CN115973112B

CN115973112B - Anti-lock control method and device for four-wheel scooter

Info

Publication number: CN115973112B
Application number: CN202310291854.9A
Authority: CN
Inventors: 黄锐; 刘友辉
Original assignee: Shenzhen Hobbywing Technology Co Ltd
Current assignee: Shenzhen Hobbywing Technology Co Ltd
Priority date: 2023-03-23
Filing date: 2023-03-23
Publication date: 2023-07-11
Anticipated expiration: 2043-03-23
Also published as: CN115973112A

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 a real-time wheel speed of a target four-wheel scooter and acquiring a 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 a 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 smaller than the preset target wheel speed.

Description

Anti-lock control method and device for four-wheel scooter

Technical Field

The invention relates to the technical field of four-wheel scooter, in particular to an anti-lock control method and device for a four-wheel scooter.

Background

Currently, most four-wheel scooters have only electronic brakes, but no mechanical brakes. Therefore, the braking function of the four-wheel scooter can only realize parking through the reverse braking moment of the motor. However, under the condition that the braking torque is large or the road adhesion coefficient is low, the locking condition of the four-wheel scooter is easy to occur. Once the wheels of the four-wheel scooter are locked, the situation that the four-wheel scooter cannot turn can be caused, and the braking distance is prolonged, so that great potential safety hazards are brought. Therefore, it is important to apply the ABS to four-wheel scooter.

At present, two control methods adopted by a common ABS automobile anti-lock braking system are mainly adopted, one is a logic threshold control method, wherein an acceleration and deceleration parameter is used as a main threshold, and a slip ratio parameter is used as an auxiliary threshold; another is control for controlling the slip ratio of the vehicle to be around the optimum slip ratio based on the slip ratio. As the ABS adopted by the four-wheel scooter is not as high as the automobile requirement, the control method based on the slip ratio is adopted.

The above-mentioned control method based on slip rate needs to obtain important parameters such as speed of a motor vehicle, wheel speed and best slip rate, wherein, the wheel speed can directly be obtained from the electricity accent, and wheel speed and best slip rate are difficult to accurately confirm, therefore, current four-wheel scooter's anti-lock system hardly realizes the accurate control to four-wheel scooter.

How to realize the accurate control to four-wheel scooter through four-wheel scooter's anti-lock system to avoid four-wheel scooter's axletree phenomenon's emergence is the technical problem who remains to solve.

Disclosure of Invention

Based on this, it is necessary to provide a method, a device, a storage medium, an electronic device and a computer program product for controlling the anti-lock of the four-wheel scooter, which are necessary to solve the problems that the existing anti-lock system of the four-wheel scooter is difficult to realize the accurate control of the four-wheel scooter and the locking phenomenon of the four-wheel scooter is likely to 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 a real-time wheel speed of a target four-wheel scooter and acquiring a 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 smaller than the preset target wheel speed.

In one embodiment, the controlling the real-time slip ratio to be within an expected slip ratio interval includes:

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 a current first braking force, and maintaining the current first braking force so as to control the real-time slip rate in the expected slip rate interval.

In one embodiment, the controlling the real-time slip ratio to be within an expected slip ratio interval further includes:

judging whether the real-time slip rate of the target four-wheel scooter is in the expected slip rate interval or not;

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 or not according to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, and executing corresponding operation according to a judging 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 rate of the target four-wheel scooter is greater than any value in the expected slip rate interval, and executing the corresponding operation according to the determination result includes:

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 the current second braking force, and reducing the braking force based on the current second braking force.

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 the 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 ratio;

and controlling the corresponding braking force by controlling the braking current through the double closed-loop control model.

In one embodiment, the controlling the corresponding braking force by controlling the magnitude of the braking current through the dual closed-loop control model includes:

acquiring the real-time slip rate and the target slip rate of a target four-wheel scooter;

determining a corresponding slip rate difference value according to the real-time slip rate and the target slip rate;

determining a corresponding expected braking current according to the slip rate difference value;

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 corresponding duty ratio signal to adjust the corresponding braking force by adjusting the braking current control.

In one embodiment, the determining the corresponding expected braking current according to the slip ratio difference value includes:

in response to the slip ratio difference being a positive value, increasing a corresponding given current; or alternatively, the process may be performed,

in response to the slip ratio difference being negative, the corresponding given current is reduced.

In one embodiment, the determining the corresponding duty cycle signal according to the current difference value includes:

increasing a corresponding duty cycle signal in response to the current difference being a positive value; or alternatively, the process may be performed,

and in response to the current difference being negative, decreasing the corresponding duty cycle signal.

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 vehicle 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 ratio calculation model for calculation and outputting the corresponding real-time slip ratio 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

In a third aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for performing the above-described 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 method steps described above.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the above-described 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 vehicle 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 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 a 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 smaller 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 can be accurately controlled in an expected slip rate interval; and responding to the fact that the real-time wheel speed of the target four-wheel scooter is 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 phenomenon of locking of the wheels of the four-wheel scooter.

Drawings

Exemplary embodiments of the present invention may be more fully understood by reference to the following drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the application, and not constitute a limitation of the invention. In the drawings, like reference numerals generally refer to like parts or steps.

FIG. 1 is a schematic graph showing the relationship between slip ratio and sticking coefficient in an anti-lock braking system of a four-wheeled scooter according to the present application;

FIG. 2 is a flowchart of an anti-lock control method for a four-wheel scooter according to an exemplary embodiment of the present application;

FIG. 3 is a flow chart of a control strategy employed by an ABS control method according to an exemplary embodiment of the present application;

FIG. 4 is a flow chart of a dual closed-loop control strategy employed by the dual closed-loop control method according to an exemplary embodiment of the present application;

fig. 5 is a schematic structural view of an anti-lock control device 500 for a four-wheeled scooter according to an exemplary embodiment of the present application;

FIG. 6 illustrates a schematic diagram of an electronic device provided in an exemplary embodiment of the present application;

fig. 7 shows a schematic diagram of a computer-readable medium according to 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 to 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 noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

In addition, the terms "first" and "second" etc. are used to distinguish different objects and are not used to describe a particular order. Furthermore, the terms "comprise" 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 listed steps or elements but may 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, electronic equipment and a computer readable medium, and the method and the device are described below with reference to the accompanying drawings.

In the practical application scene, in the running process of the four-wheel scooter, when the four-wheel scooter runs at a constant speed, the actual speed of the scooter

And wheel speed->

The wheels of the four-wheel scooter are in a pure rolling state; however, when the four-wheel scooter is braked, the wheel speed is +_ under the action of the brake torque of the brake>

Reduction, actual vehicle speed>

And wheel speed->

Unequal, resulting in a difference in vehicle speed, reduced wheel roll slipIncreasing, creating a relative slip condition. Therefore, the slip ratio is defined to be equal to the actual vehicle speed

And wheel speed->

The ratio of the difference to the actual vehicle speed is expressed by the following formula (1):

formula (1);

as can be seen from the above formula (1), when

When the wheel is in a normal rotation state; when->

When the wheel is completely locked; when->

When the wheel is in a state where rolling and sliding coexist. As can be seen from fig. 1, by controlling the slip ratio, the vehicle attachment coefficient is controlled to be near the maximum value, so that the maximum value of the ground attachment force that can be obtained by the wheels is increased, the braking capability of the four-wheel scooter is optimized, and the wheel locking phenomenon can be prevented.

According to the analysis, the ABS needs to acquire a plurality of important parameters including vehicle speed, wheel speed and optimal slip rate; wherein the wheel speed can be obtained directly from the electric tone, it is therefore difficult how to determine the vehicle speed and the optimal slip ratio.

