CN115973112A - Anti-lock control method and device for four-wheel scooter - Google Patents
Anti-lock control method and device for four-wheel scooter Download PDFInfo
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Abstract
The embodiment of the application discloses an anti-lock control method and device for a four-wheel scooter, wherein the method comprises the following steps: acquiring the real-time wheel speed of a target four-wheel scooter and acquiring the real-time vehicle speed of the target four-wheel scooter; inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation, and outputting the corresponding real-time slip rate of the target four-wheel scooter; acquiring the real-time slip rate of the target four-wheel scooter, and controlling the real-time slip rate to be in an expected slip rate interval; and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
Description
Technical Field
The invention relates to the technical field of four-wheel scooters, in particular to an anti-lock control method and device of a four-wheel scooter.
Background
At present, most four-wheel scooters only have electronic brakes and no mechanical brakes. Therefore, the braking function of the four-wheel scooter can only realize parking through the reverse braking torque of the motor. However, when the braking torque is large or the road surface adhesion coefficient is low, the four-wheel scooter is easily locked. The wheel of four-wheel scooter in case the locking will lead to four-wheel scooter the unable condition that turns to make braking distance elongated, thereby bring very big potential safety hazard. Therefore, it is important to apply ABS anti-lock brake control system to four-wheel scooter.
At present, the common ABS automobile anti-lock brake system adopts two control methods, one is a logic threshold value control method, and the method takes an acceleration and deceleration parameter as a main threshold and a slip rate parameter as an auxiliary threshold; the other is slip ratio-based control, which controls the slip ratio of the vehicle around the optimum slip ratio. Since the ABS used by the four-wheel scooter is not as high as the automotive requirement, the above control method based on the slip ratio may be used.
The slip rate-based control method needs to acquire important parameters such as vehicle speed, wheel speed and optimal slip rate, wherein the wheel speed can be directly acquired from electric regulation, and the wheel speed and the optimal slip rate are difficult to accurately determine, so that the anti-lock system of the existing four-wheel scooter is difficult to accurately control the four-wheel scooter.
How to realize the accurate control to four-wheel scooter through four-wheel scooter's anti-lock braking system to avoid four-wheel scooter wheel locking phenomenon's appearance, be the technical problem who treats the solution.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a storage medium, an electronic device, and a computer program product for controlling the anti-lock of a four-wheel scooter, which are capable of solving the problems that the anti-lock system of the existing four-wheel scooter is difficult to achieve precise control of the four-wheel scooter and the wheel locking phenomenon of the four-wheel scooter may occur.
In a first aspect, an embodiment of the present application provides an anti-lock control method for a four-wheel scooter, the method including:
acquiring the real-time wheel speed of a target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter;
inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation, and outputting the corresponding real-time slip rate of the target four-wheel scooter;
acquiring the real-time slip rate of the target four-wheel scooter, and controlling the real-time slip rate to be in an expected slip rate interval;
and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
In one embodiment, said controlling said real-time slip rate to be in an expected slip rate interval comprises:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the real-time slip rate of the target four-wheel scooter in the expected slip rate interval, acquiring the current first braking force, and maintaining the current first braking force to control the real-time slip rate in the expected slip rate interval.
In one embodiment, said controlling said real-time slip rate to be in an expected slip rate interval further comprises:
judging whether the real-time slip rate of the target four-wheel scooter is in the expected slip rate interval or not;
and responding to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not, and executing corresponding operation according to a judgment result so as to control the real-time slip rate to be in the expected slip rate interval.
In one embodiment, the determining whether the real-time slip ratio of the target four-wheel scooter is greater than any value in the expected slip ratio interval and performing corresponding operations according to the determination result includes:
and judging that the real-time slip rate of the target four-wheel scooter is greater than any value in the expected slip rate interval, acquiring current second braking force, and reducing the braking force based on the current second braking force.
In one embodiment, the determining whether the real-time slip ratio of the target four-wheel scooter is greater than any value in the expected slip ratio interval and performing corresponding operations according to the determination result includes:
and judging that the real-time slip rate of the target four-wheel scooter is smaller than any value in the expected slip rate interval, acquiring current third braking force, and increasing the braking force based on the current third braking force.
In one embodiment, the method further comprises:
acquiring a double closed-loop control model adopting a double closed-loop control strategy, wherein the double closed-loop control strategy is a control strategy corresponding to a double closed-loop control system formed by an anti-lock system and a motor current loop control system of the four-wheel scooter, an inner loop in the double closed-loop control system is a current loop, and an outer loop in the double closed-loop control system is controlled by a slip rate;
and controlling the corresponding braking force by controlling the magnitude of the braking current through the double closed-loop control model.
In one embodiment, the controlling the magnitude of the corresponding braking force by controlling the magnitude of the braking current through the dual closed-loop control model includes:
acquiring a real-time slip rate and a target slip rate of a target four-wheel scooter;
determining a corresponding slip ratio difference value according to the real-time slip ratio and the target slip ratio;
determining corresponding expected braking current according to the slip ratio difference;
acquiring a target current and a real-time current of a target four-wheel scooter;
determining a corresponding current difference value according to the target current and the real-time current;
and determining a corresponding duty ratio signal according to the current difference value, and adjusting the duty ratio signal into a corresponding duty ratio signal so as to realize the adjustment of the corresponding braking force by adjusting the braking current control.
In one embodiment, said determining a corresponding expected braking current from said slip ratio difference comprises:
in response to the slip ratio difference being a positive value, increasing the corresponding given current; alternatively, the first and second electrodes may be,
in response to the slip ratio difference being negative, decreasing the corresponding given current.
In one embodiment, the determining the corresponding duty cycle signal according to the current difference comprises:
in response to the current difference being a positive value, increasing the corresponding duty cycle signal; alternatively, the first and second electrodes may be,
in response to the current difference being a negative value, the corresponding duty cycle signal is decreased.
In a second aspect, an embodiment of the present application provides an anti-lock control device for a four-wheel scooter, the device including:
the first acquisition module is used for acquiring the real-time wheel speed of the target four-wheel scooter and acquiring the real-time speed of the target four-wheel scooter;
the processing module is used for inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation and outputting the corresponding real-time slip rate of the target four-wheel scooter;
the second acquisition module is used for acquiring the real-time slip rate of the target four-wheel scooter;
the control module is used for controlling the real-time slip rate to be in an expected slip rate interval; and
and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program for executing the above method steps.
In a fourth aspect, an embodiment of the present application provides an electronic device, including:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the above-mentioned method steps.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the above-mentioned method steps.
In the embodiment of the application, the real-time wheel speed of the target four-wheel scooter is obtained, and the real-time speed of the target four-wheel scooter is obtained; inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip ratio calculation model for calculation, and outputting the corresponding real-time slip ratio of the target four-wheel scooter; acquiring the real-time slip rate of the target four-wheel scooter, and controlling the real-time slip rate to be in an expected slip rate interval; and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed. According to the anti-lock control method for the four-wheel scooter, the real-time slip rate can be obtained, and the real-time slip rate is accurately controlled in the expected slip rate interval; and responding to the real-time wheel speed of the target four-wheel scooter being smaller than the preset target wheel speed, and accurately controlling the anti-lock system of the four-wheel scooter to stop working so as to avoid the occurrence of the wheel locking phenomenon of the four-wheel scooter.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be obtained by reference to the following drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally indicate like parts or steps.
FIG. 1 is a graphical representation of a correlation between slip rate and adhesion coefficient in an anti-lock braking system for a four-wheel scooter, as used herein;
FIG. 2 is a flow chart illustrating a method for anti-lock control of a four-wheel scooter according to an exemplary embodiment of the present application;
fig. 3 is a schematic flowchart of a control strategy adopted by an ABS control method according to an exemplary embodiment of the present application;
fig. 4 is a schematic flow chart illustrating a dual closed-loop control strategy adopted by a dual closed-loop control method according to an exemplary embodiment of the present application;
FIG. 5 is a schematic block diagram illustrating an anti-lock control device 500 for a four-wheel scooter according to an exemplary embodiment of the present application;
FIG. 6 illustrates a schematic diagram of an electronic device provided by an exemplary embodiment of the present application;
FIG. 7 illustrates a schematic diagram of a computer-readable medium provided by an exemplary embodiment of the present application.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
In addition, the terms "first" and "second", etc. are used to distinguish different objects, rather than to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the application provides an anti-lock control method and device for a four-wheel scooter, an electronic device and a computer readable medium, which are described below with reference to the accompanying drawings.
In practical application scenes, in the running process of the four-wheel scooter, when the four-wheel scooter runs at a constant speed, the actual speed of the four-wheel scooter
And the wheel speed>
The wheels of the four-wheel scooter are in a pure rolling state; when the four-wheel scooter brakes, the wheel speed is greater or less under the action of the brake braking torque>
Decreased and the actual vehicle speed->
And the wheel speed>
Unequal results in different vehicle speeds, reduced wheel rolling, increased sliding and relative sliding. Thus, the slip rate is defined to be equal to the actual vehicle speed
And the wheel speed>
The ratio of the difference to the actual vehicle speed is expressed by the following equation (1):
according to the above formula (1), when
When the vehicle runs, the wheels are in a normal rotation state; when/is>
When the wheel is locked completely; when/is>
When the wheel is in a rolling and sliding coexisting state. As can be seen from FIG. 1, the vehicle is attached by controlling the slip ratioThe coefficient is controlled to be close to the maximum value, so that the maximum value of the ground adhesion force which can be obtained by the wheels is increased, the braking capacity of the four-wheel scooter can reach the optimal state, and the phenomenon of wheel locking can be prevented.
According to the analysis, the ABS needs to acquire a plurality of important parameters, wherein the important parameters comprise the vehicle speed, the wheel speed and the optimal slip ratio; where wheel speed can be directly derived from the electronic trim, it is difficult to determine vehicle speed and optimum slip rate.
When the tire is applying traction or braking forces, relative motion occurs between the tire and the ground. The slip ratio is a ratio of a slip component in the movement of the wheel.
Referring to fig. 2, which is a flow chart illustrating a method of anti-lock control for a four-wheel scooter according to some embodiments of the present disclosure, as shown in fig. 2, the method of anti-lock control for a four-wheel scooter may include the steps of:
step S201: and acquiring the real-time wheel speed of the target four-wheel scooter and acquiring the real-time vehicle speed of the target four-wheel scooter.
In practical application, the four-wheel scooter generally comprises 2 driving wheels and 2 driven wheels. When the four-wheel scooter brakes, 2 driven wheels basically cannot be locked, so that the speed of the whole scooter can be approximately reflected, a rotating speed sensor is required to be mounted on the driven wheels, and the speed of the scooter is calculated
(ii) a A rotating speed sensor is arranged on the driving wheel, and the wheel speed is calculated>
。
According to the Hall effect principle, a piece of permanent magnet steel is fixed on the edge of a rotary disk on a rotating shaft of a driven wheel, the rotary disk rotates along with a measuring shaft, the magnet steel also rotates synchronously, a Hall device is installed below the rotary disk, when the rotary disk rotates along with the shaft, the Hall device outputs a pulse signal under the influence of a magnetic field generated by the magnet steel, and the frequency and the rotating speed of the Hall device are in direct proportion. Period of pulse signal and wheelThe rotation speed of (c) has the following relationship:
wherein is present>
For the number of pulses of one wheel revolution,. Sup>
The time interval between two pulses.
In one possible implementation manner, acquiring the real-time wheel speed of the target four-wheel scooter comprises the following steps:
selecting any one driving wheel of the target four-wheel scooter as a current driving wheel;
configuring a corresponding first rotating speed sensor on a current driving wheel so as to obtain a corresponding real-time wheel speed through the first rotating speed sensor;
and taking the current real-time wheel speed of the driving wheel as the real-time wheel speed of the target scooter.
In one possible implementation manner, the obtaining of the real-time speed of the target four-wheel scooter comprises the following steps:
selecting any driven wheel of a target four-wheel scooter as a current driven wheel;
configuring a corresponding second rotating speed sensor on the current driven wheel so as to obtain a corresponding real-time vehicle speed through the second rotating speed sensor;
and taking the real-time wheel speed of the current driven wheel as the real-time speed of the target scooter.
Step S202: inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation, and outputting the corresponding real-time slip rate of the target four-wheel scooter;
step S203: and acquiring the real-time slip rate of the target four-wheel scooter, and controlling the real-time slip rate to be in an expected slip rate interval.
In practical application scenarios, the four-wheel scooter mostly runs on urban road conditions. According to the relevant documents and data, when the slip ratio is between 15% and 25%, the road adhesion coefficient can be better utilized, and the occurrence of tire locking can be avoided, therefore, the optimum slip ratio λ ideal is determined to be 20%, and the actual slip ratio λ real during running is calculated from the vehicle speed and the wheel speed, and the specific calculation formula is shown as the following formula (2):
in the above-mentioned formula (2),
for an actual slip ratio>
The vehicle speed can be accurately calculated by a rotating speed sensor arranged on a driven wheel; />
For the wheel speed, the wheel speed can be accurately calculated by a rotational speed sensor mounted on the driving wheel.
In one possible implementation, controlling the real-time slip rate in the expected slip rate interval includes the following steps:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the real-time slip rate of the target four-wheel scooter in the expected slip rate interval, acquiring the current first braking force, and maintaining the current first braking force to control the real-time slip rate in the expected slip rate interval.
In one possible implementation manner, controlling the real-time slip rate in the expected slip rate interval further comprises the following steps:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not, and executing corresponding operation according to a judgment result so as to control the real-time slip rate to be in the expected slip rate interval.
In one possible implementation manner, the method for judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not and executing corresponding operation according to the judgment result comprises the following steps:
and judging that the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval, acquiring current second braking force, and reducing the braking force based on the current second braking force.
In one possible implementation manner, the method for judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not and executing corresponding operation according to the judgment result comprises the following steps:
and judging that the real-time slip rate of the target four-wheel scooter is smaller than any value in the expected slip rate interval, acquiring current third braking force, and increasing the braking force based on the current third braking force.
Step S204: and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
Fig. 3 is a schematic flow chart of a control strategy adopted by an ABS control method according to an exemplary embodiment of the present application.
As shown in fig. 3, in the slip ratio calculation module, first, the slip ratio of the current scooter is calculated according to the rotation speeds of the driving wheel and the driven wheel
MCU (Microcontroller Unit) based on actual slip ratio->
And the ideal slip ratio->
The operating state of the brake is determined. The vehicle speed and the wheel speed are basically the same at the early stage of braking>
Is almost 0, when->
When the braking torque needs to be increased, the wheel speed is quickly reduced, and the slip rate is increased; when the slip ratio is->
At 20%, the braking force remains unchanged; when/is>
When the system is in a stable state, the braking system deviates from the stable state, the braking force is reduced, the slip rate is reduced, and the system is recovered to be stable. When the actual wheel speed decreases to a certain lower value (8 km/h or 5 km/h), the anti-lock control system stops working, otherwise the above control process is repeated.
In a possible implementation manner, the anti-lock control method for a four-wheel scooter provided by the embodiment of the present application further includes the following steps:
acquiring a double closed-loop control model adopting a double closed-loop control strategy, wherein the double closed-loop control strategy is a control strategy corresponding to a double closed-loop control system formed by an anti-lock system and a motor current loop control system of the four-wheel scooter, an inner ring in the double closed-loop control system is a current loop, and an outer ring in the double closed-loop control system is controlled by a slip rate;
and controlling the corresponding braking force by controlling the magnitude of the braking current through the double closed-loop control model.
Fig. 4 is a schematic flow chart of a dual closed-loop control strategy adopted by a dual closed-loop control method according to an exemplary embodiment of the present application.
The control of the braking force is the control of the braking current, and an ABS control system and a motor current loop control system are combined to form a double closed loop control system. The inner ring is a current ring, and the outer ring is slip ratio PI control. The specific implementation process is as follows: according to the target slip ratio
And the actual slip ratio->
Determines the ideal braking current, the difference being a positive increase by a given current->
The difference is negative and the given current is decreased>
(ii) a And further based on the target current>
And the actual current->
The difference value determines the output duty ratio signal, the difference value is positive to increase the duty ratio, the difference value is negative to decrease the duty ratio, finally the effect of increasing the brake current and decreasing the brake current is realized, and the function of the ABS of the four-wheel skateboard is realized.
