CN115257402A - Torque distribution method and system for electric four-wheel drive automobile - Google Patents

Torque distribution method and system for electric four-wheel drive automobile Download PDF

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Publication number
CN115257402A
CN115257402A CN202210988524.0A CN202210988524A CN115257402A CN 115257402 A CN115257402 A CN 115257402A CN 202210988524 A CN202210988524 A CN 202210988524A CN 115257402 A CN115257402 A CN 115257402A
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China
Prior art keywords
torque distribution
distribution coefficient
rear wheel
axle torque
slip
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CN202210988524.0A
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Chinese (zh)
Inventor
王吉
杜向斌
刘新文
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan New Energy Automobile Technology Co Ltd
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Priority to CN202210988524.0A priority Critical patent/CN115257402A/en
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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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The invention relates to a torque distribution method and a system of an electric four-wheel drive automobile, wherein the method specifically comprises the following steps: s1: acquiring the slip rate of the rear wheel based on the reference vehicle speed and the rear wheel vehicle speed, judging whether the rear wheel slips, if so, entering S2, otherwise, ending; s2: and correcting the front axle torque distribution coefficient and the rear axle torque distribution coefficient, wherein the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient and the change range of the rear axle torque distribution coefficient are the same, and the change range is related to the slip ratio of the rear wheels. The invention adopts a mode of increasing the front wheel transfer torque distribution coefficient, which is equivalent to coefficient correction, plays a role of enabling the non-skid front wheel to output more force, enables the whole vehicle to climb up 10% of the butt-joint slope by the front wheel driving, simultaneously increases the effect of not needing to carry out independent matching aiming at different modes, and simultaneously avoids the problems of function activation and condition deterioration.

Description

Torque distribution method and system for electric four-wheel drive automobile
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a torque distribution method of an electric four-wheel drive automobile.
Background
The problem that when the front wheels do not slide and the rear wheels slide on a 10% docking ramp, the rear wheels are on an ice surface (low-adhesion road surface) and the front wheels are on a high-adhesion road surface, the phenomenon that the vehicle slips back even under the action of TCS (traction torque control) during starting of the vehicle occurs, and the vehicle cannot climb up the ramp is solved.
Disclosure of Invention
One purpose of the invention is to provide a torque distribution method of an electric four-wheel drive automobile, which is used for solving the problem that the automobile cannot climb up a ramp when the front wheel of the automobile does not slip and the rear wheel slips; the second purpose is to provide a torque distribution system of an electric four-wheel drive automobile.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a torque distribution method of an electric four-wheel drive automobile specifically comprises the following steps:
s1: obtaining the slip rate of the rear wheel based on the reference vehicle speed and the rear wheel vehicle speed, judging whether the rear wheel slips, if so, entering S2, otherwise, ending;
s2: and correcting the front axle torque distribution coefficient and the rear axle torque distribution coefficient, wherein the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient and the change range of the rear axle torque distribution coefficient are the same, and the change range is related to the slip ratio of the rear wheels.
According to the technical means, firstly, the slip ratio of the rear wheel is calculated according to the reference vehicle speed and the speed of the rear wheel, the slip state of the wheel is judged according to the slip ratio of the rear wheel, the aim of identifying a low-attachment road surface and a high-attachment road surface is achieved, then the torque distribution coefficient of the front shaft and the torque distribution coefficient of the rear shaft are corrected, the torque distribution coefficient of the front shaft is increased, the torque distribution coefficient of the rear shaft is reduced, the change range of the torque distribution coefficient of the front shaft and the change range of the torque distribution coefficient of the rear shaft are equal, namely, the part of the torque distribution coefficient of the rear shaft is transferred to the torque distribution coefficient of the front shaft, the output torque of the front wheel is increased, and the adhesion coefficient of the front wheel is large, so that the non-slipping front wheel has more force, and the whole vehicle climbs up a slope by 10% through the driving of the front wheel.
Further, the method for determining whether the rear wheel slips in S1 includes:
and if the slip rate of the rear wheel is greater than the slip limit value, the rear wheel slips, otherwise, the rear wheel does not slip, and the slip limit value is obtained by calibration.
According to the technical means, whether the rear wheel slips or not can be identified more quickly by manually calibrating the slip limit value.
Further, the slip ratio of the rear wheel is obtained in the following manner:
Figure BDA0003802938850000021
wherein: λ: denotes slip ratio, V R : rear right wheel vehicle speed, V L Left rear wheel speed, V Ref : the vehicle speed is referenced.
Further, the corrected rear front axle torque distribution coefficient is obtained by:
C final ＝min((C 1 +C add )，1)
wherein: c final : correcting the torque distribution coefficient of the rear front axle; c 1 : correcting a front axle torque distribution coefficient; c add : and the torque transfer distribution coefficient is obtained according to the slip rate of the rear wheel, and the relationship between the slip rate of the rear wheel and the torque transfer component of the front shaft is obtained by calibration.
According to the technical means, on the basis of the technical means, the limit value '1' is applied to the corrected front axle torque distribution coefficient, and the overload of the motor caused by the overlarge front axle torque is avoided.
Further, the corrected front axle torque distribution coefficient is obtained based on an accelerator pedal opening and a vehicle speed.
Based on the torque distribution method A torque distribution system of an electric four-wheel drive automobile,
the rear wheel slip judging module is configured to obtain the slip rate of the rear wheel and judge whether the rear wheel slips or not based on a reference vehicle speed and a rear wheel vehicle speed;
and the correction module is configured to correct the front axle torque distribution coefficient and the rear axle torque distribution coefficient, so that the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient is the same as that of the rear axle torque distribution coefficient, and the change range is related to the slip ratio of the rear wheels.
Further, the rear wheel slip judging module obtains the slip ratio of the rear wheel in a manner that:
Figure BDA0003802938850000022
wherein: λ: denotes slip ratio, V R : rear right wheel vehicle speed, V L Left rear wheel speed, V Ref : the vehicle speed is referenced.
Further, if the slip ratio of the rear wheel is greater than the slip limit value, the rear wheel slip judgment module judges that the rear wheel slips, otherwise, the rear wheel slip is judged not to occur.
Further, the method for correcting the front axle torque distribution coefficient by the torque correction module comprises the following steps:
C final ＝min((C 1 +C add )，1)
wherein: c final : correcting the torque distribution coefficient of the rear front axle; c 1 : correcting a front axle torque distribution coefficient; c add : and the torque transfer distribution coefficient is obtained according to the slip rate of the rear wheel, and the relationship between the slip rate of the rear wheel and the torque transfer component of the front shaft is obtained by calibration.
Further, the correction module obtains the corrected front axle torque distribution coefficient based on an accelerator pedal opening and a vehicle speed.
The invention has the beneficial effects that:
the invention adopts a mode of increasing the front wheel transfer torque distribution coefficient, which is equivalent to coefficient correction, plays a role of enabling the non-skid front wheel to generate more force, and has the effect of enabling the whole vehicle to climb up 10 percent of the butt-joint slope by front wheel driving, meanwhile, the invention increases the effect of not needing to carry out independent matching aiming at different modes, and simultaneously, the problems of function activation and condition deterioration are avoided;
compared with the prior art, the method cancels the calculation and judgment of the front wheel slip, reduces the possibility of misjudgment, prevents the torque transfer function from entering and exiting frequently, reduces the workload of calibration and matching, and can finish the calibration of the function only by calibrating and matching the slip rate and the slip limit value of the rear wheel;
the method obtains the slip rate by using the reference vehicle speed and the rear wheel vehicle speed, simplifies the slip rate obtained by using a complex algorithm compared with the prior art, reduces the VCU operation load, has quicker operation, and can still achieve the aims of identifying the slip working condition of the rear wheel, realizing torque transfer and smoothly climbing.
Drawings
FIG. 1 is a flow chart of a torque distribution method;
FIG. 2 is a block diagram of a torque distribution system.
Wherein, 1-rear wheel slip judging module; 2-correction module.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The embodiment provides a torque distribution method for an electric four-wheel drive vehicle, which is characterized in that when the adhesion coefficient of a front wheel of the vehicle is large, and the adhesion coefficient of a rear wheel is small, the phenomena that the front wheel does not slip and the rear wheel slips are caused, as shown in fig. 1, the method specifically comprises the following steps:
s1: and acquiring the slip rate of the rear wheel based on the reference vehicle speed and the rear wheel vehicle speed, judging whether the rear wheel slips, if so, entering S2, and if not, ending.
In this step, the slip ratio of the rear wheel is obtained by equation (1).
Figure BDA0003802938850000041
Wherein: λ: denotes slip ratio, V R : speed of the right rear wheel V L Left rear wheel speed, V Ref : the vehicle speed is referenced.
And then comparing the slip rate of the rear wheel with a slip limit value, if the slip rate of the rear wheel is greater than the slip limit value, slipping the rear wheel, entering S2, otherwise, determining that the rear wheel does not slip, and ending. The slip limit in this embodiment is obtained by way of calibration.
In this embodiment, the reference vehicle speed is a vehicle speed state of the entire vehicle, which is represented by parameters such as yaw rate, four-wheel speed, and four-wheel speed difference. The calculation can be performed by a method in the prior art, and the specific process is not described in detail in this embodiment.
S2: and correcting the front axle torque distribution coefficient and the rear axle torque distribution coefficient, wherein the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient and the change range of the rear axle torque distribution coefficient are the same, and the change range is related to the slip ratio of the rear wheels.
In the present embodiment, the corrected front axle torque distribution coefficient is as shown in equation (2).
C final ＝min((C 1 +C add ) 1) formula (2)
Wherein: c final : correcting the torque distribution coefficient of the rear front axle; c 1 : correcting a front axle torque distribution coefficient; c add : torque transfer division factor according toThe slip ratio of the wheels, in this example the slip ratio of the rear wheels and the torque transfer distribution coefficient C add The corrected front axle torque distribution coefficient is obtained based on the opening degree of an accelerator pedal and the vehicle speed.
The torque transfer distribution coefficient C can be obtained through the slip ratio of the rear wheel add Then obtaining a corrected front axle torque distribution coefficient C 1 And torque transfer distribution coefficient C add For the corrected rear front axle torque distribution coefficient C final Obtaining the corrected front and rear axle torque distribution coefficient and the torque transfer distribution coefficient C at the same time add The difference of (2) is used as a corrected rear axle torque distribution coefficient, and further the whole vehicle climbs a 10% butt slope by enabling the non-skid front wheel to generate more force and driving the front wheel.
The embodiment also provides a torque distribution system of the electric four-wheel drive automobile and a torque distribution system method based on the electric four-wheel drive automobile. As shown in fig. 2, comprises
And the rear wheel slip judging module 1 is configured to acquire the slip rate of the rear wheel based on the reference vehicle speed and the rear wheel vehicle speed, and judge whether the rear wheel slips. If the slip rate of the rear wheel is larger than the slip limit value, the rear wheel slip judging module judges that the rear wheel slips, otherwise, the rear wheel slip judging module judges that the rear wheel does not slip. The method for obtaining the slip ratio of the rear wheel is as described above, and is not described herein.
And the correction module 2 is configured to correct the front axle torque distribution coefficient and the rear axle torque distribution coefficient, so that the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient and the change range of the rear axle torque distribution coefficient are the same, and the change range is related to the slip rate of the rear wheels. The specific modification is as shown above and is not described herein.
The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention.

Claims (10)

1. A torque distribution method of an electric four-wheel drive automobile is characterized by comprising the following steps: the method specifically comprises the following steps:
s1: obtaining the slip rate of the rear wheel based on the reference vehicle speed and the rear wheel vehicle speed, judging whether the rear wheel slips, if so, entering S2, otherwise, ending;
s2: and correcting the front axle torque distribution coefficient and the rear axle torque distribution coefficient, wherein the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient and the change range of the rear axle torque distribution coefficient are the same, and the change range is related to the slip ratio of the rear wheels.
2. The torque distribution method according to claim 1, characterized in that: the method for judging whether the rear wheel slips in the step S1 comprises the following steps:
and if the slip rate of the rear wheel is greater than the slip limit value, the rear wheel slips, otherwise, the rear wheel does not slip, and the slip limit value is obtained by calibration.
3. The torque distribution method according to claim 2, characterized in that: the slip ratio of the rear wheel is calculated by the following formula:
Figure FDA0003802938840000011
wherein: λ: denotes slip ratio, V R : speed of the right rear wheel V L Left rear wheel speed, V Ref : the vehicle speed is referenced.
4. The torque distribution method according to claim 1, characterized in that: the corrected front axle torque distribution coefficient is obtained by calculating the following formula:
C final ＝min((C 1 +C add )，1)
wherein: c final : correcting the torque distribution coefficient of the rear front axle; c 1 : correcting a front axle torque distribution coefficient; c add : the torque transfer distribution coefficient is obtained according to the slip ratio of the rear wheel.
5. The torque distribution method according to claim 1, characterized in that: the corrected front axle torque distribution coefficient is obtained based on an accelerator pedal opening and a vehicle speed.
6. A torque distribution system of an electric four-wheel drive vehicle based on the torque distribution method according to any one of claims 1 to 5, characterized in that:
the rear wheel slip judging module is configured to obtain the slip rate of the rear wheel and judge whether the rear wheel slips or not based on a reference vehicle speed and a rear wheel vehicle speed;
and the correction module is configured to correct the front axle torque distribution coefficient and the rear axle torque distribution coefficient, so that the corrected front axle torque distribution coefficient is larger than the corrected front axle torque distribution coefficient, the corrected rear axle torque distribution coefficient is smaller than the corrected rear axle torque distribution coefficient, the change range of the front axle torque distribution coefficient is the same as that of the rear axle torque distribution coefficient, and the change range is related to the slip ratio of the rear wheels.
7. The torque distribution system of claim 6, wherein: the rear wheel slip judging module obtains the slip rate of the rear wheel in the following mode:
Figure FDA0003802938840000021
wherein: λ: denotes slip ratio, V R : speed of the right rear wheel V L Left rear wheel speed, V Ref : the vehicle speed is referenced.
8. The torque distribution system of claim 7, wherein: and if the slip rate of the rear wheel is greater than the slip limit value, the rear wheel slip judging module judges that the rear wheel slips, otherwise, the rear wheel slip judging module judges that the rear wheel does not slip.
9. The torque distribution system of claim 6, wherein: the method for correcting the torque distribution coefficient of the front axle by the torque correction module comprises the following steps:
C final ＝min((C 1 +C add )，1)
wherein: c final : correcting the torque distribution coefficient of the rear front axle; c 1 : correcting a front axle torque distribution coefficient; c add : and the torque transfer distribution coefficient is obtained according to the slip rate of the rear wheel, and the relationship between the slip rate of the rear wheel and the torque transfer component of the front axle is obtained by calibration.
10. The torque distribution system of claim 9, wherein: the correction module obtains a corrected front axle torque distribution coefficient based on an accelerator pedal opening and a vehicle speed.
CN202210988524.0A 2022-08-17 2022-08-17 Torque distribution method and system for electric four-wheel drive automobile Pending CN115257402A (en)

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Application Number Priority Date Filing Date Title
CN202210988524.0A CN115257402A (en) 2022-08-17 2022-08-17 Torque distribution method and system for electric four-wheel drive automobile

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116494776A (en) * 2023-05-19 2023-07-28 成都赛力斯科技有限公司 Automobile trafficability control method based on shaft end slip rate and new energy automobile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116494776A (en) * 2023-05-19 2023-07-28 成都赛力斯科技有限公司 Automobile trafficability control method based on shaft end slip rate and new energy automobile
CN116494776B (en) * 2023-05-19 2024-04-05 重庆赛力斯凤凰智创科技有限公司 Automobile trafficability control method based on shaft end slip rate and new energy automobile

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