When the tire emits traction or braking forces, relative movement occurs between the tire and the ground. Slip ratio is the proportion of slip component in the wheel motion.

Referring to fig. 2, which is a flowchart illustrating an anti-lock control method for a four-wheel scooter according to some embodiments of the present application, as shown in fig. 2, the anti-lock control method for a four-wheel scooter may include the following steps:

step S201: the method comprises the steps of obtaining real-time wheel speeds of a target four-wheel scooter and obtaining real-time vehicle speeds of the target four-wheel scooter.

In the practical application scene, the four-wheel scooter is generally 2 driving wheels and 2 driven wheels. When the four-wheel scooter is braked, 2 driven wheels are basically not locked, so that the speed of the whole scooter can be approximately reflected, a rotation speed sensor is required to be arranged on the driven wheels, and the speed of the scooter is calculated

The method comprises the steps of carrying out a first treatment on the surface of the A rotation speed sensor is arranged on the driving wheel to calculate the wheel speed +.>

。

According to the Hall effect principle, a permanent magnet steel is fixed on the edge of a rotary table on a rotary shaft of a driven wheel, the rotary table rotates along with a measuring shaft, the magnet steel also synchronously rotates along with the rotary table, a Hall device is arranged below the rotary table, when the rotary table rotates along with the shaft, the rotary table is influenced by a magnetic field generated by the magnet steel, and the Hall device outputs a pulse signal, and the frequency and the rotating speed of the pulse signal are in direct proportion. The period of the pulse signal has the following relation with the rotational speed of the wheel:

wherein->

The number of pulses for one revolution of the wheel, < >>

Is the time interval between two pulses.

In one possible implementation, the method for 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 rotation speed sensor on a current driving wheel to acquire a corresponding real-time wheel speed through the first rotation speed sensor;

and taking the real-time wheel speed of the current driving wheel as the real-time wheel speed of the target scooter.

In one possible implementation manner, obtaining the real-time vehicle speed of the target four-wheel scooter includes the following steps:

selecting any driven wheel of the target four-wheel scooter as a current driven wheel;

configuring a corresponding second rotating speed sensor on the current driven wheel so as to acquire 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 vehicle 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 the practical application scene, the four-wheel scooter mostly runs on urban road conditions. According to the related documents and data, when the slip rate is between 15% and 25%, the road adhesion coefficient can be better utilized, and the occurrence of the tire locking can be avoided, so that the optimal slip rate λideal is determined to be 20%, the actual slip rate λreal is calculated by the vehicle speed and the wheel speed during the running, and the specific calculation formula is shown in the following formula (2):

formula (2);

in the above-mentioned formula (2),

for the actual slip rate, +.>

For the speed of the vehicle, the speed of the vehicle can be obtained by a rotation speed sensor arranged on the driven wheelAccurately calculating to obtain; />

The wheel speed can be accurately calculated by a rotation speed sensor arranged on the driving wheel.

In one possible implementation, controlling the real-time slip ratio to be within the expected slip ratio interval includes the steps of:

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 so as to control the real-time slip rate in the expected slip rate interval.

In one possible implementation, controlling the real-time slip ratio to be within the expected slip ratio interval further includes the steps of:

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 or not in response to the fact that the real-time slip rate of the target four-wheel scooter is not in the expected slip rate interval, 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 and executing corresponding operation according to the judging result comprises the following steps:

Step S204: and controlling the anti-lock braking system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being smaller than the preset target wheel speed.

Fig. 3 is a schematic flow chart of a control strategy adopted by the 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, micro control unit) according to the actual slip rate->

Is +.>

The operating state of the brake is determined. The speed and the wheel speed are basically the same in the initial stage of braking, +.>

Almost 0 at this time

The braking torque needs to be increased, the wheel speed is rapidly reduced, and the slip rate is increased; when the slip rate is->

At 20%, the braking force remains unchanged; when->

When the braking system deviates from a stable state, the braking force is reduced, the slip rate is reduced, and the system is stabilized. When the actual wheel speed is reduced to a certain lower value (8 km/h or 5 km/h), the antilock control system stops working, otherwise the control process is repeated.