In a possible implementation manner, the double closed-loop control model controls the corresponding braking force by controlling the magnitude of the braking current, and the method comprises the following steps:
acquiring a real-time slip rate and a target slip rate of a target four-wheel scooter;
determining a corresponding slip ratio difference value according to the real-time slip ratio and the target slip ratio;
determining corresponding expected braking current according to the slip ratio difference;
acquiring a target current and a real-time current of a target four-wheel scooter;
determining a corresponding current difference value according to the target current and the real-time current;
and determining a corresponding duty ratio signal according to the current difference value, and adjusting the duty ratio signal into a corresponding duty ratio signal so as to realize the adjustment of the corresponding braking force by adjusting the braking current control.
In one possible implementation, determining the corresponding expected braking current according to the slip ratio difference comprises the following steps:
in response to the slip ratio difference being a positive value, increasing the corresponding given current; alternatively, the first and second electrodes may be,
in response to the slip ratio difference being negative, the corresponding given current is decreased.
In one possible implementation, determining the corresponding duty cycle signal according to the current difference includes:
in response to the current difference being a positive value, increasing the corresponding duty cycle signal; alternatively, the first and second electrodes may be,
in response to the current difference being negative, the corresponding duty cycle signal is decreased.
According to the anti-lock control method for the four-wheel scooter, the real-time slip rate can be obtained, and the real-time slip rate is accurately controlled in the expected slip rate interval; and responding to the real-time wheel speed of the target four-wheel scooter being smaller than the preset target wheel speed, and accurately controlling the anti-lock system of the four-wheel scooter to stop working so as to avoid the occurrence of the wheel locking phenomenon of the four-wheel scooter.
In the above embodiments, an anti-lock control method for a four-wheel scooter is provided, and accordingly, an anti-lock control device for a four-wheel scooter is provided. The anti-lock control device of the four-wheel scooter provided by the embodiment of the application can implement the anti-lock control method of the four-wheel scooter, and the anti-lock control device of the four-wheel scooter can be implemented by software, hardware or a combination of software and hardware. For example, anti-lock control of the four-wheel scooter may include integrated or separate functional modules or units to perform the corresponding steps of the methods described above.
Referring to fig. 5, a schematic diagram of an anti-lock control device for a four-wheel scooter according to some embodiments of the present application is shown. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
As shown in fig. 5, the anti-lock control device 500 of the four-wheel scooter may include:
a first obtaining module 501, configured to obtain a real-time wheel speed of a target four-wheel scooter and obtain a real-time vehicle speed of the target four-wheel scooter;
the processing module 502 is configured to input the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation, and output a corresponding real-time slip rate of the target four-wheel scooter;
a second obtaining module 503, configured to obtain a real-time slip rate of the target four-wheel scooter;
the control module 504 is used for controlling the real-time slip rate to be in an expected slip rate interval; and
and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
In some implementations of embodiments of the present application, the control module 504 is configured to:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the real-time slip rate of the target four-wheel scooter in the expected slip rate interval, acquiring the current first braking force, and maintaining the current first braking force to control the real-time slip rate in the expected slip rate interval.
In some implementations of embodiments of the present application, the control module 504 is further configured to:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not, and executing corresponding operation according to a judgment result so as to control the real-time slip rate to be in the expected slip rate interval.
In some implementations of embodiments of the present application, the control module 504 is specifically configured to:
and judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval, acquiring current second braking force, and reducing the braking force based on the current second braking force.
In some implementations of embodiments of the present application, the control module 504 is specifically configured to:
and judging that the real-time slip rate of the target four-wheel scooter is smaller than any value in the expected slip rate interval, acquiring current third braking force, and increasing the braking force based on the current third braking force.
In some implementations of embodiments of the present application, the apparatus 500 may further include:
a third obtaining module (not shown in fig. 5) configured to obtain a double closed-loop control model that adopts a double closed-loop control strategy, where the double closed-loop control strategy is a control strategy corresponding to a double closed-loop control system formed by an anti-lock system and a motor current loop control system of the four-wheel scooter, an inner ring in the double closed-loop control system is a current loop, and an outer ring in the double closed-loop control system is controlled by a slip ratio;
the control module 504 is further configured to: and controlling the corresponding braking force by controlling the magnitude of the braking current through the double closed-loop control model.
In some implementations of embodiments of the present application, the control module 504 is further configured to:
acquiring a real-time slip rate and a target slip rate of a target four-wheel scooter;
determining a corresponding slip ratio difference value according to the real-time slip ratio and the target slip ratio;
determining corresponding expected braking current according to the slip ratio difference;
acquiring a target current and a real-time current of a target four-wheel scooter;
determining a corresponding current difference value according to the target current and the real-time current;
and determining a corresponding duty ratio signal according to the current difference value, and adjusting the duty ratio signal into a corresponding duty ratio signal so as to realize the adjustment of the corresponding braking force by adjusting the braking current control.
In some implementations of embodiments of the present application, the control module 504 is further specifically configured to:
in response to the slip ratio difference being a positive value, increasing the corresponding given current; alternatively, the first and second electrodes may be,
in response to the slip ratio difference being negative, the corresponding given current is decreased.
In some implementations of embodiments of the present application, the control module 504 is further specifically configured to:
in response to the current difference being a positive value, increasing the corresponding duty cycle signal; alternatively, the first and second electrodes may be,
in response to the current difference being negative, the corresponding duty cycle signal is decreased.
In some embodiments of the present application, the embodiment of the present application provides an anti-lock control device 500 for a four-wheel scooter, which has the same advantages and is the same as the anti-lock control method for a four-wheel scooter provided in the previous embodiments of the present application.
The embodiment of the present application further provides an electronic device corresponding to the anti-lock control of the four-wheel scooter provided in the foregoing embodiment, where the electronic device may be an electronic device for a server, such as a server, including an independent server, a distributed server cluster, and the like, to execute the anti-lock control method of the four-wheel scooter; the electronic device may also be an electronic device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, etc., to execute the anti-lock control method of the four-wheel scooter.
Please refer to fig. 6, which illustrates a schematic diagram of an electronic device according to some embodiments of the present application. As shown in fig. 6, the electronic apparatus 40 includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, wherein the processor 400, the communication interface 403 and the memory 401 are connected through the bus 402; the memory 401 stores a computer program operable on the processor 400, and the processor 400 executes the computer program to execute the anti-lock control method of the four-wheel scooter according to the present invention.
The Memory 401 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The electronic device provided by the embodiment of the application and the anti-lock control method of the four-wheel scooter provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the electronic device.
Referring to fig. 7, a computer readable storage medium is shown as an optical disc 50, on which a computer program (i.e., a program product) is stored, wherein the computer program, when executed by a processor, executes the method for anti-lock control of the four-wheel scooter described above.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memories (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above-mentioned embodiments of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium, based on the same inventive concept as the anti-lock control method for a four-wheel scooter provided by the embodiments of the present application.
It should be noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 methods described in the embodiments of the present application. 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.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification.
Claims (10)
1. An anti-lock control method for a four-wheel scooter, comprising:
acquiring the real-time wheel speed of a target four-wheel scooter and acquiring the real-time vehicle speed of the target four-wheel scooter;
inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation, and outputting the corresponding real-time slip rate of the target four-wheel scooter;
acquiring the real-time slip rate of the target four-wheel scooter, and controlling the real-time slip rate to be in an expected slip rate interval;
and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
2. The method of claim 1, wherein said controlling said real-time slip ratio to be in an expected slip ratio interval comprises:
judging whether the real-time slip rate of the target four-wheel scooter is in an expected slip rate interval or not;
and responding to the real-time slip rate of the target four-wheel scooter in the expected slip rate interval, acquiring the current first braking force, and maintaining the current first braking force to control the real-time slip rate in the expected slip rate interval.
3. The method of claim 2, wherein the controlling the real-time slip rate to be in an expected slip rate interval further comprises:
judging whether the real-time slip rate of the target four-wheel scooter is in the expected slip rate interval or not;
and responding to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, judging whether the real-time slip rate of the target four-wheel scooter is larger than any value in the expected slip rate interval or not, and executing corresponding operation according to a judgment result so as to control the real-time slip rate to be in the expected slip rate interval.
4. The method of claim 3, wherein the determining whether the real-time slip ratio of the target four-wheel scooter is greater than any value within the expected slip ratio interval and performing corresponding operations according to the determination comprises:
and judging that the real-time slip rate of the target four-wheel scooter is greater than any value in the expected slip rate interval, acquiring current second braking force, and reducing the braking force based on the current second braking force.
5. The method of claim 3, wherein the determining whether the real-time slip ratio of the target four-wheel scooter is greater than any value within the expected slip ratio interval and performing corresponding operations according to the determination comprises:
and judging that the real-time slip rate of the target four-wheel scooter is smaller than any value in the expected slip rate interval, acquiring current third braking force, and increasing the braking force based on the current third braking force.
6. The method of claim 1, further comprising:
acquiring a double closed-loop control model adopting a double closed-loop control strategy, wherein the double closed-loop control strategy is a control strategy corresponding to a double closed-loop control system formed by an anti-lock system and a motor current loop control system of the four-wheel scooter, an inner loop in the double closed-loop control system is a current loop, and an outer loop in the double closed-loop control system is controlled by a slip rate;
and controlling the corresponding braking force by controlling the magnitude of the braking current through the double closed-loop control model.
7. The method of claim 6, wherein said controlling a corresponding magnitude of braking force by controlling a magnitude of braking current through said dual closed-loop control model comprises:
acquiring a real-time slip rate and a target slip rate of a target four-wheel scooter;
determining a corresponding slip ratio difference value according to the real-time slip ratio and the target slip ratio;
determining corresponding expected braking current according to the slip ratio difference;
acquiring a target current and a real-time current of a target four-wheel scooter;
determining a corresponding current difference value according to the target current and the real-time current;
and determining a corresponding duty ratio signal according to the current difference value, and adjusting the duty ratio signal into a corresponding duty ratio signal so as to realize the adjustment of the corresponding braking force by adjusting the braking current control.
8. The method of claim 7, wherein said determining a corresponding expected braking current from said slip ratio difference comprises:
in response to the slip ratio difference being a positive value, increasing the corresponding given current; alternatively, the first and second electrodes may be,
in response to the slip ratio difference being negative, decreasing the corresponding given current.
9. The method of claim 7, wherein said determining a corresponding duty cycle signal from said current difference comprises:
in response to the current difference being a positive value, increasing the corresponding duty cycle signal; alternatively, the first and second liquid crystal display panels may be,
in response to the current difference being a negative value, the corresponding duty cycle signal is decreased.
10. An anti-lock control device for a four-wheel scooter, comprising:
the first acquisition module is used for acquiring the real-time wheel speed of the target four-wheel scooter and acquiring the real-time speed of the target four-wheel scooter;
the processing module is used for inputting the real-time wheel speed of the target four-wheel scooter and the real-time vehicle speed of the target four-wheel scooter into a preset slip rate calculation model for calculation and outputting the corresponding real-time slip rate of the target four-wheel scooter;
the second acquisition module is used for acquiring the real-time slip rate of the target four-wheel scooter;
the control module is used for controlling the real-time slip rate to be in an expected slip rate interval; and
and controlling the anti-lock system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being less than the preset target wheel speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310291854.9A CN115973112B (en) | 2023-03-23 | 2023-03-23 | Anti-lock control method and device for four-wheel scooter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310291854.9A CN115973112B (en) | 2023-03-23 | 2023-03-23 | Anti-lock control method and device for four-wheel scooter |
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| JPH11170997A (en) * | 1997-12-12 | 1999-06-29 | Nissin Kogyo Kk | Motor controlling method in anti-lock brake controlling device |
| US20020005309A1 (en) * | 1999-08-27 | 2002-01-17 | Patmont Steven J. | Electrically integrated scooter with dual suspension and stowage mechanism |
| CN102490705A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electronic mechanical brake system and automobile adopting same |
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