CN113386583A - Automobile hub motor differential control system and method - Google Patents
Automobile hub motor differential control system and method Download PDFInfo
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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
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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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
- B60L2240/421—Speed
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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
- B60L2240/427—Voltage
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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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Abstract
The invention relates to the technical field of motor control, in particular to a differential control system and a differential control method for an automobile hub motor, wherein the system comprises: the automobile data module is used for acquiring the automobile running speed, the steering wheel turning angle and the accelerator opening degree of the automobile; the motor data module is used for acquiring the actual rotating speed and voltage of the hub motor; the differential control module is used for generating a target rotating speed according to the automobile running speed, the steering wheel rotating angle and the accelerator opening degree and carrying out differential control on the automobile; and the motor control module is used for generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage and controlling the actual rotating speed of the hub motor. The invention adopts a two-stage control idea, the first stage controls the differential speed of the wheels at two sides during steering, and the second stage controls the rotating speed of the hub motor, thereby solving the technical problem that the differential speed of the wheels at the left side and the right side cannot be controlled during steering.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a differential control system and method for an automobile hub motor.
Background
At present, an in-wheel motor driven electric automobile gradually becomes a research hotspot due to the advantages of simple mechanical transmission structure, high driving efficiency, low cost and the like. For an electric automobile, in order to ensure that the left and right hub motors rotate at different rotating speeds, the hub motors on two sides can drive at different intervals by pure rolling as far as possible, and the friction between tires and the ground is reduced, most of the hub motors are driven by a hub motor and an electronic software differential.
The working principle of the electronic software differential is as follows: and calculating by the controller according to the steering angle and other information acquired by the vehicle-mounted sensor to obtain the rotating speeds of the left and right hub motors, and performing differential control on the left and right hub motors respectively. Because the road surface that electric automobile went appears pothole more or less, not all be the level road surface, electronic software differential mechanism can not gather actual road surface information, and uneven ground can lead to the tire not to do not equidistance all the time with pure roll and go, increases the friction of tire and ground. Therefore, the direct current end of the left hub motor control module and the direct current end of the right hub motor control module can be connected in series with a direct current power supply, and input voltage signals of the left hub motor control module and the right hub motor control module are mutually divided along with different rotating speeds of the hub motors; when the automobile turns, the friction force of the inner hub motor is increased and reduced, the input voltage signal of the inner hub motor is reduced, the input voltage signal of the outer hub motor is increased, and the rotating speed of the outer hub motor is automatically increased. Although the rotating speed of the hub motor is completely determined by actual road conditions and turning angles, the requirement that the hub motors on two sides run at different intervals in a pure rolling mode can be met, the whole process is only to adjust and control the rotating speed of the hub motor, and the differential speed of the wheels on the left side and the right side during turning cannot be controlled.
Disclosure of Invention
The invention provides a differential control system and method for an automobile hub motor, which solve the technical problem that the differential speed of left and right wheels cannot be controlled during steering.
The basic scheme provided by the invention is as follows: automobile wheel hub motor differential control system includes:
the automobile data module is used for acquiring the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sending the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module;
the motor data module is used for acquiring the actual rotating speed and voltage of the hub motor and sending the actual rotating speed and voltage to the motor control module;
the differential control module is used for receiving the automobile running speed, the steering wheel angle and the accelerator opening degree, generating a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree and performing differential control on the automobile, and the differential control module is obtained by training according to the automobile running speed, the steering wheel angle and the accelerator opening degree which are acquired in advance;
and the motor control module is used for receiving the target rotating speed, the actual rotating speed and the voltage, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, controlling the actual rotating speed of the hub motor, and training the motor control module according to the target rotating speed, the actual rotating speed and the voltage of the hub motor tested in advance to obtain the motor control signal.
The working principle and the advantages of the invention are as follows:
(1) the differential control of the hub motor is divided into two stages, wherein the first stage generates a target rotating speed according to the automobile running speed, the steering wheel rotating angle and the accelerator opening degree, and performs differential control on the automobile; a second stage, generating a motor control signal according to the target rotating speed, the actual rotating speed signal and the voltage, and controlling the actual rotating speed of the hub motor; the differential of both sides wheel when being equivalent to first level control turns to, the rotational speed of second level control wheel hub motor has adopted two-stage control, and control accuracy is higher, and the response is faster compared in the actual rotational speed of direct control wheel hub motor.
