle speed-limiting working condition | |
| US20070203632A1 (en) | Oscillation control apparatus for vehicle and method for controlling oscillation | |
| JPH11107803A (en) | Driving slip control method and device in automobile | |
| US8135524B2 (en) | Vehicle driving force control device | |
| US20100299019A1 (en) | Vehicle driving-force control device | |
| KR101776523B1 (en) | Method for controlling engine driving force during TCS operation of hybrid vehicle | |
| EP0486878B1 (en) | An acceleration slip control device for a vehicle | |
| CN112758096B (en) | Intelligent drive anti-skid control system and method based on motor torque control | |
| CN111098699A (en) | Protection method and device for active air inlet grille | |
| CN100400331C (en) | Vehicle and its control |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |