CN114954019B - Anti-skid control method and device for electric vehicle and electric vehicle - Google Patents
Anti-skid control method and device for electric vehicle and electric vehicle Download PDFInfo
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- CN114954019B CN114954019B CN202210684223.9A CN202210684223A CN114954019B CN 114954019 B CN114954019 B CN 114954019B CN 202210684223 A CN202210684223 A CN 202210684223A CN 114954019 B CN114954019 B CN 114954019B
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- 238000004364 calculation method Methods 0.000 claims description 7
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
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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
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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
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
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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
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention discloses an electric vehicle anti-skid control method and device and an electric vehicle. The anti-skid control method of the electric vehicle comprises the following steps: determining an anti-skid control speed according to the acceleration of the whole vehicle and the motor speed; determining an anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle; and adjusting the motor speed according to the anti-slip given target speed until the motor speed is equal to the anti-slip given target speed. The scheme can effectively restrain the motor from being too high in speed, prevents the phenomenon of slipping caused by inconsistent rotation speeds of front wheels and rear wheels of the electric vehicle, and further improves the adaptability of the electric vehicle to different road conditions and the driving safety of the electric vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of electric vehicles, in particular to an electric vehicle anti-skid control method and device and an electric vehicle.
Background
When the existing electric vehicle runs on a complex road condition with small sliding friction force such as snowfield, fallen leaves or accumulated water, if the rear wheel of the electric vehicle is driven to directly give a large driving force, the front and rear wheels of the electric vehicle cannot obtain enough ground grabbing force, the front and rear wheel speeds of the electric vehicle are easily inconsistent, lateral rolling of the vehicle is caused, and finally the vehicle sideslips to cause personal injury.
Disclosure of Invention
The embodiment of the invention provides an anti-skid control method and device for an electric vehicle and the electric vehicle, which are used for solving the problem that the electric vehicle is easy to sideslip under complex road conditions and improving the driving safety of the electric vehicle.
In a first aspect, an embodiment of the present invention provides an anti-slip control method for an electric vehicle, including:
determining an anti-skid control speed according to the acceleration of the whole vehicle and the motor speed;
determining an anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle;
and adjusting the motor speed according to the anti-slip given target speed until the motor speed is equal to the anti-slip given target speed.
Optionally, determining the anti-skid control speed includes:
calculating the whole vehicle speed and the motor acceleration according to the whole vehicle acceleration and the motor speed;
calculating a speed error according to the speed of the whole vehicle and the speed of the motor;
calculating an acceleration error according to the acceleration of the whole vehicle and the acceleration of the motor;
inputting the speed error and the acceleration error into a controller to obtain a sliding control coefficient;
and calculating the anti-skid control speed according to the slip control coefficient and the speed of the whole vehicle.
Optionally, the controller includes an acceleration controller and a speed controller;
inputting the speed error and the acceleration error into a controller to obtain a slip control coefficient, including:
inputting the acceleration error into an acceleration controller to obtain an acceleration coefficient;
inputting the speed error into a speed controller to obtain a speed coefficient;
and in the sliding state of the electric vehicle, determining a sliding control coefficient according to the speed coefficient and the acceleration coefficient. Optionally, before obtaining the sliding control coefficient, the method further includes:
judging whether the speed error is larger than a speed error threshold value or not;
if yes, the electric vehicle is in a sliding state;
if not, judging whether the acceleration error is larger than an acceleration error threshold value;
if yes, the electric vehicle is in a sliding state;
if not, the electric vehicle is not in a sliding state.
Optionally, determining the slip-resistant given target speed includes:
judging whether the anti-skid control speed is greater than a given speed of the rotating handle or not;
if yes, the given speed is taken as the anti-skid given target speed;
if not, the slip control speed is taken as a slip given target speed.
Optionally, before determining the anti-skid control speed, the method further includes:
acquiring acceleration of the whole vehicle, motor speed and given speed of a rotating handle according to the driving state of the electric vehicle; the method for acquiring the acceleration of the whole vehicle, the speed of the motor and the given speed of the rotating handle comprises the following steps:
acquiring the motor speed detected by a motor position sensor;
acquiring the acceleration of the whole vehicle detected by a gyroscope;
and obtaining the given speed of the rotating handle according to the opening degree of the rotating handle.
Optionally, before the whole vehicle acceleration, the motor speed and the given speed of the steering handle are obtained, the method further comprises:
acquiring the opening of a rotating handle and the bus current of a motor;
judging the driving state of the electric vehicle according to the opening of the rotating handle and the bus current of the motor; the driving state includes a manned state and an unmanned state.
Optionally, determining the driving state of the electric vehicle includes:
judging whether the opening of the rotating handle is larger than an opening threshold value or not;
if yes, judging whether the bus current of the motor is greater than a current threshold value;
if so, the driving state is a manned driving state
If not, the driving state is the unmanned state.
In a second aspect, an embodiment of the present invention further provides an anti-slip control device for an electric vehicle, including:
the anti-skid control speed determining module is used for determining the anti-skid control speed according to the acceleration of the whole vehicle and the motor speed;
the target vehicle speed determining module is used for determining an anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle;
and the whole vehicle speed adjusting module is used for adjusting the motor speed according to the anti-skid given target speed until the motor speed is equal to the anti-skid given target speed.
In a third aspect, an embodiment of the present invention further provides an electric vehicle, which includes the electric vehicle anti-slip control device according to the electric vehicle anti-slip control method set forth in any of the foregoing embodiments.
According to the embodiment of the invention, the maximum driving speed-anti-skid control speed which can be provided for the electric vehicle by the current motor can be calculated according to the whole vehicle acceleration and the motor speed, so that the motor speed can be conveniently adjusted subsequently, and the situation that the electric vehicle sideslip is caused because the motor is excessively high in power to the rear wheels of the electric vehicle, so that the front wheels and the rear wheels of the electric vehicle cannot obtain enough ground grabbing force on an excessively smooth road surface is prevented, the front wheels and the rear wheels of the electric vehicle are inconsistent in rotating speed and skid is caused. According to the anti-skid control speed and the given speed of the rotating handle, the anti-skid given target speed is determined, and whether the given speed of the current rotating handle is smaller than or equal to the anti-skid control speed which can be driven by the current road condition can be judged, so that the anti-skid given target speed which can be adjusted by the motor is determined. According to the anti-slip given target speed, the motor speed is adjusted until the motor speed is equal to the anti-slip given target speed, so that the motor can be changed according to the anti-slip given target speed, the phenomenon that the motor speed is overlarge and the front and rear wheels of the electric vehicle have inconsistent rotating speeds can be effectively restrained, and the adaptability of the electric vehicle to different road conditions and the driving safety of the electric vehicle are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an anti-skid control method for an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for determining an anti-skid control speed according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for obtaining a sliding control coefficient according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for obtaining a sliding control coefficient according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method for determining a slip-resistant given target speed according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of an anti-skid control method for an electric vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method for obtaining acceleration, motor speed and given speed of a steering handle of a vehicle according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of another anti-skid control method for an electric vehicle according to an embodiment of the present invention;
fig. 9 is a flowchart of another method for determining a driving state of an electric vehicle according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an anti-slip control device for an electric vehicle according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic flow chart of an anti-slip control method for an electric vehicle according to an embodiment of the present invention, where the method may be implemented by an anti-slip control device for an electric vehicle, and the device may be implemented in hardware and/or software. The method specifically comprises the following steps:
s110, determining the anti-skid control speed according to the acceleration of the whole vehicle and the motor speed.
The whole vehicle acceleration is the whole running acceleration of the electric vehicle. The motor speed is the rotational speed of a drive motor mounted on the electric vehicle. The motor on the electric vehicle can provide power for the rear wheel of the electric vehicle, so that the electric vehicle is driven to move integrally. The anti-skid control speed is the maximum running speed provided by the motor for the electric vehicle when the electric vehicle runs on a complex road condition with small sliding friction force such as snowfield, fallen leaves or accumulated water.
Specifically, the whole acceleration of the electric vehicle can be collected through a gyroscope, the motor speed is obtained through a motor position sensor, and whether the current electric vehicle can slip or not is judged through the whole acceleration and the motor speed. If the electric vehicle can slip, the maximum driving speed-anti-slip control speed which can be provided for the electric vehicle by the current motor can be calculated according to the whole vehicle acceleration and the motor speed, so that the motor speed can be conveniently adjusted subsequently, and the situation that the front wheel and the rear wheel of the electric vehicle cannot obtain enough ground grabbing force on a too smooth road surface due to overlarge power of the motor to the rear wheel of the electric vehicle is prevented, the front wheel and the rear wheel of the electric vehicle are caused to slip due to inconsistent rotating speeds of the front wheel and the rear wheel of the electric vehicle, and the sideslip of the electric vehicle is finally caused.
S120, determining the anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle.
Wherein the given speed of the rotary handle is the motor speed currently controlled by the user through the rotary handle. The anti-skid given target speed is the speed at which the motor can safely run according to the actual requirements of users and the running road conditions of the electric vehicle. Specifically, if the current electric vehicle is judged to slip through the whole vehicle acceleration and the motor speed, the anti-slip given target speed is required to be determined according to the anti-slip control speed and the given speed of the rotating handle.
For example, if the anti-slip control speed is greater than or equal to the given speed of the steering handle, it is indicated that the motor speed currently controlled by the steering handle by the user is less than the maximum speed that the electric vehicle can travel on a complex road condition with small sliding friction force such as snowfield, fallen leaves or accumulated water, and the given speed of the steering handle can not cause the current electric vehicle to slip, so that the given speed of the steering handle can be used as the anti-slip given target speed. If the anti-skid control speed is smaller than the given speed of the rotating handle, the fact that the motor speed controlled by the rotating handle is overlarge at present by a user is larger than the maximum speed of the electric vehicle which can run on the complex road conditions with smaller sliding friction force such as snowfield, fallen leaves or accumulated water, and the like, and the anti-skid control speed can be used as the anti-skid given target speed so as to improve the driving safety of the electric vehicle.
And S130, adjusting the motor speed according to the anti-slip given target speed until the motor speed reaches the anti-slip given target speed.
Specifically, the motor speed can be gradually equal to the anti-slip given target speed through a feedback loop established by a control method such as PI control and the like, so that the motor can be changed according to the anti-slip given target speed, the motor speed can be effectively restrained from being too high, the phenomenon of slipping caused by inconsistent rotation speeds of front wheels and rear wheels of the electric vehicle is prevented, and the driving safety of the electric vehicle is further improved.
According to the embodiment of the invention, the maximum driving speed-anti-skid control speed which can be provided for the electric vehicle by the current motor can be calculated according to the whole vehicle acceleration and the motor speed, so that the motor speed can be conveniently adjusted subsequently, and the situation that the electric vehicle sideslip is caused because the motor is excessively high in power to the rear wheels of the electric vehicle, so that the front wheels and the rear wheels of the electric vehicle cannot obtain enough ground grabbing force on an excessively smooth road surface is prevented, the front wheels and the rear wheels of the electric vehicle are inconsistent in rotating speed and skid is caused. According to the anti-skid control speed and the given speed of the rotating handle, the anti-skid given target speed is determined, and according to the judgment that whether the given speed of the current rotating handle is smaller than or equal to the anti-skid control speed which can be driven by the current road condition, the anti-skid given target speed which can be adjusted by the motor is determined. According to the anti-slip given target speed, the motor speed is adjusted until the motor speed is equal to the anti-slip given target speed, so that the motor can be changed according to the anti-slip given target speed, the phenomenon that the motor speed is overlarge and the front and rear wheels of the electric vehicle have inconsistent rotating speeds can be effectively restrained, and the adaptability of the electric vehicle to different road conditions and the driving safety of the electric vehicle are improved.
Fig. 2 is a schematic flow chart of a method for determining an anti-slip control speed according to an embodiment of the present invention, and on the basis of the above embodiment, the method for determining an anti-slip control speed is further described in detail:
s210, calculating the whole vehicle speed and the motor acceleration according to the whole vehicle acceleration and the motor speed.
Specifically, the whole vehicle acceleration is subjected to data processing, so that the whole vehicle speed can be obtained; and (5) carrying out data processing on the motor speed to obtain the motor acceleration. By way of example, the vehicle speed may be obtained by integrating the vehicle acceleration. The motor acceleration can be obtained by differential calculation of the motor speed.
S220, calculating a speed error according to the speed of the whole vehicle and the speed of the motor.
Specifically, the speed error is the difference between the speed of the whole vehicle and the speed of the motor.
S230, calculating an acceleration error according to the acceleration of the whole vehicle and the acceleration of the motor.
Specifically, the acceleration error is the difference between the acceleration of the whole vehicle and the acceleration of the motor.
S240, inputting the speed error and the acceleration error into a controller to obtain a sliding control coefficient.
Specifically, the slip control coefficient is a proportionality coefficient between a motor speed determined according to the speed error and the acceleration error and a maximum drivable speed which can be provided for the electric vehicle by the motor in a safe driving state of the electric vehicle. The slip control coefficient may be obtained by inputting the speed error and the acceleration error into a controller using a control method such as P control, PI control, or fuzzy control, for example.
S250, calculating the anti-skid control speed according to the slip control coefficient and the speed of the whole vehicle.
Specifically, the slip control speed is equal to the product of the slip control coefficient and the speed of the entire vehicle.
In sum, the speed error and the acceleration error of the whole vehicle and the motor can be accurately determined according to the acceleration and the motor speed of the whole vehicle by the method, so that the controller can be used for accurately determining the sliding control coefficient, and the finally determined sliding control speed can be more accurate. Therefore, the maximum running speed of the motor of the electric vehicle under the current road condition, namely the anti-skid control speed, can be definitely determined, namely the range for controlling the motor speed under the current road condition under the condition of ensuring the safe running of the electric vehicle is definitely determined, and the driving safety of the electric vehicle can be further improved.
Optionally, the controller includes an acceleration controller and a speed controller.
Specifically, the acceleration controller is a controller that performs data processing on the acceleration error, and the acceleration coefficient can be obtained. The speed controller is a controller for processing data of the speed error, and can obtain a speed coefficient. The acceleration controller and the speed controller are controllers for performing data processing by adopting control methods such as P control, PI control or fuzzy control.
Fig. 3 is a schematic flow chart of a method for obtaining a sliding control coefficient according to an embodiment of the present invention, and on the basis of the above embodiment, the method for obtaining a sliding control coefficient is further described in detail:
s310, inputting the acceleration error into an acceleration controller to obtain an acceleration coefficient.
S320, inputting the speed error into a speed controller to obtain a speed coefficient.
S330, determining a sliding control coefficient according to the speed coefficient and the acceleration coefficient in the sliding state of the electric vehicle.
Specifically, the sliding state of the electric vehicle is a state in which the speed of the whole electric vehicle is inconsistent with the speed of the motor, namely, the speed of the front wheel and the rear wheel of the electric vehicle are inconsistent. The minimum value of the speed coefficient and the acceleration coefficient can be selected as the sliding control coefficient, so that the sliding control speed obtained by calculation with the smaller value is low, and the driving safety of the electric vehicle can be further improved.
Fig. 4 is a schematic flow chart of another method for obtaining a sliding control coefficient according to an embodiment of the present invention, where the method for obtaining a sliding control coefficient is further described in detail on the basis of the above embodiment:
s410, inputting the acceleration error into an acceleration controller to obtain an acceleration coefficient.
S420, inputting the speed error into a speed controller to obtain a speed coefficient.
S430, judging whether the speed error is larger than a speed error threshold value. If yes, then execute S450; if not, S440 is performed.
S440, judging whether the acceleration error is larger than an acceleration error threshold value. If yes, then execute S450; if not, S460 is performed.
S450, the electric vehicle is in a sliding state;
s460, the electric vehicle is not in a sliding state.
S470, determining a sliding control coefficient according to the speed coefficient and the acceleration coefficient in the sliding state of the electric vehicle.
It should be noted that when the speed error is greater than the speed error threshold and the acceleration error is greater than either the acceleration error threshold, it is indicated that the electric vehicle is in a slip state. And when the speed error is larger than the speed error threshold value and the acceleration error is larger than the acceleration error threshold value, the electric vehicle is not in a sliding state. The speed error threshold value and the acceleration error threshold value are values set by a designer according to the actual condition of the electric vehicle, and are not limited in this case.
In summary, through the mode, the running state of the electric vehicle is detected, and the sliding state of the electric vehicle is controlled, so that the control accuracy of the electric vehicle can be improved.
Fig. 5 is a schematic flow chart of a method for determining a given target speed of anti-skid according to an embodiment of the present invention, and on the basis of the above embodiment, the method for determining the given target speed of anti-skid is further described in detail:
s510, judging whether the anti-skid control speed is greater than a given speed of the rotating handle; if yes, then execute S520; if not, S530 is performed.
S520, taking the given speed of the rotating handle as an anti-skid given target speed;
s530, the anti-skid control speed is used as the anti-skid given target speed.
If the anti-skid control speed is greater than or equal to the given speed of the rotating handle, the motor speed controlled by the rotating handle at present by a user is lower than the maximum speed of the electric vehicle which can run on the complex road conditions with small sliding friction force such as snowfield, fallen leaves or accumulated water, and the like, and the given speed of the rotating handle can not cause the current electric vehicle to skid, so that the given speed of the rotating handle can be used as the anti-skid given target speed. If the anti-skid control speed is smaller than the given speed of the rotating handle, the fact that the motor speed controlled by the rotating handle is overlarge at present by a user is larger than the maximum speed of the electric vehicle which can run on the complex road conditions with smaller sliding friction force such as snowfield, fallen leaves or accumulated water, and the like, and the anti-skid control speed can be used as the anti-skid given target speed, so that the driving safety of the electric vehicle is improved.
In summary, according to the anti-skid given target speed determined in the above manner, whether the given speed of the current steering handle is smaller than or equal to the anti-skid control speed that can be driven on the current road condition is considered, so that the requirements of users can be met as far as possible within the range of ensuring safe driving of the electric vehicle.
Fig. 6 is a schematic flow chart of an anti-skid control method for an electric vehicle according to an embodiment of the present invention, as shown in fig. 6, the method includes the specific steps of:
s610, acquiring the opening degree of the rotating handle and the bus current of the motor.
S620, judging the driving state of the electric vehicle according to the opening of the rotating handle and the bus current of the motor; the driving state includes a manned state and an unmanned state.
The opening of the rotating handle is used for controlling the speed of the motor, and when the rotating handle controls the motor to rotate, the bus current of the motor of the electric vehicle under no-load and loaded conditions has obvious difference. Therefore, whether the electric vehicle is loaded with a user can be judged through the opening degree of the rotating handle and the bus current of the motor.
S630, acquiring the acceleration of the whole vehicle, the speed of the motor and the given speed of the rotating handle according to the driving state of the electric vehicle.
Illustratively, the motor speed is detected by a motor position sensor. And the acceleration of the whole vehicle is detected by a gyroscope. Since each opening of the knob corresponds to a given speed of the knob, the given speed of the knob can be obtained by the opening of the knob.
S640, determining the anti-skid control speed according to the acceleration of the whole vehicle and the motor speed.
S650, determining the anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle.
And S660, adjusting the motor speed according to the anti-slip given target speed until the motor speed is equal to the anti-slip given target speed.
Fig. 7 is a schematic flow chart of a method for obtaining acceleration, motor speed and given speed of a steering handle according to an embodiment of the present invention, and on the basis of the above embodiment, the method for obtaining acceleration, motor speed and given speed of a steering handle is further described in detail:
s710, acquiring the motor speed detected by the motor position sensor.
The motor position sensor can detect the number of turns of the motor in unit time, so that the motor speed is calculated.
S720, acquiring the acceleration of the whole vehicle detected by the gyroscope.
S730, obtaining a given speed of the steering handle according to the opening degree of the steering handle.
Wherein, each opening of the rotary handle corresponds to a given speed of the rotary handle, so the given speed of the rotary handle can be obtained through the opening of the rotary handle.
Fig. 8 is a schematic flow chart of another method for controlling skid resistance of an electric vehicle according to an embodiment of the present invention, and on the basis of the above embodiment, a method for determining a driving state of the electric vehicle is further described in detail:
s810, judging whether the opening of the rotating handle is larger than an opening threshold value or not; if yes, then execute S820; if not, S840 is performed.
S820, judging whether the bus current of the motor is larger than a current threshold value; if yes, then execution S830; if not, S840 is performed.
S830, the driving state is a manned driving state.
S840, the driving state is an unmanned state.
When the opening degree of the rotating handle is larger than the opening degree threshold value and the bus current of the motor is larger than the current threshold value, the driving state of the electric vehicle is indicated to be a manned driving state. When the opening degree of the rotating handle is larger than the opening degree threshold value and the bus current of the motor is larger than the current threshold value, the driving state of the electric vehicle is the unmanned state. The opening threshold value and the current threshold value are values set by a designer according to the actual condition of the electric vehicle, and this is not limited in this case.
Fig. 9 is a schematic flow chart of another method for determining driving status of an electric vehicle according to an embodiment of the present invention, as shown in fig. 9, the method specifically includes:
1) The motor speed v is obtained through a motor position sensor, and the motor acceleration a is obtained through differential calculation of the motor speed v. And obtaining the acceleration a of the whole vehicle through a gyroscope, and carrying out integral calculation on the acceleration a of the whole vehicle to obtain the speed v of the whole vehicle.
2) And calculating the difference between the speed v of the whole vehicle and the speed v of the motor to obtain a speed error, and inputting the speed error into a speed controller to obtain a speed coefficient Kv. And calculating the difference between the acceleration a of the whole vehicle and the acceleration a of the motor to obtain an acceleration error, and inputting the acceleration error into an acceleration controller to obtain an acceleration coefficient Ka. And selecting the minimum value of the velocity coefficient Kv and the acceleration coefficient Ka as a sliding control coefficient K. And calculating the product of the sliding control coefficient and the speed of the whole vehicle to obtain the anti-skid control speed v2.
3) Each opening of the rotary handle corresponds to a given speed v1 of the rotary handle, and the given speed v1 of the rotary handle is obtained through the opening of the rotary handle. And comparing the given speed v1 of the rotating handle with the anti-skid control speed v2, and selecting the minimum value of the given speed v1 of the rotating handle and the anti-skid control speed v2 as an anti-skid given target speed v3.
4) The antiskid given target speed v3 input includes a feedback loop of control methods such as a control algorithm, field-oriented control (FOC), and motor driving force, and the motor speed is adjusted to be gradually equal to the antiskid given target speed.
Fig. 10 is a schematic structural diagram of an anti-slip control device for an electric vehicle according to an embodiment of the present invention, where the anti-slip control device for an electric vehicle includes:
the anti-slip control speed determining module 910 is configured to determine an anti-slip control speed according to the acceleration of the whole vehicle and the motor speed;
the target vehicle speed determining module 920 is configured to determine an anti-slip given target speed according to the anti-slip control speed and the given speed of the rotating handle;
the whole vehicle speed adjusting module 930 is configured to adjust the motor speed according to the anti-slip given target speed until the motor speed is equal to the anti-slip given target speed.
In the embodiment of the invention, the anti-skid control speed determining module 910 can calculate the maximum driving speed-anti-skid control speed which can be provided for the electric vehicle by the current motor according to the whole vehicle acceleration and the motor speed, so as to facilitate the subsequent adjustment of the motor speed, thereby preventing the situation that the front wheel and the rear wheel of the electric vehicle cannot obtain enough ground grabbing force on a too smooth road surface due to the overlarge power of the motor to the rear wheel of the electric vehicle, so that the front wheel and the rear wheel of the electric vehicle have inconsistent rotating speeds to skid, and finally the sideslip of the electric vehicle is caused. The target vehicle speed determining module 920 determines an anti-slip given target speed according to the anti-slip control speed and the given speed of the steering handle, and may determine whether the given speed of the current steering handle is less than or equal to the anti-slip control speed that can be driven by the current road condition, thereby determining the anti-slip given target speed that can be adjusted by the motor. The whole vehicle speed adjusting module 930 adjusts the motor speed according to the anti-slip given target speed until the motor speed is equal to the anti-slip given target speed, so that the motor can be changed according to the anti-slip given target speed, and the phenomenon that the motor speed is overlarge and the rotation speeds of front and rear wheels of the electric vehicle are inconsistent can be effectively restrained, and the adaptability of the electric vehicle to different road conditions and the driving safety of the electric vehicle are improved.
Optionally, the anti-skid control speed determination module includes:
the first calculating unit is used for calculating the whole vehicle speed and the motor acceleration according to the whole vehicle acceleration and the motor speed;
the second calculating unit is used for calculating a speed error according to the speed of the whole vehicle and the speed of the motor;
the third calculation unit is used for calculating acceleration errors according to the acceleration of the whole vehicle and the acceleration of the motor;
the sliding control coefficient unit is used for inputting the speed error and the acceleration error into the controller to obtain a sliding control coefficient;
and the anti-slip control speed unit is used for calculating the anti-slip control speed according to the slip control coefficient and the motor speed.
Optionally, the controller includes an acceleration controller and a speed controller;
optionally, the sliding control coefficient unit is specifically configured to:
inputting the acceleration error into an acceleration controller to obtain an acceleration coefficient;
inputting the speed error into a speed controller to obtain a speed coefficient;
and in the sliding state of the electric vehicle, determining a sliding control coefficient according to the speed coefficient and the acceleration coefficient.
Optionally, the anti-slip control speed determining module further includes: the sliding state judging unit of the electric vehicle is specifically used for:
judging whether the speed error is larger than a speed error threshold value or not;
if yes, the electric vehicle is in a sliding state;
if not, judging whether the acceleration error is larger than an acceleration error threshold value;
if yes, the electric vehicle is in a sliding state;
if not, the electric vehicle is not in a sliding state.
Optionally, the target vehicle speed determining module is specifically configured to:
judging whether the anti-skid control speed is greater than a given speed of the rotating handle or not;
if yes, the given speed is taken as the anti-skid given target speed;
if not, the slip control speed is taken as a slip given target speed.
Optionally, the electric vehicle anti-skid control device further includes:
the acquisition module is used for acquiring the acceleration of the whole vehicle, the speed of the motor and the given speed of the rotating handle according to the driving state of the electric vehicle;
an acquisition module comprising:
a motor speed acquisition unit for acquiring the motor speed detected by the motor position sensor;
the whole vehicle acceleration acquisition unit is used for acquiring the whole vehicle acceleration detected by the gyroscope;
the given speed acquisition unit of the rotary handle is used for acquiring the given speed of the rotary handle according to the opening degree of the rotary handle.
Optionally, the electric vehicle anti-skid control device further includes: a driving state judgment module;
the driving state judgment module includes:
the pre-acquisition unit is used for acquiring the opening of the rotating handle and the bus current of the motor;
the driving state judging unit is used for judging the driving state of the electric vehicle according to the opening of the rotating handle and the bus current of the motor; the driving state includes a manned state and an unmanned state.
Optionally, the driving state judging unit is specifically configured to:
judging whether the opening of the rotating handle is larger than an opening threshold value or not;
if yes, judging whether the bus current of the motor is greater than a current threshold value;
if so, the driving state is a manned driving state
If not, the driving state is the unmanned state.
The anti-skid control device for the electric vehicle provided by the embodiment of the invention can execute the anti-skid control method for the electric vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the method.
Fig. 11 is a schematic structural diagram of an electric vehicle according to an embodiment of the present invention, where the electric vehicle includes an electric vehicle anti-skid control device for executing the electric vehicle anti-skid control method according to any embodiment of the present invention.
The electric vehicle 01 includes the electric vehicle anti-skid control device 02 for executing the electric vehicle anti-skid control method provided by any embodiment of the present invention, so that the electric vehicle anti-skid control method provided by the embodiment of the present invention has the beneficial effects, and is not described herein.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. An electric vehicle anti-skid control method is characterized by comprising the following steps:
determining an anti-skid control speed according to the acceleration of the whole vehicle and the motor speed;
determining an anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle;
determining the slip-resistant given target speed includes:
judging whether the anti-skid control speed is greater than the given speed of the rotating handle or not;
if yes, the given speed of the rotating handle is used as the anti-skid given target speed;
if not, the anti-slip control speed is used as the anti-slip given target speed;
adjusting the motor speed according to the anti-skid given target speed until the motor speed reaches the anti-skid given target speed;
determining the anti-skid control speed, comprising:
calculating the whole vehicle speed and the motor acceleration according to the whole vehicle acceleration and the motor speed;
calculating a speed error according to the speed of the whole vehicle and the speed of the motor;
calculating an acceleration error according to the whole vehicle acceleration and the motor acceleration;
inputting the speed error and the acceleration error into a controller to obtain a sliding control coefficient;
the controller comprises an acceleration controller and a speed controller;
and inputting the speed error and the acceleration error into a controller, wherein obtaining a slip control coefficient comprises the following steps:
inputting the acceleration error into the acceleration controller to obtain an acceleration coefficient;
inputting the speed error into the speed controller to obtain a speed coefficient;
determining the sliding control coefficient according to the speed coefficient and the acceleration coefficient in the sliding state of the electric vehicle;
and calculating the anti-skid control speed according to the sliding control coefficient and the whole vehicle speed.
2. The electric vehicle slip control method according to claim 1, characterized by further comprising, before obtaining the slip control coefficient:
judging whether the speed error is larger than a speed error threshold value or not;
if yes, the electric vehicle is in a sliding state;
if not, judging whether the acceleration error is larger than an acceleration error threshold value or not;
if yes, the electric vehicle is in a sliding state;
if not, the electric vehicle is not in a sliding state.
3. The electric vehicle slip control method according to any one of claims 1 to 2, characterized by further comprising, before determining the slip control speed:
acquiring acceleration of the whole vehicle, motor speed and given speed of a rotating handle according to the driving state of the electric vehicle;
the method for acquiring the acceleration of the whole vehicle, the speed of the motor and the given speed of the rotating handle comprises the following steps:
acquiring the motor speed detected by a motor position sensor;
acquiring the acceleration of the whole vehicle detected by a gyroscope;
and acquiring the given speed of the rotating handle according to the opening degree of the rotating handle.
4. The electric vehicle anti-skid control method according to claim 3, characterized by further comprising, before acquiring the acceleration of the whole vehicle, the motor speed, and the given speed of the handlebar:
acquiring the opening of a rotating handle and the bus current of a motor;
judging the driving state of the electric vehicle according to the opening of the rotating handle and the bus current of the motor; the driving state includes a manned state and an unmanned state.
5. The electric vehicle anti-slip control method according to claim 4, wherein determining the driving state of the electric vehicle includes:
judging whether the opening of the rotating handle is larger than an opening threshold value or not;
if yes, judging whether the bus current of the motor is greater than a current threshold value;
if yes, the driving state is a manned driving state
If not, the driving state is an unmanned state.
6. An electric vehicle anti-slip control device, characterized by comprising:
the anti-skid control speed determining module is used for determining the anti-skid control speed according to the acceleration of the whole vehicle and the motor speed;
the target vehicle speed determining module is used for determining an anti-skid given target speed according to the anti-skid control speed and the given speed of the rotating handle;
the whole vehicle speed adjusting module is used for adjusting the motor speed according to the anti-skid given target speed until the motor speed is equal to the anti-skid given target speed;
the target vehicle speed determining module is specifically configured to:
judging whether the anti-skid control speed is greater than the given speed of the rotating handle or not;
if yes, the given speed of the rotating handle is used as the anti-skid given target speed;
if not, the anti-slip control speed is used as the anti-slip given target speed;
the anti-slip control speed determination module includes:
the first calculation unit is used for calculating the whole vehicle speed and the motor acceleration according to the whole vehicle acceleration and the motor speed;
the second calculating unit is used for calculating a speed error according to the speed of the whole vehicle and the speed of the motor;
the third calculation unit is used for calculating an acceleration error according to the whole vehicle acceleration and the motor acceleration;
the sliding control coefficient unit is used for inputting the speed error and the acceleration error into the controller to obtain a sliding control coefficient;
the controller comprises an acceleration controller and a speed controller;
the sliding control coefficient unit is specifically used for:
inputting the acceleration error into the acceleration controller to obtain an acceleration coefficient;
inputting the speed error into the speed controller to obtain a speed coefficient;
determining the sliding control coefficient according to the speed coefficient and the acceleration coefficient in the sliding state of the electric vehicle;
and the anti-skid control speed unit is used for calculating the anti-skid control speed according to the sliding control coefficient and the whole vehicle speed.
7. An electric vehicle characterized by comprising an electric vehicle anti-slip control device for executing the electric vehicle anti-slip control method according to any one of claims 1 to 5.
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| JP2002034106A (en) * | 2000-07-14 | 2002-01-31 | Toyota Industries Corp | Device for run control of industrial vehicle |
| JP2010202123A (en) * | 2009-03-05 | 2010-09-16 | Nissan Motor Co Ltd | Controller for electric vehicle |
| CN112477626A (en) * | 2020-11-30 | 2021-03-12 | 东风汽车集团有限公司 | Pre-control method and system for preventing automobile driving wheel from slipping |
| CN113752853A (en) * | 2021-09-14 | 2021-12-07 | 湖南三一华源机械有限公司 | Vehicle driving antiskid control method and system and vehicle |
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