(2) When the traditional internal combustion engine automobile is upgraded and modified into a hybrid power automobile, differential control is easy to realize, only a non-driving wheel is required to be replaced by a hub motor, and a chassis is not required to be greatly modified; meanwhile, various data can be intelligently recorded, and the self-learning capability is achieved.
The invention adopts a two-stage control idea, the first stage controls the differential speed of the wheels at two sides during steering, and the second stage controls the rotating speed of the hub motor, thereby solving the technical problem that the differential speed of the wheels at the left side and the right side cannot be controlled during steering.
Furthermore, the automobile data module is also used for acquiring the opening degree of a vehicle speed pedal and sending the opening degree of the vehicle speed pedal to the differential speed control module; the differential control module is also used for receiving the opening degree of a vehicle speed pedal, judging whether the opening degree of the vehicle speed pedal is zero or not, and if the opening degree of the vehicle speed pedal is not zero, generating a target rotating speed according to the running speed of the automobile, the rotating angle of a steering wheel and an opening degree signal of an accelerator.
Has the advantages that: if the opening signal of the speed pedal is zero, the automobile is in a speed reduction running state or a running stopping state, so that meaningless differential control can be avoided, the differential control is ensured to be carried out in the running process of the automobile, and the pertinence of the differential control is improved.
Furthermore, the automobile data module is also used for acquiring the road surface gradient and sending the road surface gradient to the differential speed control module; the differential control module is also used for receiving the road surface gradient, judging whether the road surface gradient is smaller than a preset gradient threshold value or not, judging whether the automobile running speed is smaller than a preset speed threshold value or not, and if the road surface gradient is smaller than the preset gradient threshold value and the automobile running speed is smaller than the preset speed threshold value, generating a target rotating speed according to the automobile running speed, a steering wheel turning angle and the accelerator opening degree.
Has the advantages that: under the condition that the road surface gradient is smaller than the preset gradient threshold value and the automobile running speed is smaller than the preset speed threshold value, the differential control is carried out on the automobile, the wheel slipping can be avoided, and the driving safety is ensured.
Further, the motor control module includes:
the first control unit is used for generating a first adjusting signal according to the target rotating speed, the actual rotating speed and the voltage and controlling the actual rotating speed of the hub motor positioned on the left side of the automobile according to the first adjusting signal;
and the second control unit is used for generating a second adjusting signal according to the target rotating speed, the actual rotating speed and the voltage and controlling the actual rotating speed of the hub motor positioned on the right side of the automobile according to the second adjusting signal.
Has the advantages that: when the automobile turns, the actual rotating speeds of the hub motors on the left side and the right side of the automobile are different, and the advantage of separate control is that even if the control of one hub motor fails or fails, the other hub motor can still realize differential control.
Further, the motor control module is further configured to calculate a difference between an actual rotational speed of the hub motor located on the left side and an actual rotational speed of the hub motor located on the right side, so as to obtain an actual rotational speed difference; and judging the magnitude of the actual rotating speed differential speed and a preset difference threshold value, and if the actual rotating speed differential speed is greater than the preset difference threshold value, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage.
Has the advantages that: when the actual differential speed ratio is larger, the actual rotating speed of the hub motor is controlled, and when the actual differential speed ratio is larger, the actual rotating speed of the hub motor is not controlled, so that the hub motors on two sides can be ensured to run in a pure rolling mode at different intervals, and the service life of the tire can be prolonged.
Further, the automobile data module is also used for acquiring a torque transmission value F1 on a transmission shaft of the hub motor on the left side of the automobile and a torque transmission value F2 on a transmission shaft of the hub motor on the right side of the automobile; the motor control module is also used for generating a torque adjusting value F according to the automobile running speed, the steering wheel rotation angle and the accelerator opening degree signal of the automobile;
if the automobile turns left: the first control unit controls the actual rotating speed of a hub motor positioned at the left side of the automobile according to F (L1), wherein F (L1) is F/2- (F1-F2); the second control unit controls the actual rotating speed of the hub motor positioned on the right side of the automobile according to F (R1), wherein F (R1) is F/2;
if the automobile turns right: the first control unit controls the actual rotating speed of a hub motor positioned at the left side of the automobile according to F (L2), wherein F (L2) is F/2; the second control unit controls the actual rotation speed of the hub motor on the right side of the automobile according to F (R2), and F (R2) is F/2- (F2-F1).
Has the advantages that: after the torque adjusting value F is generated according to the automobile running speed, the steering wheel turning angle and the throttle opening degree signal of the automobile, the torque adjusting value F is reasonably distributed to the hub motors on two sides in combination with the turning direction of the automobile, and the actual rotating speeds of the hub motors on two sides can be effectively and accurately controlled to reach the target rotating speed.
Based on the automobile hub motor differential control system, the invention also provides an automobile hub motor differential control method, which comprises the following steps:
s1, the automobile data module collects the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sends the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module;
s2, the differential control module receives the automobile running speed, the steering wheel angle and the accelerator opening degree, generates a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree, and sends the target rotating speed to the motor control module;
s3, the motor data module acquires the actual rotating speed and voltage of the hub motor and sends the actual rotating speed and voltage to the motor control module;
and S4, the motor control module receives the target rotating speed, the actual rotating speed and the voltage, generates a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, and controls the actual rotating speed of the hub motor.
The working principle and the advantages of the invention are as follows: firstly, the differential control of the hub motor is divided into two stages, the first stage controls the differential speed of wheels on two sides during steering, and the second stage controls the rotating speed of the hub motor, so that the control precision is high and the response is fast; meanwhile, various data can be intelligently recorded, and the self-learning capability is realized; and secondly, the system can be used for a traditional internal combustion engine automobile and a hybrid electric automobile, and only a non-driving wheel needs to be replaced by a hub motor for the latter, and the chassis does not need to be greatly modified.
Further, in S4, the motor control module further calculates a difference between the actual rotational speed of the hub motor at the left side and the actual rotational speed of the hub motor at the right side to obtain an actual rotational speed difference; and judging the magnitude of the actual rotating speed differential speed and a preset difference threshold value, and if the actual rotating speed differential speed is greater than the preset difference threshold value, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage.
Has the advantages that: the unnecessary control can be prevented when the actual rotating speed difference is larger, the non-equidistant running of the hub motors on two sides can be ensured by pure rolling, and the service life of the tire can be prolonged.
Further, in S4, the controlling the actual rotation speed of the hub motor by the motor control module includes:
generating a first adjusting signal according to the target rotating speed, the actual rotating speed and the voltage, and controlling the actual rotating speed of a hub motor positioned on the left side of the automobile according to the first adjusting signal;
and generating a second adjusting signal according to the target rotating speed, the actual rotating speed and the voltage, and controlling the actual rotating speed of the hub motor positioned on the right side of the automobile according to the second adjusting signal.
Has the advantages that: due to the fact that the actual rotating speeds of the hub motors on the two sides are different when the automobile turns, the advantage of the separated control is that when one of the hub motors fails or fails, the other hub motor can still achieve normal differential control.
Further, in S1, the automobile data module further acquires a torque transmission value F1 on a transmission shaft of the hub motor located at the left side of the automobile and a torque transmission value F2 on a transmission shaft of the hub motor located at the right side of the automobile; in S4, the motor control module is further used for generating a torque adjusting value F according to the automobile running speed, the steering wheel angle and the accelerator opening degree of the automobile;
if the automobile turns left: controlling the actual rotation speed of a hub motor positioned at the left side of the automobile according to F (L1), wherein F (L1) is F/2- (F1-F2); controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R1), wherein F (R1) is F/2;
if the automobile turns right: controlling the actual rotation speed of a hub motor positioned at the left side of the automobile according to F (L2), wherein F (L2) is F/2; and controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R2), wherein F (R2) is F/2- (F2-F1).
Has the advantages that: the generated torque adjusting value F can be reasonably distributed to the hub motors on the two sides on the basis of combining the turning direction of the automobile, and the actual rotating speed of the hub motors on the two sides can be accurately controlled.
Drawings
Fig. 1 is a block diagram of a system structure of an embodiment of a differential speed control system for an automobile hub motor according to the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
example 1
An embodiment is substantially as shown in figure 1, comprising:
the automobile data module is used for acquiring the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sending the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module;
the motor data module is used for acquiring the actual rotating speed and voltage of the hub motor and sending the actual rotating speed and voltage to the motor control module;
the differential control module is used for receiving the automobile running speed, the steering wheel angle and the accelerator opening degree, generating a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree and performing differential control on the automobile, and the differential control module is obtained by training according to the automobile running speed, the steering wheel angle and the accelerator opening degree which are acquired in advance;
and the motor control module is used for receiving the target rotating speed, the actual rotating speed and the voltage, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, controlling the actual rotating speed of the hub motor, and training the motor control module according to the target rotating speed, the actual rotating speed and the voltage of the hub motor tested in advance to obtain the motor control signal.
The specific implementation process is as follows:
and S1, the automobile data module collects the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sends the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module. In this embodiment, the vehicle data module further collects the opening of the vehicle speed pedal and sends the opening of the vehicle speed pedal to the differential control module.
And S2, the differential control module receives the automobile running speed, the steering wheel angle and the accelerator opening degree, generates a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree, and sends the target rotating speed to the motor control module. In this embodiment, the differential control module is obtained by training in combination with a fuzzy neural network according to the vehicle driving speed, the steering wheel angle and the accelerator opening degree which are acquired in advance, and these data of the vehicle driving speed, the steering wheel angle and the accelerator opening degree can be obtained through standardized tests. After receiving the opening degree of a vehicle speed pedal, the differential control module judges whether the opening degree of the vehicle speed pedal is zero, and if the opening degree of the vehicle speed pedal is not zero, a target rotating speed is generated according to the running speed of the automobile, the rotating angle of a steering wheel and an accelerator opening degree signal; on the contrary, if the opening signal of the vehicle speed pedal is zero, and the vehicle is in a deceleration running or stop running state at the moment, the target rotating speed is not generated, so that meaningless differential control is avoided, differential control in the running process of the vehicle is ensured, and the pertinence of the differential control is improved.
S3, the motor data module obtains the actual speed and voltage of the hub motor and sends the actual speed and voltage to the motor control module.
And S4, the motor control module receives the target rotating speed, the actual rotating speed and the voltage, generates a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, and controls the actual rotating speed of the hub motor. In this embodiment, the motor control module includes a first control unit and a second control unit, and first, the first control unit generates a first adjustment signal according to the target rotational speed, the actual rotational speed, and the voltage, and controls the actual rotational speed of the hub motor located at the left side of the automobile according to the first adjustment signal; then, the second control unit generates a second adjustment signal according to the target rotational speed, the actual rotational speed, and the voltage, and controls the actual rotational speed of the hub motor located at the right side of the automobile according to the second adjustment signal. The advantage of such separate control is that when the vehicle is turning, the actual rotation speeds of the hub motors on the left and right sides of the vehicle are different, and even if the control of one of the hub motors fails or fails, the other hub motor can still realize differential control.
Example 2
The difference between the automobile data module and the embodiment 1 is that the automobile data module also acquires the road surface gradient and sends the road surface gradient to the differential speed control module; after receiving the road surface gradient, the differential control module judges whether the road surface gradient is smaller than a preset gradient threshold value or not, judges whether the automobile running speed is smaller than a preset speed threshold value or not, and generates a target rotating speed according to the automobile running speed, a steering wheel turning angle and an accelerator opening degree if the road surface gradient is smaller than the preset gradient threshold value and the automobile running speed is smaller than the preset speed threshold value; otherwise, the target rotating speed is not generated. Through the mode, the differential control is carried out on the automobile under the condition that the road surface gradient is smaller than the preset gradient threshold value and the automobile running speed is smaller than the preset speed threshold value, so that the wheel slip can be avoided, and the driving safety is ensured.
Example 3
The only difference from embodiment 2 is that,
in S1, the automobile data module collects a torque transmission value F1 on a transmission shaft of a hub motor on the left side of the automobile and a torque transmission value F2 on a transmission shaft of a hub motor on the right side of the automobile;
in S4, first, the motor control module calculates a difference between an actual rotational speed of the hub motor on the left side and an actual rotational speed of the hub motor on the right side to obtain an actual rotational speed difference; then, judging the magnitude of the actual speed differential and a preset difference threshold, and if the actual speed differential is greater than the preset difference threshold, generating a motor control signal according to the target speed, the actual speed and the voltage; and finally, the motor control module generates a torque adjusting value F according to the automobile running speed, the steering wheel rotation angle and the accelerator opening degree of the automobile, and the control is as follows:
if the automobile turns left, controlling the actual rotation speed of a hub motor positioned at the left side of the automobile according to F (L1), wherein F (L1) is F/2- (F1-F2); controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R1), wherein F (R1) is F/2;
if the automobile turns right, controlling the actual rotating speed of a hub motor positioned at the left side of the automobile according to F (L2), wherein F (L2) is F/2; and controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R2), wherein F (R2) is F/2- (F2-F1).
By the mode, when the actual differential speed ratio is larger, the actual rotating speed of the hub motor is controlled, and when the actual differential speed ratio is larger, the actual rotating speed of the hub motor is not controlled, so that the hub motors on two sides can be ensured to run in a pure rolling mode at different intervals, and the service life of the tire can be prolonged; meanwhile, the generated torque adjusting value F can be reasonably distributed to the hub motors on the two sides in combination with the turning direction of the automobile, and the actual rotating speeds of the hub motors on the two sides can be accurately controlled.
Example 4
The difference from embodiment 3 is that before the vehicle data module collects the vehicle driving speed, the steering wheel angle and the accelerator opening of the vehicle, it first detects whether there is an uneven portion on the road surface, for example, the infrared sensor irradiates the road surface to detect, so as to determine whether there is an uneven portion on the road surface, and if there is an uneven portion on the road surface, the vehicle data module collects the vehicle driving speed, the steering wheel angle and the accelerator opening of the vehicle, so as to start the differential control process of the hub motor of the vehicle.
In addition, the differential control module also acquires the position of the automobile and the weather condition of the automobile in real time, predicts whether differential control needs to be performed in advance by combining historical data of the position and the weather condition, and starts the differential control at preset time if the differential control needs to be performed in advance. For example, the position of the automobile on the road is monitored in real time through the positioner, and whether the road has a large slope (the slope is greater than 20 degrees) or a large turn (the turning angle is less than 160 degrees) is judged; acquiring the current weather condition through weather forecast, and judging whether a rain and snow environment is possible to appear or not; if the road has a large slope or a large turn, or the automobile possibly enters a rain and snow environment, whether differential control needs to be performed in advance is predicted according to the position and historical data of weather conditions, namely, if the result of prediction according to the historical data shows that the differential control needs to be performed in advance, the differential control is started according to the time (for example, after 10 minutes) preset in advance, the rotating speeds of two tires are adjusted in advance, and therefore the adaptability of the differential control is improved.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. Automobile wheel hub motor differential control system, its characterized in that includes:
the automobile data module is used for acquiring the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sending the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module;
the motor data module is used for acquiring the actual rotating speed and voltage of the hub motor and sending the actual rotating speed and voltage to the motor control module;
the differential control module is used for receiving the automobile running speed, the steering wheel angle and the accelerator opening degree, generating a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree and performing differential control on the automobile, and the differential control module is obtained by training according to the automobile running speed, the steering wheel angle and the accelerator opening degree which are acquired in advance;
and the motor control module is used for receiving the target rotating speed, the actual rotating speed and the voltage, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, controlling the actual rotating speed of the hub motor, and training the motor control module according to the target rotating speed, the actual rotating speed and the voltage of the hub motor tested in advance to obtain the motor control signal.
2. The differential control system of the automobile hub motor according to claim 1, wherein the automobile data module is further configured to collect an opening degree of a vehicle speed pedal and send the opening degree of the vehicle speed pedal to the differential control module; the differential control module is also used for receiving the opening degree of a vehicle speed pedal, judging whether the opening degree of the vehicle speed pedal is zero or not, and if the opening degree of the vehicle speed pedal is not zero, generating a target rotating speed according to the running speed of the automobile, the rotating angle of a steering wheel and an opening degree signal of an accelerator.
3. The differential control system for the automobile hub motor according to claim 2, wherein the automobile data module is further configured to collect a road gradient and send the road gradient to the differential control module; the differential control module is also used for receiving the road surface gradient, judging whether the road surface gradient is smaller than a preset gradient threshold value or not, judging whether the automobile running speed is smaller than a preset speed threshold value or not, and if the road surface gradient is smaller than the preset gradient threshold value and the automobile running speed is smaller than the preset speed threshold value, generating a target rotating speed according to the automobile running speed, a steering wheel turning angle and the accelerator opening degree.
4. The differential speed control system for the automobile hub motor according to claim 3, wherein the motor control module comprises:
the first control unit is used for generating a first adjusting signal according to the target rotating speed, the actual rotating speed and the voltage and controlling the actual rotating speed of the hub motor positioned on the left side of the automobile according to the first adjusting signal;
and the second control unit is used for generating a second adjusting signal according to the target rotating speed, the actual rotating speed and the voltage and controlling the actual rotating speed of the hub motor positioned on the right side of the automobile according to the second adjusting signal.
