CN113752853A - Vehicle driving antiskid control method and system and vehicle - Google Patents

Vehicle driving antiskid control method and system and vehicle Download PDF

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Publication number
CN113752853A
CN113752853A CN202111076490.XA CN202111076490A CN113752853A CN 113752853 A CN113752853 A CN 113752853A CN 202111076490 A CN202111076490 A CN 202111076490A CN 113752853 A CN113752853 A CN 113752853A
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China
Prior art keywords
motor
torque
vehicle
actual
speed
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Granted
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CN202111076490.XA
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Chinese (zh)
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CN113752853B (en
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李帅
隋维龙
陈俊
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Hunan Sanyi Huayuan Machinery Co
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Hunan Sanyi Huayuan Machinery Co
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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
    • 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
    • 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
    • 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
    • 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
    • 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 provides a vehicle driving anti-skid control method, a vehicle driving anti-skid control system and a vehicle, wherein gear information, actual rotating speed of a motor, actual torque of the motor and actual speed of the vehicle are introduced to calculate the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, and the driving motor in the vehicle is controlled through the control torque of the motor and the control angular acceleration of the motor, so that the calculation of the slip rate and the estimation of an adhesion coefficient are avoided, the road condition is not required to be identified and estimated, the method is simple and practical, and the slip problem and the excessive start torque slip problem of the vehicle under the wet slip working condition can be solved. The anti-skid control efficiency of the vehicle drive can be improved, the anti-skid control of the vehicle drive can be performed according to different road conditions, and the application range is expanded.

Description

Vehicle driving antiskid control method and system and vehicle
Technical Field
The invention relates to the technical field of vehicle safety control, in particular to a vehicle driving antiskid control method and system and a vehicle.
Background
With the development of the technology, the vehicle provides great convenience for people's traveling and production operation, so that the safety running of the vehicle is guaranteed to be very important, and the key for guaranteeing the safety running of the vehicle is to perform vehicle driving anti-skid control.
At present, a vehicle drive anti-skid control method mainly calculates a request matrix and a slip ratio of a vehicle powertrain, calculates a correction coefficient according to the slip ratio, calculates a target torque of a vehicle according to the correction coefficient, and controls the vehicle according to the target torque through a control system.
In the vehicle driving antiskid control method provided in the prior art, the slip rate needs to be calculated, so that the calculation process is complex, and the control efficiency is reduced. Moreover, since the slip ratio is affected by the road conditions, it is necessary to identify and predict the conditions, and a complicated adhesion coefficient estimation method is involved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle driving antiskid control method, a vehicle driving antiskid control system and a vehicle, which are used for solving or improving at least one technical problem in the prior art without identifying and predicting road conditions.
The invention provides a vehicle driving antiskid control method, which comprises the following steps:
calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed;
if the fact that the vehicle generates slippage is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slippage torque of the motor and the required torque of the motor;
controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration.
According to the anti-slip control method for vehicle driving provided by the invention, the determining of the motor control torque and the motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor specifically comprises the following steps:
if the motor required torque is judged to be less than or equal to the maximum equivalent slip torque of the motor, determining that the motor control torque is equal to the motor required torque, and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is smaller than or equal to the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is larger than the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the equivalent slip angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent slip angular acceleration is determined based on the actual rotational speed of the motor and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
According to the vehicle driving antiskid control method provided by the invention, the maximum equivalent slip torque of the motor is determined on the basis of the following modes:
and determining the maximum equivalent slip torque of the motor based on the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor.
According to the anti-skid control method for vehicle driving provided by the invention, the control of the driving motor in the vehicle based on the motor control torque and the motor control angular acceleration specifically comprises the following steps:
and converting the motor control torque and the motor control angular acceleration into a current signal and a voltage amplitude and frequency signal, and controlling the driving motor based on the current signal and the voltage amplitude and frequency signal.
According to the present invention, there is provided a vehicle drive antiskid control method, further comprising:
if the fact that the vehicle does not slip is judged and known, when the required rotating speed of the motor is smaller than or equal to an equivalent target rotating speed, or when the required rotating speed of the motor is larger than the equivalent target rotating speed and the required torque of the motor is smaller than or equal to the actual torque of the motor, determining the control rotating speed of the motor and the control angular acceleration of the motor, and controlling a driving motor in the vehicle based on the control rotating speed of the motor and the control angular acceleration of the motor;
and when the motor required rotating speed is greater than the equivalent target rotating speed and the motor required torque is greater than the motor actual torque, determining a motor control torque and a motor control angular acceleration based on the motor actual rotating speed, the motor required rotating speed, the maximum equivalent slip torque of the motor and the motor required torque, and controlling the driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
According to the anti-slip control method for vehicle driving provided by the invention, the determining of the motor control rotating speed and the motor control angular acceleration specifically comprises the following steps:
determining that the motor control rotating speed is equal to the motor required rotating speed;
determining that the motor control angular acceleration is equal to the motor demand angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
According to the anti-slip control method for vehicle driving provided by the invention, the method comprises the following steps of calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual speed of the vehicle, wherein the method comprises the following steps:
acquiring speed information of the vehicle, wherein the speed information comprises the actual rotating speed of a motor and the actual vehicle speed;
and judging whether the vehicle slips or not based on the actual rotating speed of the motor and the actual vehicle speed.
According to the anti-slip control method for vehicle driving provided by the invention, the method comprises the following steps of calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual speed of the vehicle, wherein the method comprises the following steps:
acquiring a user input of the vehicle, and acquiring a control mode in response to the user input;
correspondingly, based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, the control torque of the motor and the angular acceleration of the motor are determined, and the method specifically comprises the following steps:
if the operation mode is judged to be the intervention mode, judging the magnitude relation between the equivalent slip angular acceleration and the acceleration threshold;
if the magnitude relation is that the equivalent slip angular acceleration is larger than the acceleration threshold, determining the motor control angular acceleration based on the acceleration threshold;
wherein an equivalent slip angular acceleration is determined based on the motor actual rotational speed and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed; the acceleration threshold is determined based on the actual torque of the motor and a preset torque correction parameter.
