CN112498124B - Multi-wheel driving platform and electronic differential control method thereof - Google Patents
Multi-wheel driving platform and electronic differential control method thereof Download PDFInfo
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- CN112498124B CN112498124B CN202011440112.0A CN202011440112A CN112498124B CN 112498124 B CN112498124 B CN 112498124B CN 202011440112 A CN202011440112 A CN 202011440112A CN 112498124 B CN112498124 B CN 112498124B
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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
- 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
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- 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
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
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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
- 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
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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
Abstract
The invention discloses a multi-wheel driving platform and an electronic differential control method thereof, wherein a driving wheel set of the multi-wheel driving platform is driven by a speed regulating motor, and the control method comprises the following steps: acquiring a first set of a calibrated driving speed and a corresponding calibrated driving force of the speed regulating motor; determining theoretical instantaneous rotating speed and theoretical driving force of each driving wheel in the steering process as a second set according to the instantaneous linear speed of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel; and when the second set is smaller than a set threshold value compared with the corresponding parameter of the first set, determining the driving force of the speed regulating motor on the driving wheel set. The problem that control is delayed due to the fact that an existing electronic differential lock passive type differential control method is adopted is solved.
Description
Technical Field
The invention relates to the field of differential control of a multi-wheel driving platform, in particular to an electronic differential control method and system of the multi-wheel driving platform.
Background
With the increasing requirements of the automobile industry and the commercial robot industry on electric drive units, the novel electric driver gradually gets rid of the constraint of the original speed change and reduction and mechanical differential device, and the future development direction is the integration and integration of the electronic speed change and differential structure. Therefore, a multi-stage electronically variable, electronically differential solution has become the first choice for a multi-industry solution.
The conventional electronic Differential control is usually implemented by an electronic Differential lock eds (electronic Differential system). The rotation speeds of two driving wheels are automatically detected by a sensor of an ABS system, and the rotation speeds are used for identifying whether the wheels of the automobile lose the grounding friction force or not, so that the acceleration slip of the automobile is controlled. Specifically, when the electronic control unit judges that a driving wheel on one side slips according to a wheel speed signal in the acceleration process of the automobile, the EDS automatically starts to work, when the rotating speeds of the wheels on two sides are different due to the slipping of the wheels, the EDS system brakes the wheel on the slipping side, and the hydraulic control unit brakes the wheel with proper strength, so that the adhesive force of the driving wheel on the other side is improved, and the passing capacity of the automobile is improved. When the running condition of the vehicle is recovered to be normal, the electronic differential lock stops working. However, the electronic differential control is to control the acceleration slip of the automobile by detecting the rotating speed of the driving wheel and then judging whether the friction force on the ground is lost, and is a passive differential lock mode, and an active electronic differential control method is lacked at present.
Disclosure of Invention
The invention aims to solve the technical problem that the control lag is caused by the passive differential control method of the existing electronic differential lock, and therefore, the invention provides an active electronic differential control method.
In order to solve the technical problems, the invention provides the following technical scheme:
an electronic differential control method for a multi-wheel driving platform is characterized in that driving wheel sets of the multi-wheel driving platform are driven by a speed regulating motor, and the control method comprises the following steps: acquiring a first set of a calibrated driving speed and a corresponding calibrated driving force of the speed regulating motor; determining the theoretical instantaneous rotating speed and the theoretical driving force of each driving wheel in the steering process as a second set according to the instantaneous linear speed of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel; and when the corresponding parameter of the second set is smaller than that of the first set, determining the driving force of the speed regulating motor to the driving wheel set.
In some embodiments of the present invention, the determining a second set of theoretical instantaneous rotational speed and theoretical driving force of the driving wheel set according to the instantaneous linear speed of at least one driving wheel of the driving wheel set and the steering angle of each driving wheel comprises: the theoretical instantaneous linear speed of the driving wheel set is determined according to the instantaneous linear speed of one steering driving wheel in the driving wheel set and the steering angle of each driving wheel, and then the theoretical instantaneous rotating speed of the driving wheel set is determined according to the theoretical instantaneous linear speed of the driving wheel set.
In some embodiments of the present invention, the determining the theoretical instantaneous linear velocity of the driving wheel set according to the instantaneous linear velocity of one of the driving wheels and the steering angle of each driving wheel is obtained by the following formula:
Vi＝G(Ax)V0
wherein, V0The instantaneous linear velocity of one of the steering drive wheels in the set of drive wheels; g (A)x) For the steering angle of the other drive wheels to the steered drive wheel, ViIs the theoretical instantaneous linear velocity of each drive wheel in the set of drive wheels.
In some embodiments of the present invention, determining the theoretical instantaneous rotational speed of the driving wheel set according to the theoretical instantaneous linear speed of the driving wheel set is obtained by the following formula:
RPMi＝Vi·qi
wherein q isiFor compensating the parameter 0 ≤ qi≤1，RPMiIs the theoretical instantaneous speed of the driving wheel set.
In some embodiments of the present invention, the theoretical driving force of the driving wheel set determined according to the instantaneous linear velocity of at least one driving wheel in the driving wheel set and the steering angle of each driving wheel is obtained by using the following formula:
wherein m is the mass constant of the driving platform, wiIs the driving force constant of the speed regulating motor.
In some embodiments of the present invention, when the second set is smaller than the first set in terms of corresponding parameter, the determining the driving force of the variable speed motor to the driving wheel set includes:
when the corresponding parameters of the second set and the first set are compared and are all smaller than a set threshold value, determining a compensation parameter qiAnd a driving force constant w of the speed-regulating motoriThen according to the compensation parameter qiAnd a driving force constant w of the speed-regulating motoriAnd calculating the actual driving force of the speed regulating motor.
The invention also provides a multi-wheel driving platform, which comprises:
a driving wheel set having at least two driving wheels, a variable speed motor driving the driving wheel set, and an ECU unit employing the electronic differential control method as claimed in any one of claims 1 to 6.
In some embodiments of the present invention, an angle sensor is disposed on the driving wheel set, and is configured to obtain a steering angle of each driving wheel in the driving wheel set; one steering driving wheel of the driving wheel set is provided with a mileage encoder used for acquiring the instantaneous linear speed of the driving wheel.
The present invention also provides an electronic differential control apparatus of a wheel drive platform, comprising: at least one processor; and a memory communicatively coupled to at least one of the processors; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the electronic differential control method described above.
The present invention also provides a computer storage medium comprising instructions that, when executed on a processor, cause the processor to perform the above-described electronic differential control method.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
according to the electronic differential control method for the multi-wheel drive platform and the multi-wheel drive platform, when the multi-wheel drive platform turns, the driving force of the speed regulating motor on each driving wheel can be determined according to the instantaneous linear speed of the turning driving wheel and the instantaneous turning angle of each driving wheel, and the problems of steering abrasion and slipping of a wheel set are solved. Compared with the traditional mechanical differential device and the mode of an electronic differential lock, the control reliability is higher.
Drawings
The objects and advantages of the present invention will be understood by the following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a control flow chart of the electric differential control method of the multi-wheel drive platform of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the multi-wheel drive platform of the present invention;
FIG. 3 is another schematic structural view of an embodiment of the multi-wheel drive platform of the present invention;
fig. 4 is a schematic view of the turning process of the driving wheel set of the multi-wheel driving platform of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
The following is a specific embodiment of the electronic differential control method for a multi-wheel drive platform according to the present invention, wherein the drive wheel set of the multi-wheel drive platform is driven by a variable speed motor, referring to fig. 1, the control method comprises:
s101, acquiring a first set of a calibrated driving rotating speed and a corresponding calibrated driving force of the speed regulating motor;
s102, determining theoretical instantaneous rotating speed and theoretical driving force of each driving wheel in the steering process to be a second set according to the instantaneous linear speed of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel;
and S103, when the corresponding parameter of the second set is smaller than the corresponding parameter of the first set, determining the driving force of the speed regulating motor to the driving wheel set.
By adopting the control method, when the multi-wheel driving platform turns, the driving force of the speed regulating motor on each driving wheel can be determined according to the instantaneous linear velocity of the turning driving wheel and the instantaneous turning angle of each driving wheel, so that the problems of steering abrasion and slipping of the wheel set are solved. Compared with the traditional mechanical differential device and the mode of an electronic differential lock, the control reliability is higher.
The present invention also provides a specific embodiment of a multi-wheel driving platform, as shown in fig. 2 and 3, the driving platform includes: the driving device comprises a driving wheel set with at least two driving wheels, a speed regulating motor 1 for driving the driving wheel set, and an ECU Unit 2(Electronic Control Unit), wherein the ECU Unit 2 adopts the Electronic differential Control method.
Specifically, in this embodiment, the driving wheel set includes four driving wheels, and the four driving wheels respectively include a left front wheel Fl, a right front wheel Fr, a left rear wheel Bl, and a right rear wheel Br, where the left front wheel Fl and the right front wheel Fr are steering wheels. The left front wheel Fl and the right front wheel Fr are respectively provided with an angle sensor 3 for acquiring the steering angle of each driving wheel when the driving platform rotates; and the left front wheel Fl or the right front wheel Fr is provided with a mileage encoder 4 for acquiring the instantaneous linear speed of the driving wheel.
Specifically, in the electronic differential control method, a theoretical instantaneous linear velocity of the driving wheel set is determined according to an instantaneous linear velocity of a steering driving wheel in the driving wheel set and a steering angle of each driving wheel, and then a theoretical instantaneous rotational speed of the driving wheel set is determined according to the theoretical instantaneous linear velocity of the driving wheel set.
Wherein the theoretical instantaneous linear velocity of the driving wheel set determined from the instantaneous linear velocity of one of the driving wheels in the driving wheel set and the steering angle of each driving wheel is obtained by the following formula 1:
Vi＝G(Ax)V0
wherein, V0The instantaneous linear velocity of one of the steering drive wheels in the set of drive wheels; g (A)x) For steering angle conversion function of each driving wheel, ViIs the theoretical instantaneous linear velocity of each drive wheel in the set of drive wheels.
FIG. 3 is a schematic view of a turning process of a driving wheel set of the driving platform; wherein the steering angle of the left front wheel is A1And the steering angle of the right front wheel is A2And the origin of coordinates O is the steering circle center of the driving platform.
In the present embodiment, V0The instantaneous linear speed of a left front wheel in the driving wheel set; the instantaneous linear velocity V of each wheel set in a two-dimensional state can be obtainediThe relationship (the same angular velocity). Wherein i is Fl、Fr、 Bl、Br。
Wherein, VFlIs the instantaneous linear velocity, V, of the left front wheelFrIs the instantaneous linear velocity, V, of the right front wheelBlIs the instantaneous linear velocity, V, of the left rear wheelBrThe instantaneous linear speed of the left rear wheel.
Specifically, determining the theoretical instantaneous rotational speed of the driving wheel set according to the theoretical instantaneous linear speed of the driving wheel set is obtained by the following formula 2:
RPMi＝Vi·qi
wherein q isiIn order to compensate parameters which represent compensation values of parameters such as driving wheel set transmission, sensor error, road surface angle and the like under real environment, q is more than or equal to 0i≤1，RPMiIs the theoretical instantaneous speed of the driving wheel set.
Determining the theoretical driving force of the driving wheel set according to the instantaneous linear velocity of at least one driving wheel in the driving wheel set and the steering angle of each driving wheel is obtained by adopting the following formula 3:
wherein m is the mass constant of the driving platform, wiIs a constant of a driving force of the speed-adjusting motor, G (A)x) A function is converted for the steering angle of each drive wheel.
At this time, the second set of the theoretical instantaneous rotational speed and the theoretical driving force of each driving wheel during steering is derived from the above equations 2 and 3
Comprises the following steps:
the calibrated driving speed and the corresponding calibrated driving force of the speed regulating motor are calibrated values of the speed regulating motor when leaving a factory, and a first set lambdaiComprises the following steps:
λi＝[RPMRi,FRi]
when the second set is less than a set threshold compared to the first set, determining the actual driving force of the electric variable speed motor comprises:
when the corresponding parameters of the second set and the first set are compared and are all smaller than a set threshold value, determining a compensation parameter qiAnd a driving force constant w of the speed-regulating motoriThen according to the compensation parameter qiAnd a driving force constant w of the speed-regulating motoriAnd calculating the actual driving force of the speed regulating motor.
Specifically, the following program function is employed to obtain:
after the optimal values of q and w are obtained, the magnitude of the driving force F of each driving wheel can be obtained.
The present invention also provides an embodiment of an electronic differential control apparatus for a wheel-drive platform, comprising: at least one processor; and a memory communicatively coupled to at least one of the processors; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the electronic differential control method described above.
The present invention also provides a computer storage medium comprising instructions that, when executed on a processor, cause the processor to perform the above-described electronic differential control method.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.
Claims (6)
1. A multi-wheel drive platform electronic differential control method is characterized in that: the driving wheel set of the multi-wheel driving platform is driven by a speed regulating motor, and the control method comprises the following steps:
acquiring a first set of a calibrated driving speed and a corresponding calibrated driving force of the speed regulating motor;
determining the theoretical instantaneous rotating speed and the theoretical driving force of each driving wheel in the steering process as a second set according to the instantaneous linear speed of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel; the method comprises the following steps of determining theoretical instantaneous linear speed of a driving wheel set according to the instantaneous linear speed of one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel, and determining the theoretical instantaneous rotating speed of the driving wheel set according to the theoretical instantaneous linear speed of the driving wheel set; determining theoretical driving force of each driving wheel according to the instantaneous linear speed of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel;
the theoretical instantaneous linear velocity of the driving wheel set determined according to the instantaneous linear velocity of one of the steering driving wheels in the driving wheel set and the instantaneous steering angle of each steering driving wheel is obtained by the following formula:
Vi＝G(Ax)V0
wherein, V0The instantaneous linear velocity of one of the steering drive wheels in the set of drive wheels; g (A)x) For the steering angle of the other drive wheels to the steered drive wheel, ViA theoretical instantaneous linear velocity for each steering drive wheel in the set of drive wheels;
determining a theoretical instantaneous rotational speed of a drive wheel set from the theoretical instantaneous linear speed of the drive wheel set by the following formula:
RPMi＝Vi·qi
wherein q isiFor compensating the parameter 0 ≤ qi≤1，RPMiIs the theoretical instantaneous speed of the driving wheel set;
the theoretical driving force of each driving wheel is determined according to the instantaneous linear velocity of at least one steering driving wheel in the driving wheel set and the instantaneous steering angle of each steering driving wheel, and is obtained by adopting the following formula:
wherein the content of the first and second substances,
representing polar coordinate function versus steering wheel angle AxIs used for calculating the current instantaneous rotating speed RPM of the driving wheeliThe required velocity increment, m is the mass constant of the driving platform, wiIs the driving force constant of the speed regulating motor;
and when the second set is smaller than a set threshold value compared with the corresponding parameter of the first set, determining the driving force of the speed regulating motor on the driving wheel set.
2. The electronic differential control method for a multi-wheel drive platform according to claim 1, characterized in that: when the second set is smaller than the set threshold value compared with the corresponding parameter of the first set, determining the driving force of the speed regulating motor to the driving wheel set comprises:
when the corresponding parameters of the second set and the first set are compared and are all smaller than a set threshold value, determining a compensation parameter qiAnd a driving force constant w of the speed-regulating motoriThen according to the compensation parameter qiAnd a driving force constant w of the speed-regulating motoriAnd calculating the actual driving force of the speed regulating motor.
3. A multi-wheel drive platform, comprising:
a driving wheel set having at least two driving wheels, a variable speed motor driving the driving wheel set, and an ECU unit employing the electronic differential control method as claimed in claim 1 or 2.
4. A multi-wheel drive platform according to claim 3, wherein: the driving wheel set is provided with an angle sensor for acquiring the steering angle of each driving wheel in the driving wheel set; one steering driving wheel of the driving wheel set is provided with a mileage encoder used for acquiring the instantaneous linear speed of the driving wheel.
5. An electronic differential control apparatus for a multi-wheel drive platform, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to at least one of the processors; wherein the content of the first and second substances,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method of claim 1 or 2.
6. A computer storage medium comprising instructions characterized in that: when run on a processor, the instructions cause the processor to perform the method of claim 1 or 2.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574979A (en) * | 2009-06-11 | 2009-11-11 | 重庆大学 | Electric motor car differential steeling control method based on slip rate control |
| CN106956616A (en) * | 2017-02-21 | 2017-07-18 | 北京航天发射技术研究所 | A kind of many wheel independent drive electric vehicle Electronic differential control methods |
| CN109228885A (en) * | 2017-07-10 | 2019-01-18 | 林洪立 | A kind of electric car electronic differential calculation method |
| CN110962626A (en) * | 2019-12-27 | 2020-04-07 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11186272B2 (en) * | 2019-04-11 | 2021-11-30 | Hyundai Motor Company | Control method for electronic limited slip differential |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101574979A (en) * | 2009-06-11 | 2009-11-11 | 重庆大学 | Electric motor car differential steeling control method based on slip rate control |
| CN106956616A (en) * | 2017-02-21 | 2017-07-18 | 北京航天发射技术研究所 | A kind of many wheel independent drive electric vehicle Electronic differential control methods |
| CN109228885A (en) * | 2017-07-10 | 2019-01-18 | 林洪立 | A kind of electric car electronic differential calculation method |
| CN110962626A (en) * | 2019-12-27 | 2020-04-07 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
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