5. The differential control system for the automobile hub motor according to claim 4, wherein the motor control module is further configured to calculate a difference between an actual rotational speed of the hub motor located on the left side and an actual rotational speed of the hub motor located on the right side, so as to obtain an actual rotational speed difference; and judging the magnitude of the actual rotating speed differential speed and a preset difference threshold value, and if the actual rotating speed differential speed is greater than the preset difference threshold value, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage.
6. The differential control system for the hub motors of the automobile according to claim 5, wherein the automobile data module is further configured to acquire a torque transmission value F1 on a transmission shaft of the hub motor located at the left side of the automobile and a torque transmission value F2 on a transmission shaft of the hub motor located at the right side of the automobile; the motor control module is also used for generating a torque adjusting value F according to the automobile running speed, the steering wheel rotation angle and the accelerator opening degree signal of the automobile;
if the automobile turns left: the first control unit controls the actual rotating speed of a hub motor positioned at the left side of the automobile according to F (L1), wherein F (L1) is F/2- (F1-F2); the second control unit controls the actual rotating speed of the hub motor positioned on the right side of the automobile according to F (R1), wherein F (R1) is F/2;
if the automobile turns right: the first control unit controls the actual rotating speed of a hub motor positioned at the left side of the automobile according to F (L2), wherein F (L2) is F/2; the second control unit controls the actual rotation speed of the hub motor on the right side of the automobile according to F (R2), and F (R2) is F/2- (F2-F1).
7. The differential speed control method of the automobile hub motor is characterized by comprising the following steps:
s1, the automobile data module collects the automobile running speed, the steering wheel angle and the accelerator opening of the automobile and sends the automobile running speed, the steering wheel angle and the accelerator opening to the differential control module;
s2, the differential control module receives the automobile running speed, the steering wheel angle and the accelerator opening degree, generates a target rotating speed according to the automobile running speed, the steering wheel angle and the accelerator opening degree, and sends the target rotating speed to the motor control module;
s3, the motor data module acquires the actual rotating speed and voltage of the hub motor and sends the actual rotating speed and voltage to the motor control module;
and S4, the motor control module receives the target rotating speed, the actual rotating speed and the voltage, generates a motor control signal according to the target rotating speed, the actual rotating speed and the voltage, and controls the actual rotating speed of the hub motor.
8. The differential control method for the hub motors of the automobile according to claim 7, wherein in S4, the motor control module further calculates a difference between an actual rotational speed of the hub motor at the left side and an actual rotational speed of the hub motor at the right side to obtain an actual rotational speed difference; and judging the magnitude of the actual rotating speed differential speed and a preset difference threshold value, and if the actual rotating speed differential speed is greater than the preset difference threshold value, generating a motor control signal according to the target rotating speed, the actual rotating speed and the voltage.
9. The differential control method for the automobile hub motor according to claim 8, wherein in S4, the step of controlling the actual rotation speed of the hub motor by the motor control module includes:
generating a first adjusting signal according to the target rotating speed, the actual rotating speed and the voltage, and controlling the actual rotating speed of a hub motor positioned on the left side of the automobile according to the first adjusting signal;
and generating a second adjusting signal according to the target rotating speed, the actual rotating speed and the voltage, and controlling the actual rotating speed of the hub motor positioned on the right side of the automobile according to the second adjusting signal.
10. The differential control method for the hub motors of the automobile according to claim 9, wherein in S1, the automobile data module further acquires a torque transmission value F1 on a transmission shaft of the hub motor located at the left side of the automobile and a torque transmission value F2 on a transmission shaft of the hub motor located at the right side of the automobile; in S4, the motor control module is further used for generating a torque adjusting value F according to the automobile running speed, the steering wheel angle and the accelerator opening degree of the automobile;
if the automobile turns left: controlling the actual rotation speed of a hub motor positioned at the left side of the automobile according to F (L1), wherein F (L1) is F/2- (F1-F2); controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R1), wherein F (R1) is F/2;
if the automobile turns right: controlling the actual rotation speed of a hub motor positioned at the left side of the automobile according to F (L2), wherein F (L2) is F/2; and controlling the actual rotation speed of a hub motor positioned on the right side of the automobile according to F (R2), wherein F (R2) is F/2- (F2-F1).
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Application publication date: 20210914 |