The present invention also provides a vehicle drive antiskid control system for implementing the vehicle drive antiskid control method described above, including: the device comprises a driving motor, a wheel speed sensor, an input device, a vehicle controller and a microcontroller;
the driving motor is connected with a driving wheel of the vehicle;
the wheel speed sensor is connected with a driven wheel of the vehicle;
the input device is used for acquiring gear information of the vehicle;
the vehicle controller is connected with the wheel speed sensor and the input device;
the microcontroller is connected with the vehicle controller and the driving motor.
The invention also provides a vehicle, which comprises a driving wheel and a driven wheel, and comprises the vehicle driving anti-skid control system, wherein the driving wheel is connected with the driving motor; the driven wheel is connected with a wheel speed sensor.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the vehicle driving antiskid control method.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle drive antiskid control method as recited in any one of the above.
The present invention also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the vehicle drive antiskid control method as set forth in any one of the above.
According to the vehicle driving antiskid control method, the vehicle driving antiskid control system and the vehicle, firstly, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor are calculated according to the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual speed of the vehicle; then, under the condition that the vehicle slips, determining a motor control torque and a motor control angular acceleration according to the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor; and finally, controlling a driving motor in the vehicle by controlling the torque and the angular acceleration through the motor. The embodiment of the invention provides a novel method for controlling the driving antiskid of a vehicle, which introduces gear information, the actual rotating speed of a motor, the actual torque of the motor and the actual speed of the vehicle to calculate the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, controls a driving motor in the vehicle through the control torque of the motor and the control angular acceleration of the motor, avoids the calculation of the slip rate and the estimation of the adhesion coefficient, does not need to identify and estimate the road condition, is simple and practical, and can solve the slip problem of the vehicle under the wet slip working condition and the slip problem of overlarge starting torque. The anti-skid control efficiency of the vehicle drive can be improved, the anti-skid control of the vehicle drive can be performed according to different road conditions, and the application range is expanded.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle drive antiskid control method provided by the present invention;
FIG. 2 is a second schematic flow chart of the antiskid control method for driving a vehicle according to the present invention;
FIG. 3 is a schematic diagram of the vehicle drive antiskid control system provided by the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious 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.
In the vehicle driving antiskid control method provided in the prior art, the slip rate needs to be calculated, so that the calculation process is complex, and the control efficiency is reduced. Furthermore, since the slip ratio is affected by road conditions, the road conditions need to be identified and estimated, and a complicated adhesion coefficient estimation method is involved, which may make it unsuitable for complicated road conditions.
Particularly, if the vehicle is a road roller, the condition of normal running is satisfied, that the adhesion force provided by the ground is larger than the traction force, the traction force is balanced with the running resistance, the road surface adhesion force is small when the soil is wet and slippery or on the ice and snow road surface, and when the driving force is larger than the adhesion force, the slip phenomenon is generated. Researches show that the friction coefficient of the tire on snow covered roads, ice and snow mixed roads and wet and slippery roads is reduced by about 1-10 times compared with that of the tire on ordinary roads. While the faster the vehicle speed, the lower the coefficient of friction. For the road roller, the phenomenon of skidding can not occur until the front and rear wheel speeds coincide with the vehicle speed curve. Meanwhile, high response and high precision control are required to prevent vehicle sliding.
When the vehicle passes through a wet and slippery muddy road surface, the phenomenon of skidding is easy to occur, even the vehicle can not be moved by creeping, and great inconvenience is brought to construction. The method is characterized in that a measure of rapidly reducing the vehicle speed and then slowly increasing the vehicle speed is generally adopted for a traditional driving antiskid method of the road roller, the method has the phenomena of slow torque response and difficult control, and the problem of vehicle sliding can be caused by sudden power loss when a vehicle is driven on an uphill or a scooter.
Therefore, it is urgently needed to provide a vehicle driving antiskid control method, which can realize driving antiskid control on vehicles with the speed lower than the preset speed, and is particularly suitable for low-speed running operation machines such as road rollers and the like. Wherein the preset speed may be less than or equal to 15 km/h.
It should be noted that, since the non-driving wheels are not slipping, and the driving wheels begin to slip, the accurate vehicle speed cannot be obtained, so the actual vehicle speed of the vehicle can be calculated according to the wheel speed of the non-driving wheels in the embodiment of the present invention.
Fig. 1 is a schematic flow chart of a vehicle driving antiskid control method provided in an embodiment of the present invention, as shown in fig. 1, the method includes:
s1, calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed;
s2, if the condition that the vehicle slips is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor;
and S3, controlling a driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
Specifically, in the Vehicle drive antiskid control method provided in the embodiment of the present invention, the main execution body is a Vehicle drive antiskid control system, the Vehicle drive antiskid control system may be configured in a Vehicle Controller Unit (VCU), and the Vehicle controller may be connected to a Microcontroller Unit (MCU), so that the Vehicle controller and the Microcontroller jointly implement drive antiskid control on the Vehicle.
First, step S1 is executed, the gear information of the vehicle can be determined by obtaining the adjustment strength and the adjustment position of the gear lever by the driver, the gear information of the vehicle can be different according to different vehicles, for example, the gear information can include 1-5 gears, each gear has a corresponding required vehicle speed, and the corresponding required vehicle speed can be a speed range value.
The actual vehicle speed refers to the running speed of the vehicle at the current moment, and the actual vehicle speed can be obtained by selecting different driving modes of the vehicle, for example, if the driving mode of the vehicle is a single-drive mode, that is, if there is a driving motor installed on a driving wheel of the vehicle, the actual vehicle speed can be determined by a wheel speed sensor installed on a driven wheel of the vehicle. If the driving mode of the vehicle is the double-drive mode or the four-drive mode, namely two driving motors or four driving motors exist, the actual vehicle speed can be determined by determining the rotary transformer of the non-main driving motor.
In the embodiment of the present invention, the motor rotation speed may be a rotation speed of a driving motor in a vehicle, and a unit of the motor rotation speed may be rpm (revolutions per minute) or rad/s (radians per second). The driving motor is connected with a driving wheel of the vehicle and used for driving the driving wheel. The motor speed may be detected by a resolver installed on the driving motor, or may be detected by other methods, which is not particularly limited in the embodiment of the present invention.
The actual rotation speed of the motor means an actual rotation speed of a driving motor on the vehicle and can be measured by a resolver installed in the driving motor. The motor demand speed is converted from the speed of the vehicle that the user manipulates to meet the desire. The actual torque of the motor is the actual torque of the driving motor on the vehicle, and can be obtained from the microcontroller. The motor demand torque refers to theoretical torque calculated according to the motor demand rotating speed and the actual vehicle speed. The maximum equivalent slip torque of the motor is the maximum equivalent slip torque which can be allowed by the driving motor, and can be determined by the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor.
In the embodiment of the invention, the required rotating speed of the motor and the required torque of the motor can be determined by combining the gear information, the actual rotating speed of the motor, the actual torque of the motor and the actual speed of the vehicle with the dynamic relation, such as the relation between the gear information and the actual speed, the relation between the actual speed and the actual rotating speed of the motor, the relation between the actual speed, the actual rotating speed of the motor and the actual acceleration of the vehicle, and the like.
Then, step S2 is executed, and when it is determined that the vehicle has a slip, the torque control mode is entered, that is, the motor control torque and the motor control angular acceleration are determined according to the actual rotational speed of the motor, the required rotational speed of the motor, the maximum equivalent slip torque of the motor, and the required torque of the motor. The determination of whether the vehicle has slipped may be made before step S2, either before step S1 or between steps S1 and S2. The specific determination method may be performed as needed, and may be performed automatically or manually, which is not specifically limited in the embodiment of the present invention.
The motor control torque refers to torque required to be generated by controlling the driving motor, and the motor control angular acceleration refers to rotation angular acceleration required to be generated by controlling the driving motor. The motor control torque and the motor control angular acceleration can be determined by the magnitude relation between the motor required torque and the maximum equivalent slip torque of the motor and the magnitude relation between the motor required rotating speed and the actual rotating speed of the motor, the motor control torque can be equal to the motor required torque or not equal to the motor required torque, and the motor control angular acceleration can be equal to the motor required angular acceleration or equal to the equivalent slip angular acceleration.
The motor required angular acceleration is the rotational angular acceleration required for driving the motor to prevent the vehicle from continuously slipping, and the first differential of the required rotating speed of the motor can be obtained and then taken as the motor required angular acceleration. The equivalent slip angular acceleration refers to the actual rotation angular acceleration of the driving motor, and can be used for calculating the first order differential of the actual rotation speed of the motor and then taking the first order differential of the actual rotation speed of the motor as the equivalent slip angular acceleration.
And finally, executing step S3, and controlling the driving motor in the vehicle according to the motor control torque and the motor control angular acceleration so as to realize the anti-skid control of the driving of the vehicle. Wherein, can determine the control command who is used for controlling driving motor through motor control moment of torsion and motor control angular acceleration to export this control command to microcontroller, convert this control command into driving motor's drive power through microcontroller, can drive driving motor through microcontroller, and then realize the drive antiskid control to the vehicle.
According to the vehicle driving antiskid control method provided by the embodiment of the invention, firstly, the required rotating speed of a motor, the maximum equivalent slip torque of the motor and the required torque of the motor are calculated according to the gear information of a vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual speed of the vehicle; then, under the condition that the vehicle slips, determining a motor control torque and a motor control angular acceleration according to the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor; and finally, controlling a driving motor in the vehicle by controlling the torque and the angular acceleration through the motor. The embodiment of the invention provides a novel method for controlling the driving antiskid of a vehicle, which introduces gear information, the actual rotating speed of a motor, the actual torque of the motor and the rotating speed of the motor to calculate the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, controls a driving motor in the vehicle through the control torque of the motor and the control angular acceleration of the motor, avoids the calculation of the slip rate and the estimation of the adhesion coefficient, does not need to identify and estimate the road condition, is simple and practical, and can solve the slip problem of the vehicle under the wet slip working condition and the slip problem of overlarge starting torque. The anti-skid control efficiency of the vehicle drive can be improved, the anti-skid control of the vehicle drive can be performed according to different road conditions, and the application range is expanded.
On the basis of the foregoing embodiment, the vehicle driving anti-skid control method provided in the embodiment of the present invention determines the motor control torque and the motor control angular acceleration based on the actual rotational speed of the motor, the required rotational speed of the motor, the maximum equivalent slip torque of the motor, and the required torque of the motor, and specifically includes:
if the motor required torque is judged to be less than or equal to the maximum equivalent slip torque of the motor, determining that the motor control torque is equal to the motor required torque, and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is smaller than or equal to the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is larger than the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the equivalent slip angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent slip angular acceleration is determined based on the actual rotational speed of the motor and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
Specifically, in the embodiment of the present invention, when the motor control torque and the motor control angular acceleration are determined according to the actual motor rotation speed, the required motor rotation speed, the maximum equivalent slip torque of the motor, and the required motor torque, the magnitude relationship between the required motor torque and the maximum equivalent slip torque of the motor, and the magnitude relationship between the required motor rotation speed and the actual motor rotation speed may be respectively determined.
If the motor required torque is smaller than or equal to the maximum equivalent slip torque of the motor, the motor control torque can be determined to be equal to the motor required torque, the motor control angular acceleration is determined to be equal to the motor required angular acceleration, namely the motor required torque is used as the motor control torque, and the motor required angular acceleration is used as the motor control angular acceleration.
If the motor required torque is larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is smaller than or equal to the actual rotating speed of the motor, the motor control torque can be determined to be equal to the maximum equivalent slip torque of the motor, the motor control angular acceleration is determined to be equal to the motor required angular acceleration, namely the maximum equivalent slip torque of the motor is used as the motor control torque, and the motor required angular acceleration is used as the motor control angular acceleration.
If the motor required torque is larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is larger than the actual rotating speed of the motor, the motor control torque can be determined to be equal to the maximum equivalent slip torque of the motor, the motor control angular acceleration is determined to be equal to the motor angular acceleration, namely the maximum equivalent slip torque of the motor is used as the motor control torque, and the equivalent slip angular acceleration is used as the motor control angular acceleration.
In the embodiment of the invention, the adopted required angular acceleration of the motor can be determined by the required rotating speed of the motor and the equivalent target rotating speed, namely when the first-order differential of the required rotating speed of the motor is obtained, a first difference between the required rotating speed of the motor and the equivalent target rotating speed can be determined, then a first ratio of the first difference to a preset time length is determined, and the unit of the first ratio is converted into rad/s2And obtaining the required angular acceleration of the motor. The equivalent target rotating speed can be obtained by calculating the actual speed of the vehicle and is preset for a long timeThe setting may be performed as needed, and this is not particularly limited in the embodiment of the present invention.
Similarly, the adopted equivalent slip angular acceleration can be determined by the actual rotating speed of the motor and the equivalent target rotating speed, that is, when a first-order differential of the actual rotating speed of the motor is obtained, a second difference between the actual rotating speed of the motor and the equivalent target rotating speed can be determined, then a second ratio of the second difference to a preset time length is determined, and a unit of the second ratio is converted into rad/s, so that the equivalent slip angular acceleration is obtained.
According to the embodiment of the invention, the motor control torque and the motor control angular acceleration can be quickly determined through the actual motor rotating speed, the motor required rotating speed, the maximum equivalent slip torque of the motor and the motor required torque, so that the time required by the vehicle drive anti-slip control can be shortened, and the control efficiency is improved.
On the basis of the above embodiment, in the vehicle drive antiskid control method provided in the embodiment of the present invention, the maximum equivalent slip torque of the motor is determined based on:
and determining the maximum equivalent slip torque of the motor based on the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor.
Specifically, in the embodiment of the present invention, when determining the maximum equivalent slip torque of the motor, the equivalent slip angular acceleration and the actual torque of the motor may be determined according to the actual rotational speed of the motor and the equivalent target rotational speed.
And then determining the maximum equivalent slip torque of the motor according to the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor. In the embodiment of the invention, the alternative maximum equivalent slip torque can be calculated according to the equivalent slip angular acceleration and the actual rotating speed of the motor. Then judging the magnitude relation between the alternative maximum equivalent slip torque and the actual torque of the motor, and if the alternative maximum equivalent slip torque is smaller than the actual torque of the motor, taking the alternative maximum equivalent slip torque as the maximum equivalent slip torque of the motor; and if the alternative maximum equivalent slip torque is larger than or equal to the actual torque of the motor, adjusting the alternative maximum equivalent slip torque through an adjustable coefficient, so that the adjusted alternative maximum equivalent slip torque is smaller than the actual torque of the motor, and taking the adjusted alternative maximum equivalent slip torque as the maximum equivalent slip torque of the motor. Here, the adjustable coefficient may be set according to actual conditions, which is not specifically limited in the embodiment of the present invention.
In the embodiment of the invention, the maximum equivalent slip torque of the motor is determined through the actual rotating speed of the motor, the equivalent slip angular acceleration and the actual torque of the motor, and the safe driving of the vehicle can be ensured through the maximum equivalent slip torque.
On the basis of the foregoing embodiment, the method for controlling vehicle driving anti-skid provided in an embodiment of the present invention, where the controlling a driving motor in the vehicle based on the motor control torque and the motor control angular acceleration specifically includes:
and converting the motor control torque and the motor control angular acceleration into a current signal and a voltage amplitude and frequency signal, and controlling the driving motor based on the current signal and the voltage amplitude and frequency signal.
Specifically, in the embodiment of the present invention, when the motor in the vehicle is controlled by the motor control torque and the motor control angular acceleration, the motor control torque and the motor control angular acceleration may be sent to the microcontroller, and the microcontroller converts the motor control torque and the motor control angular acceleration into the current signal and the voltage amplitude and frequency signal. The current signal may be a current magnitude and the voltage amplitude and frequency signal may be an amplitude and frequency of a voltage. Here, the current signal and the voltage amplitude and frequency signal are control signals used by the microcontroller to control the driving motor. And finally, the microcontroller outputs the current, the voltage amplitude and the frequency to the driving motor to control the driving motor. The driving motor converts the electric energy into driving force to drive the driving wheels of the vehicle.
In the embodiment of the invention, the vehicle controller sends the motor control torque and the motor control angular acceleration to the microcontroller, and the microcontroller converts the motor control torque and the motor control angular acceleration into the current signal, the voltage amplitude and the frequency signal to control the driving motor, so that the control precision and the control efficiency of the driving motor can be ensured.
On the basis of the above embodiment, the vehicle drive antiskid control method provided in the embodiment of the present invention calculates the motor required rotation speed and the motor required torque based on the gear information of the vehicle, the actual rotation speed of the motor, and the actual vehicle speed, and specifically includes:
determining a required vehicle speed and a required acceleration of the vehicle based on the gear information, the actual rotating speed of the motor and the actual vehicle speed;
and calculating the required rotating speed of the motor based on the required vehicle speed, and calculating the required torque of the motor based on the required acceleration.
Specifically, in the embodiment of the present invention, when the required rotation speed of the motor and the required torque motor of the motor are calculated according to the gear information of the vehicle and the actual vehicle speed, the required vehicle speed and the required acceleration of the vehicle may be determined according to the gear information, the actual rotation speed of the motor and the actual vehicle speed. The required vehicle speed of the vehicle is the driving speed which the user intends to make the vehicle reach, the required acceleration is the driving acceleration which the user intends to make the vehicle reach, the required vehicle speed of the vehicle can be determined through the gear information, and then the required acceleration of the vehicle is determined through the actual rotating speed of the motor and the required vehicle speed. Wherein the user may be a driver.
And then, according to the required speed, the required rotating speed of the motor can be calculated by combining the radius of the wheel. And calculating the required torque of the motor according to the required acceleration and the required speed.
The embodiment of the invention provides a determination mode of the torque required by the motor, and can ensure the smooth implementation of the vehicle driving antiskid control method.
On the basis of the above embodiment, a vehicle drive antiskid control method provided in an embodiment of the present invention further includes:
if the fact that the vehicle does not slip is judged and known, when the required rotating speed of the motor is smaller than or equal to an equivalent target rotating speed, or when the required rotating speed of the motor is larger than the equivalent target rotating speed and the required torque of the motor is smaller than or equal to the actual torque of the motor, determining the control rotating speed of the motor and the control angular acceleration of the motor, and controlling a driving motor in the vehicle based on the control rotating speed of the motor and the control angular acceleration of the motor;
and when the motor required rotating speed is greater than the equivalent target rotating speed and the motor required torque is greater than the motor actual torque, determining a motor control torque and a motor control angular acceleration based on the motor actual rotating speed, the motor required rotating speed, the maximum equivalent slip torque of the motor and the motor required torque, and controlling the driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
Specifically, in the embodiment of the present invention, if the vehicle does not slip, the vehicle enters the rotation speed control mode, that is, it may be further determined whether the required rotation speed of the motor is less than or equal to the equivalent target rotation speed and the required torque of the motor is less than or equal to the actual torque of the motor, and if the condition that the required rotation speed of the motor is less than or equal to the equivalent target rotation speed is met, or the two conditions that the required rotation speed of the motor is greater than or equal to the equivalent target rotation speed and the required torque of the motor is less than or equal to the actual torque of the motor are met, the control rotation speed of the motor and the control angular acceleration of the motor may be determined, and the driving motor in the vehicle may be controlled according to the control rotation speed of the motor and the control angular acceleration of the motor, so as to implement the driving control of the vehicle, that is, i.e., the driving control of the vehicle normally.
The equivalent target rotating speed is the rotating speed of the motor determined by the actual speed of the vehicle, and under the condition that the vehicle does not slip, the theoretical torque of the motor is the same as the actual torque of the motor, and the equivalent target rotating speed is the same as the actual rotating speed of the motor. In the embodiment of the invention, the motor control rotating speed refers to the rotating speed required to be generated by controlling the driving motor, and the motor control angular acceleration refers to the change speed of the rotating angular speed required to be generated by controlling the driving motor.
When a driving motor in a vehicle is controlled according to a motor control rotation speed and a motor control angular acceleration, a motor control change rotation speed may be determined based on the motor control rotation speed and the motor control rotation speed change speed; and sending the motor control change rotating speed to a microcontroller so that the microcontroller converts the motor control change rotating speed into a current signal, a voltage amplitude and a frequency signal, and controlling the driving motor based on the current signal, the voltage amplitude and the frequency signal.
If the two conditions that the required rotating speed of the motor is greater than the equivalent target rotating speed and the required torque of the motor is greater than the actual torque of the motor are met, the condition that the vehicle is converted from the state without slippage to the condition with slippage can be considered. At this time, the steps S2 and S3 are continuously executed, that is, the motor control torque and the motor control angular acceleration are determined based on the actual motor rotation speed, the required motor rotation speed, the maximum equivalent slip torque of the motor, and the required motor torque, and the driving motor in the vehicle is controlled based on the motor control torque and the motor control angular acceleration, so as to realize the anti-slip control of the vehicle.
In the embodiment of the invention, the judgment when the vehicle does not generate the slip and the slip condition in the process are given, various conditions possibly generated in the anti-slip control process are fully considered, and the integrity of the vehicle driving anti-slip control method is ensured.
On the basis of the above embodiment, the vehicle drive antiskid control method provided in the embodiment of the present invention specifically includes the following steps:
determining that the motor control rotating speed is equal to the motor required rotating speed;
determining that the motor control angular acceleration is equal to the motor demand angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
Specifically, in the embodiment of the present invention, it may be directly determined that the motor control rotation speed is equal to the motor required rotation speed, and it may be determined that the motor control angular acceleration is equal to the motor required angular acceleration.
On the basis of the above embodiment, the method for controlling vehicle driving antiskid provided in the embodiment of the present invention calculates the required motor speed, the maximum equivalent slip torque of the motor, and the required motor torque based on the shift information of the vehicle, the actual motor speed, the actual motor torque, and the actual vehicle speed, and before that, further includes:
acquiring speed information of the vehicle, wherein the speed information comprises the actual rotating speed of a motor and the actual vehicle speed;
and judging whether the vehicle slips or not based on the actual rotating speed of the motor and the actual vehicle speed.
Specifically, in the embodiment of the present invention, it may also be automatically determined whether the vehicle slips by acquiring speed information of the vehicle, where the speed information may include an actual rotation speed of the motor and an actual vehicle speed, and the actual rotation speed of the motor may be acquired through a resolver installed on a driving wheel of the vehicle.
And then, whether the vehicle slips or not can be judged according to the actual rotating speed of the motor and the actual vehicle speed. The specific judging method can be that the actual rotating speed of the motor is converted into the actual rotating speed of the motor with km/h as a unit, then the actual rotating speed of the motor is compared with the actual vehicle speed, a corrected rotating speed with km/h as a unit is introduced during comparison, and if the sum of the actual rotating speed of the motor and the corrected rotating speed is smaller than the actual vehicle speed, the vehicle can be determined to generate slippage. And if the sum of the actual rotating speed and the corrected rotating speed of the motor is greater than or equal to the actual vehicle speed, determining that the vehicle speed does not generate slippage. The correction rotational speed is a predetermined correction amount, and may be set as needed, which is not specifically limited in the embodiment of the present invention.
In the embodiment of the invention, the automatic judgment method for whether the vehicle slips or not through the actual rotating speed of the motor and the actual vehicle speed is provided, the automation degree is improved, and the judgment result is more accurate and reliable.
On the basis of the above embodiment, the method for controlling vehicle driving antiskid provided in the embodiment of the present invention calculates the required motor speed, the maximum equivalent slip torque of the motor, and the required motor torque based on the shift information of the vehicle, the actual motor speed, the actual motor torque, and the actual vehicle speed, and before that, further includes:
acquiring a user input of the vehicle, and acquiring a control mode in response to the user input;
correspondingly, based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, the control torque of the motor and the control angular acceleration of the motor are determined, and the method specifically comprises the following steps:
if the operation mode is judged to be the intervention mode, judging the magnitude relation between the equivalent slip angular acceleration and the acceleration threshold;
if the magnitude relation is that the equivalent slip angular acceleration is larger than the acceleration threshold, determining the motor control angular acceleration based on the acceleration threshold;
wherein an equivalent slip angular acceleration is determined based on the motor actual rotational speed and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed; the acceleration threshold is determined based on the actual torque of the motor and a preset torque correction parameter.
Specifically, in the embodiment of the invention, before the required rotating speed of the motor and the required torque of the motor are calculated according to the gear information of the vehicle, the actual rotating speed of the motor and the actual vehicle speed, the user input of the vehicle can be acquired. The user input may be a user touch operation on a touch screen of the vehicle or a click operation on a button within the meter desk. The vehicle drive antiskid control system may acquire a manipulation mode selected by the user in response to the user input, and the manipulation mode may include a smart mode and an intervention mode. The intelligent mode refers to a control process automatically executed by a vehicle driving antiskid control system, and the intervention mode refers to a control process for performing intervention limitation on the angular acceleration of the motor.
Two areas can be included on the touch screen: the intelligent area and the intervention area respectively correspond to an intelligent mode and an intervention mode in the control mode, namely, if the user touches the intelligent area, the control mode acquired by the vehicle driving anti-skid control system is the intelligent mode, and if the user touches the intervention area, the control mode acquired by the vehicle driving anti-skid control system is the intervention mode. The cab may also include two buttons: the intelligent button and the intervention button respectively correspond to an intelligent mode and an intervention mode in the control mode, namely, if the user clicks the intelligent button, the control mode acquired by the vehicle driving anti-skid control system is the intelligent mode, and if the user clicks the intervention button, the control mode acquired by the vehicle driving anti-skid control system is the intervention mode. Typically, if the motor speed is too fast and slippage occurs, the user typically touches the intervention area or clicks an intervention button to intervene limit on the motor angular acceleration.
Correspondingly, when the motor control torque and the motor control angular acceleration are determined according to the actual motor rotation speed, the required motor rotation speed, the maximum equivalent slip torque of the motor and the required motor torque, the equivalent slip angular acceleration can be determined according to the actual motor rotation speed and the equivalent target motor rotation speed. And when the control mode is the intervention mode, comparing the equivalent slip angle acceleration with an acceleration threshold value, and judging the magnitude relation between the equivalent slip angle acceleration and the acceleration threshold value. And if the magnitude relation is that the equivalent slip angular acceleration is larger than the acceleration threshold, determining the motor control angular acceleration according to the acceleration threshold, namely, replacing the equivalent slip angular acceleration by the acceleration threshold to perform subsequent operation so as to determine the motor control angular acceleration. Therefore, the motor control angular acceleration can be limited within the range smaller than the acceleration threshold value, the vehicle driving anti-skid control is stably carried out when the actual rotating speed of the motor is too fast, and the safety of the vehicle is improved.
Fig. 2 is a schematic diagram of a complete flow of a vehicle driving antiskid control method provided in an embodiment of the present invention, as shown in fig. 2, the method includes:
1) after the whole machine is started, the VCU receives instructions including gear information, control mode and actual rotating speed v of the motor of a user2Actual vehicle speed v1. Wherein the actual rotation speed v of the motor2The unit of (b) is km/h.
2) Based on gear information and actual rotating speed v of motor2Determining a required vehicle speed v3The required acceleration a, and introducing a corrected rotating speed v0Comparison v2、v1The control MODE1 or MODE2 is output. Here, MODE1 indicates a rotation speed control MODE, and MODE2 indicates a torque control MODE.
3) Calculating the actual torque T of the motor2Required rotating speed n of motor3Equivalent target rotational speed n1Actual rotational speed n of the motor2Motor demand torque T3、n3First order differential dn3、n2First order differential dn2Maximum equivalent slip torque T of motormax. Wherein the actual rotation speed n of the motor2In units of rmp or rpm.
4) If 2) output MODE1, judge n3≤n1If yes, outputting n3With dn3Speed change, otherwise, continuously judging T3≤T1If yes, outputting n3With dn3A change in speed; otherwise, continuously judging T3≤TmaxIf true, if it is output T3With dn3The speed is changed, otherwise, n is continuously judged3≤n2If yes, outputting TmaxWith dn3If the speed changes, if not, outputting TmaxWith dn2The speed is changed.
If 2) output MODE2, directly judge T3≤TmaxIf true, if it is output T3With dn3The speed is changed, otherwise, n is continuously judged3≤n2If yes, outputting TmaxWith dn3If the speed changes, if not, outputting TmaxWith dn2The speed is changed.
5) The MCU receives the motor control change torque or the motor control change rotating speed, and controls the torque and the rotating speed of the driving motor through the current signal, the voltage amplitude and the frequency signal.
6) The rotary transformer of the driving motor feeds back the acquired motor rotating speed to the MCU, the MCU converts the motor rotating speed into the vehicle speed and provides the vehicle speed for the whole vehicle, and the wheel speed sensor sends the vehicle speed of the driven wheel to the VCU to form a closed loop.
As shown in fig. 3, on the basis of the above embodiment, an embodiment of the present invention provides a vehicle controller, including:
the calculating module 31 is used for calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed;
the judging module 32 is configured to determine a motor control torque and a motor control angular acceleration based on the actual motor rotation speed, the required motor rotation speed, the maximum equivalent slip torque of the motor, and the required motor torque if it is determined that the vehicle generates slip;
and a control module 33, configured to control a driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
On the basis of the foregoing embodiment, an embodiment of the present invention provides a vehicle controller, where the determination module is specifically configured to:
if the motor required torque is judged to be less than or equal to the maximum equivalent slip torque of the motor, determining that the motor control torque is equal to the motor required torque, and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is smaller than or equal to the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is larger than the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the equivalent slip angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent slip angular acceleration is determined based on the actual rotational speed of the motor and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
On the basis of the above embodiments, an embodiment of the present invention provides a vehicle controller, further including a motor maximum equivalent slip torque determination module, configured to:
and determining the maximum equivalent slip torque of the motor based on the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor.
On the basis of the foregoing embodiments, an embodiment of the present invention provides a vehicle controller, where the control module is specifically configured to:
and converting the motor control torque and the motor control angular acceleration into a current signal and a voltage amplitude and frequency signal, and controlling the driving motor based on the current signal and the voltage amplitude and frequency signal.
On the basis of the above embodiment, an embodiment of the present invention provides a vehicle controller, wherein the determination module is further configured to:
if the fact that the vehicle does not slip is judged and known, when the required rotating speed of the motor is smaller than or equal to an equivalent target rotating speed, or when the required rotating speed of the motor is larger than the equivalent target rotating speed and the required torque of the motor is smaller than or equal to the actual torque of the motor, determining the control rotating speed of the motor and the control angular acceleration of the motor, and controlling a driving motor in the vehicle based on the control rotating speed of the motor and the control angular acceleration of the motor;
and when the motor required rotating speed is greater than the equivalent target rotating speed and the motor required torque is greater than the motor actual torque, determining a motor control torque and a motor control angular acceleration based on the motor actual rotating speed, the motor required rotating speed, the maximum equivalent slip torque of the motor and the motor required torque, and controlling the driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
On the basis of the foregoing embodiment, an embodiment of the present invention provides a vehicle controller, where the determination module is further specifically configured to:
determining that the motor control rotating speed is equal to the motor required rotating speed;
determining that the motor control angular acceleration is equal to the motor demand angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
On the basis of the foregoing embodiment, an embodiment of the present invention provides a vehicle controller, further including a determination module, configured to:
acquiring speed information of the vehicle, wherein the speed information comprises the actual rotating speed of a motor and the actual vehicle speed;
and judging whether the vehicle slips or not based on the actual rotating speed of the motor and the actual vehicle speed.
On the basis of the foregoing embodiment, an embodiment of the present invention provides a vehicle controller, further including an obtaining module, configured to:
acquiring a user input of the vehicle, and acquiring a control mode in response to the user input;
correspondingly, the determination module is specifically configured to:
if the operation mode is judged to be the intervention mode, judging the magnitude relation between the equivalent slip angular acceleration and the acceleration threshold;
if the magnitude relation is that the equivalent slip angular acceleration is larger than the acceleration threshold, determining the motor control angular acceleration based on the acceleration threshold;
wherein an equivalent slip angular acceleration is determined based on the motor actual rotational speed and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed; the acceleration threshold is determined based on the actual torque of the motor and a preset torque correction parameter.
Specifically, the functions of the modules in the vehicle controller provided in the embodiment of the present invention correspond to the operation flows of the steps in the embodiments of the methods one to one, and the achieved effects are also consistent.
On the basis of the above embodiments, an embodiment of the present invention provides a vehicle drive antiskid control system for implementing the vehicle drive antiskid control method provided in each of the above embodiments, including: the device comprises a driving motor, a wheel speed sensor, an input device, a vehicle controller and a microcontroller;
the driving motor is connected with a driving wheel of the vehicle;
the wheel speed sensor is connected with a driven wheel of the vehicle;
the input device is used for acquiring gear information of the vehicle;
the vehicle controller is connected with the wheel speed sensor and the input device;
the microcontroller is connected with the vehicle controller and the driving motor.
It should be noted that, a power distribution module may be disposed in the microcontroller, and the power distribution module may be connected to the vehicle controller and the driving motor to generate a control signal of the driving motor and control the driving motor.
On the basis of the above embodiment, the embodiment of the invention provides a vehicle, which comprises a driving wheel and a driven wheel, and also comprises the above vehicle driving anti-skid control system, wherein the driving wheel is connected with a driving motor; the driven wheel is connected with a wheel speed sensor. The anti-skid control of the vehicle can be realized through the anti-skid control system of the vehicle drive.
In particular, the vehicle may be a work machine, and may in particular be a road roller in a work machine.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may invoke logic instructions in the memory 430 to perform the vehicle drive antiskid control method provided in the various embodiments described above, the method comprising: calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed; if the fact that the vehicle generates slippage is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slippage torque of the motor and the required torque of the motor; controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product including a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program, when executed by a processor, being capable of executing the vehicle drive antiskid control method provided in the above embodiments, the method including: calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed; if the fact that the vehicle generates slippage is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slippage torque of the motor and the required torque of the motor; controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the vehicle drive antiskid control method provided in the above embodiments, the method including: calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed; if the fact that the vehicle generates slippage is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slippage torque of the motor and the required torque of the motor; controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A vehicle drive antiskid control method characterized by comprising:
calculating the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor based on the gear information of the vehicle, the actual rotating speed of the motor, the actual torque of the motor and the actual vehicle speed;
if the fact that the vehicle generates slippage is judged and known, determining a motor control torque and a motor control angular acceleration based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slippage torque of the motor and the required torque of the motor;
controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration.
2. The vehicle driving antiskid control method according to claim 1, wherein the determining a motor control torque and a motor control angular acceleration based on the actual motor speed, the required motor speed, the maximum equivalent motor slip torque, and the required motor torque specifically includes:
if the motor required torque is judged to be less than or equal to the maximum equivalent slip torque of the motor, determining that the motor control torque is equal to the motor required torque, and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is smaller than or equal to the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the motor required angular acceleration;
if the motor required torque is judged to be larger than the maximum equivalent slip torque of the motor and the motor required rotating speed is larger than the actual rotating speed of the motor, determining that the motor control torque is equal to the maximum equivalent slip torque of the motor and determining that the motor control angular acceleration is equal to the equivalent slip angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent slip angular acceleration is determined based on the actual rotational speed of the motor and the equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
3. The vehicle drive slip control method according to claim 2, wherein the motor maximum equivalent slip torque is determined based on:
and determining the maximum equivalent slip torque of the motor based on the equivalent slip angular acceleration, the actual rotating speed of the motor and the actual torque of the motor.
4. The vehicle drive antiskid control method according to claim 1, wherein the controlling a drive motor in the vehicle based on the motor control torque and the motor control angular acceleration specifically includes:
and converting the motor control torque and the motor control angular acceleration into a current signal and a voltage amplitude and frequency signal, and controlling the driving motor based on the current signal and the voltage amplitude and frequency signal.
5. The vehicle drive antiskid control method according to claim 1, characterized by further comprising:
if the fact that the vehicle does not slip is judged and known, when the required rotating speed of the motor is smaller than or equal to an equivalent target rotating speed, or when the required rotating speed of the motor is larger than the equivalent target rotating speed and the required torque of the motor is smaller than or equal to the actual torque of the motor, determining the control rotating speed of the motor and the control angular acceleration of the motor, and controlling a driving motor in the vehicle based on the control rotating speed of the motor and the control angular acceleration of the motor;
and when the motor required rotating speed is greater than the equivalent target rotating speed and the motor required torque is greater than the motor actual torque, determining a motor control torque and a motor control angular acceleration based on the motor actual rotating speed, the motor required rotating speed, the maximum equivalent slip torque of the motor and the motor required torque, and controlling the driving motor in the vehicle based on the motor control torque and the motor control angular acceleration.
6. The vehicle drive antiskid control method according to claim 5, wherein the determining of the motor control rotation speed and the motor control angular acceleration specifically includes:
determining that the motor control rotating speed is equal to the motor required rotating speed;
determining that the motor control angular acceleration is equal to the motor demand angular acceleration;
wherein the motor demand angular acceleration is determined based on the motor demand rotational speed and an equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed.
7. The vehicle drive antiskid control method according to any one of claims 1 to 6, wherein the calculating of the motor required rotation speed, the motor maximum equivalent slip torque, and the motor required torque based on the shift information of the vehicle, the motor actual rotation speed, the motor actual torque, and the actual vehicle speed further includes:
acquiring speed information of the vehicle, wherein the speed information comprises the actual rotating speed of a motor and the actual vehicle speed;
and judging whether the vehicle slips or not based on the actual rotating speed of the motor and the actual vehicle speed.
8. The vehicle drive antiskid control method according to claim 7, wherein the calculating of the motor required rotation speed, the motor maximum equivalent slip torque, and the motor required torque based on the shift information of the vehicle, the motor actual rotation speed, the motor actual torque, and the actual vehicle speed further comprises:
acquiring a user input of the vehicle, and acquiring a control mode in response to the user input;
correspondingly, based on the actual rotating speed of the motor, the required rotating speed of the motor, the maximum equivalent slip torque of the motor and the required torque of the motor, the control torque of the motor and the angular acceleration of the motor are determined, and the method specifically comprises the following steps:
if the operation mode is judged to be the intervention mode, judging the magnitude relation between the equivalent slip angular acceleration and the acceleration threshold;
if the magnitude relation is that the equivalent slip angular acceleration is larger than the acceleration threshold, determining the motor control angular acceleration based on the acceleration threshold;
wherein the equivalent slip angular acceleration is determined based on the actual rotational speed of the motor and an equivalent target rotational speed; the equivalent target rotational speed is determined based on the actual vehicle speed; the acceleration threshold is determined based on the actual torque of the motor and a preset torque correction parameter.
9. A vehicle drive antiskid control system for implementing the vehicle drive antiskid control method according to any one of claims 1 to 8, characterized by comprising: the device comprises a driving motor, a wheel speed sensor, an input device, a vehicle controller and a microcontroller;
the driving motor is connected with a driving wheel of the vehicle;
the wheel speed sensor is connected with a driven wheel of the vehicle;
the input device is used for acquiring gear information of the vehicle;
the vehicle controller is connected with the wheel speed sensor and the input device;
the microcontroller is connected with the vehicle controller and the driving motor.
10. A vehicle comprising a drive wheel and a driven wheel, characterized by comprising the vehicle drive antiskid control system of claim 9, the drive wheel being connected to a drive motor; the driven wheel is connected with a wheel speed sensor.
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