In one possible implementation manner, the anti-lock control method for the four-wheel scooter provided by the embodiment of the application further comprises 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 a 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 ratio;

and controlling the corresponding braking force by controlling the braking current through a double closed-loop control model.

As shown in fig. 4, a flow chart of a dual closed-loop control strategy adopted by the dual closed-loop control method according to an exemplary embodiment of the present application is shown.

The magnitude of the braking force is controlled by controlling the magnitude of braking current, and the ABS control system and the 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 rate PI control. The specific implementation process is as follows: according to the target slip rate

Is +.>

The difference of (2) determines the ideal braking current, the difference being the positive increase of the given current

The difference is negative decreasing the given current +.>

The method comprises the steps of carrying out a first treatment on the surface of the Still further according to the target current->

Is +.>

The difference value of the duty ratio signal is determined to output, the difference value is positive increase duty ratio, the difference value is negative decrease duty ratio, and finally the increase braking is realizedThe effects of current and brake current reduction realize the functions of the four-wheel skateboard ABS.

In one possible implementation, the corresponding braking force is controlled by controlling the magnitude of the braking current through a dual closed loop control model, comprising the steps of:

In one possible implementation, determining the corresponding expected braking current from the slip ratio difference comprises the steps of:

increasing the corresponding given current in response to the slip ratio difference being a positive value; or alternatively, the process may be performed,

In one possible implementation, determining the corresponding duty cycle signal from the current difference value includes the steps of:

increasing the corresponding duty cycle signal in response to the current difference being a positive value; or alternatively, the process may be performed,

in response to the current difference being negative, the corresponding duty cycle signal is reduced.

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 can be accurately controlled in an expected slip rate interval; and responding to the fact that the real-time wheel speed of the target four-wheel scooter is 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 phenomenon of locking of the wheels of the four-wheel scooter.

In the above embodiments, an anti-lock control method for a four-wheel scooter is provided, and correspondingly, the application also provides an anti-lock control device for the four-wheel scooter. 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 realized in a mode of software, hardware or combination of software and hardware. For example, the anti-lock control of the four-wheel scooter may include integrated or separate functional modules or units to perform the corresponding steps in the methods described above.

Referring to fig. 5, a schematic diagram of an anti-lock control device of 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, the description is relatively simple, and reference is made to the description 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-wheeled scooter may include:

the first obtaining module 501 is configured to obtain a real-time wheel speed of the 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 a real-time wheel speed of the target four-wheel scooter and a real-time vehicle speed of the target four-wheel scooter into a preset slip ratio calculation model for calculation, and output a corresponding real-time slip ratio of the target four-wheel scooter;

a second obtaining module 503, configured to obtain a real-time slip ratio of the target four-wheel scooter;

a control module 504 for controlling the real-time slip ratio to be within an expected slip ratio interval; and

and controlling the anti-lock braking system of the four-wheel scooter to stop working in response to the real-time wheel speed of the target four-wheel scooter being smaller than the preset target wheel speed.

In some implementations of the embodiments of the present application, the control module 504 is configured to:

In some implementations of the embodiments of the present application, the control module 504 is further configured to:

In some implementations of the embodiments of the present application, the control module 504 is specifically configured to:

In some implementations of the embodiments of the present application, the apparatus 500 may further include:

a third obtaining module (not shown in fig. 5) for obtaining a dual closed-loop control model using a dual closed-loop control strategy, where the dual closed-loop control strategy is a control strategy corresponding to a dual 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 dual closed-loop control system is a current loop, and an outer loop in the dual closed-loop control system is controlled by a slip ratio;

the control module 504 is also configured to: and controlling the corresponding braking force by controlling the braking current through a double closed-loop control model.

In some implementations of the embodiments of the present application, the control module 504 is further specifically configured to:

In some implementations of the embodiments of the present application, the embodiments of the present application provide an anti-lock control device 500 for a four-wheel scooter, which has the same beneficial effects as the anti-lock control method for a four-wheel scooter provided in the previous embodiments of the present application due to the same inventive concept.

The embodiment of the application also provides an electronic device corresponding to the anti-lock control of the four-wheel scooter provided by the previous embodiment, wherein the electronic device can be an electronic device for a server, such as a server, and comprises an independent server, a distributed server cluster and the like, so as 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.

Referring to fig. 6, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 6, the electronic device 40 includes: processor 400, memory 401, bus 402 and communication interface 403, processor 400, communication interface 403 and memory 401 being connected by bus 402; the memory 401 stores a computer program that can be executed on the processor 400, and the processor 400 executes the anti-lock control method for the four-wheel scooter described in the present application when executing the computer program.

The memory 401 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 403 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.

Bus 402 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. The memory 401 is configured to store a program, and the processor 400 executes the program after receiving an execution instruction, and the anti-lock control method of the four-wheel scooter disclosed in any of the embodiments of the present application may be applied to the processor 400 or implemented by the processor 400.

The processor 400 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 400 or by instructions in the form of software. The processor 400 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 401, and the processor 400 reads the information in the memory 401, and in combination with its hardware, performs the steps of the above method.

The electronic equipment 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 are the same in invention conception, and have the same beneficial effects as the method adopted, operated or realized by the electronic equipment.

The present embodiment also provides a computer readable medium corresponding to the anti-lock control method of the four-wheel scooter provided in the foregoing embodiment, referring to fig. 7, the computer readable storage medium is shown as an optical disc 50, on which a computer program (i.e. a program product) is stored, and the computer program when executed by a processor performs the anti-lock control method of the four-wheel scooter.

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 Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.

The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored therein, because of the same inventive concept as the anti-lock control method of the four-wheel scooter provided by the embodiment of the present application.

It is noted that the flowcharts 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 will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in 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 solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the claims and description.

Claims

1. An anti-lock control method for a four-wheel scooter, comprising:

the controlling the real-time slip rate to be in an expected slip rate interval comprises:

responding to the real-time slip rate of the target four-wheel scooter in the expected slip rate interval, acquiring a current first braking force, and maintaining the current first braking force so as to control the real-time slip rate in the expected slip rate interval;

controlling an 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 smaller than a preset target wheel speed; further comprises:

controlling the corresponding braking force by controlling the braking current through the double closed-loop control model;

the controlling the corresponding braking force by controlling the braking current through the double closed-loop control model comprises the following steps:

determining a corresponding duty ratio signal according to the current difference value, and adjusting the corresponding duty ratio signal to realize the adjustment of the corresponding braking force by adjusting the braking current control, wherein the control of the braking force is to control the braking current;

the determining the corresponding expected braking current according to the slip rate difference value comprises the following steps:

2. The method of claim 1, wherein the controlling the real-time slip rate to be in an expected slip rate interval further comprises:

3. The method according to claim 2, wherein the determining whether the real-time slip rate of the target four-wheel scooter is greater than any value within the expected slip rate interval, and performing the corresponding operation according to the determination result, comprises:

4. The method according to claim 2, wherein the determining whether the real-time slip rate of the target four-wheel scooter is greater than any value within the expected slip rate interval, and performing the corresponding operation according to the determination result, comprises:

5. The method of claim 1, wherein the determining the corresponding duty cycle signal from the current difference value comprises:

6. An anti-lock control device for a four-wheeled scooter, comprising:

the control module is used for controlling the real-time slip rate to be in an expected slip rate interval;

the control module is specifically used for:

and

Controlling an 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 smaller than a preset target wheel speed;

the first acquisition module is further configured to:

the control module is further configured to:

the control module is specifically used for: