CN116587890B - Three-in-one electric drive distributed control system for vehicle and intelligent escape control method thereof - Google Patents

Three-in-one electric drive distributed control system for vehicle and intelligent escape control method thereof Download PDF

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Publication number
CN116587890B
CN116587890B CN202310865627.2A CN202310865627A CN116587890B CN 116587890 B CN116587890 B CN 116587890B CN 202310865627 A CN202310865627 A CN 202310865627A CN 116587890 B CN116587890 B CN 116587890B
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China
Prior art keywords
vehicle
wheel
intelligent
speed
program
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CN116587890A (en
Inventor
张豫南
华俊
范围
颜南明
张传扬
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Wuxi Hslt Electric Drive System Co ltd
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Wuxi Hslt Electric Drive System Co ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/16—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B60W10/192—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes electric brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/12—Differentials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)

Abstract

The application discloses a three-in-one electric drive distributed control system for a vehicle and an intelligent escape control method thereof, and relates to the technical field of electric automobiles. The pressure output is carried out by adopting an electric cylinder in the pressure subsystem, and the electric cylinder has the advantages of high reaction speed and quick-acting rate, good controllability and long service life, and can fully meet the requirements of intelligent control and quick reaction; in the intelligent vehicle escaping control method, the control system implements the combined intelligent control of running and differential rotation escaping of the silting, thereby comprehensively improving the escaping performance of the vehicle; the intelligent escape program is controlled in a considerable speed, whether escape is judged when K=15%, the vehicle has comprehensive, reliable and good escape performance, and the escape effect is optimal; and when the vehicle is in a silting state, the steering wheel is driven to the bottom of the electric cylinder to press and brake the front and rear wheels on the same side, and the differential rotation generates yaw shear force to increase the adhesive force, so that the silting is avoided and the vehicle is in a silting state.

Description

Three-in-one electric drive distributed control system for vehicle and intelligent escape control method thereof
Technical Field
The application relates to the technical field of electric automobiles, in particular to a three-in-one electric drive distributed control system for a vehicle and an intelligent escaping control method thereof.
Background
The three-in-one electric drive assembly of the electric vehicle and the distributed control system thereof in the current market are used for paving road vehicles, and can not be directly applied to off-road vehicles or all-terrain vehicles because the differential mechanism is used as an obstacle for off-road escape.
The application relates to a differential limited slip locking mechanism based on electronic parking and a vehicle slip escaping method (application number: CN 201810819024.8), which are related to the prior art.
The application provides a differential limited slip locking mechanism based on electronic parking and a vehicle slip escaping method, wherein the differential limited slip locking mechanism based on the electronic parking comprises brake calipers respectively arranged on two driving wheels of at least one pair of driving wheels of a vehicle, a differential mechanism connected between the two driving wheels in series, a power unit arranged at the brake calipers, and an execution unit connected with the output power of the power unit to drive the brake calipers to lock a brake disc; the system also comprises a signal acquisition unit which is positioned on the vehicle and used for acquiring the running condition signals of the vehicle, a locking switch which can send out on-off signals, and a control unit which is connected with the locking switch, the signal acquisition unit and each power unit. The differential limited slip locking mechanism based on the electronic parking can be combined with the electronic parking technology, and the differential limited slip locking mechanism with low cost and favorable popularization is provided, so that the differential limited slip locking mechanism has good practicability.
The prior art has the following defects: the application still aims at differential limited slip, has no relation control of running stability and differential limited slip and a specific control method thereof, and has limited electronic parking capacity and poor limited slip capacity in movement.
EPS-based vehicle low-speed escape control method and system and vehicle application number: (CN 202111426075.2) is a second prior art related to the present application.
The application provides a vehicle low-speed getting rid of poverty control method and system based on EPS, and a vehicle.A ECU module acquires a wheel speed signal, an engine rotating speed signal and a gearbox gear signal to obtain a theoretical vehicle speed V1 in an intelligent driving mode; the ECU module collects a whole vehicle ax signal through a Yaw rate sensor, and analyzes the actual running speed V2 of the vehicle by combining a vehicle-mounted camera and a radar arranged on the vehicle; and analyzing the actual running condition of the vehicle, if V2 is far smaller than V1 multiplied by eta, judging that the vehicle runs abnormally, automatically entering a low-speed escape mode, and providing abnormal vehicle speed information for a driver through a warning signal. When the vehicle runs on the low-adhesion road surface, the vehicle can run normally by using the low-speed escape mode, so that the escape purpose is achieved.
The second prior art has the following defects: the application is not a locking differential, but radar and a camera are needed to judge the actual speed of the vehicle, the system is complex, and a specific control method is not needed.
The other friction plates are added similarly to the application, so that the motor is controlled to apply force to brake the friction plates to achieve the locking or limited slip release of the differential lock, and no control method is provided.
Disclosure of Invention
The application discloses a three-in-one electric drive distributed control system for a vehicle and an intelligent escape control method thereof, wherein the application utilizes the self distributed control advantage to develop a low-cost electric cylinder-hydraulic pressurizing subsystem which is connected with the distributed control system of the vehicle to 'skip' the locking or limited slip escape range of a differential lock, thereby achieving the purposes of differential rotation escape and four-wheel speed considerable control of intelligent escape of the vehicle and comprehensively enhancing the off-road performance of the vehicle.
In order to achieve the above purpose, the present application provides the following technical solutions:
a three-in-one electric drive distributed control system for a vehicle comprises a power subsystem, a steering subsystem and a pressurizing subsystem;
the power subsystem comprises a driving motor, a motor controller, a vehicle speed sensor, a secondary speed reducer and a differential mechanism; the motor controller is connected with the integrated controller through a CAN line, the integrated controller is connected with a battery for providing power, the motor controller is connected with the driving motor, the driving motor is connected with the secondary speed reducer and the differential mechanism, a vehicle speed sensor is arranged on the driving motor, the motor controller CAN calculate the rotating speed of the driving motor to obtain the vehicle speed V, each wheel is provided with a wheel speed sensor, and each wheel speed sensor CAN give out the wheel speed of the corresponding wheel;
the steering subsystem comprises an angle and torque sensor, a steering power-assisted motor and a controller, wherein the angle and torque sensor is connected with the steering wheel, the controller collects steering wheel angle information output by the angle and torque sensor and calculates the angle alpha of wheels, the controller transmits the steering wheel angle information to the comprehensive controller through a CAN line, the controller is connected with the steering power-assisted motor in an information manner, the steering power-assisted motor is in power connection with a speed reducer, and the speed reducer is in steering connection with the steering wheel;
the pressurizing subsystem comprises an electric cylinder, a brake rod and a server, wherein the server is connected with the comprehensive controller through a CAN line, and the server controls the electric cylinder to drive the brake rod to work; each wheel is respectively connected with a pressurizing subsystem, a brake disc is arranged at each wheel, each wheel is connected with a vehicle braking system through the brake disc, and the pressurizing subsystem is in pressure braking connection with the brake disc through the brake rod; the pressurizing subsystem and the vehicle braking system work independently and are not interfered with each other.
By adopting the technical scheme, the electric cylinder is adopted in the pressurizing subsystem for pressure output, and the electric cylinder has the advantages of high quick response rate, good controllability and long service life, and can fully meet the requirements of intelligent control and quick response.
As a further scheme of the application: the pressurizing subsystem structure CAN also be an electric cylinder, a server, a piston pump and a brake sub-pump, wherein the server is connected with the comprehensive controller through a CAN line, the server controls the electric cylinder to work, the piston pump transmits the pressure of the electric cylinder to the brake sub-pump through hydraulic oil in an oil pipe, and the brake sub-pump is in pressure braking connection with the brake disc to perform pressurizing braking on the brake disc.
By adopting the technical scheme, the electric cylinder is adopted in the pressurizing subsystem for pressure output, and the piston pump, the oil pipe and the brake cylinder are used for pressure transmission, so that the hydraulic control system has the advantages of low cost, quick response, long service life and high cost benefit, and meets the requirements of economy and larger pressure output.
As a further scheme of the application: the power subsystems are in modularized combination, and a group of power subsystems are respectively arranged on a front axle or a rear axle of the vehicle, or a group of power subsystems are respectively arranged on the front axle and the rear axle of the vehicle.
As a further scheme of the application: each pressurization subsystem is independently controlled by the integrated controller (5), and each pressurization subsystem independently works without interference.
By adopting the technical scheme, the independent control of the pressurizing subsystem is not mutually interfered, the independent control of the wheels can be carried out, the vehicle getting rid of poverty control capability is effectively improved, and the coordination performance of the vehicle control system is improved.
An intelligent escaping control method comprises an intelligent escaping program with considerable speed control and an intelligent escaping program with differential rotation, wherein the intelligent escaping control method comprises the following steps:
s1: when the vehicle needs to get rid of the trapping, the vehicle automatically starts up a speed considerable control intelligent trapping procedure, otherwise, the vehicle runs in a normal running procedure;
s2: the intelligent escape program control of the considerable speed control is carried out on the vehicle, and the vehicle enters a normal operation program after escape is realized through the intelligent escape program control of the considerable speed control;
s3: when the intelligent escape program with considerable speed control can not escape the vehicle, judging that the vehicle is in a silted state, starting the intelligent escape program with differential rotation to perform escape control on the vehicle;
s4: the intelligent program of differential rotation getting rid of trapping is utilized to control the vehicle, the vehicle gets into the normal operation program operation when getting rid of trapping, and the vehicle can not get out of trapping to continue to execute the intelligent program of differential rotation getting rid of trapping until the vehicle gets into the normal operation program.
By adopting the technical scheme, the intelligent speed control procedure for the vehicle to perform considerable speed control in running and the intelligent differential rotation procedure for the vehicle to perform comprehensive intelligent control after the vehicle is trapped, so that the vehicle trapping performance is comprehensively improved.
As a further scheme of the application: when the vehicle speed V is smaller than 30Km/h, the intelligent escape program is controlled by the automatic starting speed considerable, otherwise, the intelligent escape program is not started.
As a further scheme of the application: the intelligent escape program with considerable speed control comprises the following steps:
the speed difference parameter between the speed of a certain wheel and the considerable speed of the wheel is
The wheel speed is given by a wheel speed sensor, the wheel considerable speed is calculated by a vehicle speed, and the wheel considerable speed calculating method comprises the following steps:
wherein the rotation angle alpha is given by a steering subsystem, L is the vehicle wheelbase, B is the vehicle wheelbase, V is the vehicle speed and is given by a power subsystem, V 1 For considerable speed of front inner wheels, V 2 For considerable speed of front-outer wheels, V 3 For considerable speed of rear-outer wheels, V 4 Considerable speed for the rear inside wheel;
when K is more than or equal to the judgment value, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is smaller than the judgment value, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program; the intelligent braking time can not realize the escape, and if the intelligent braking time is judged to be the escape, the differential rotation escape intelligent program is started.
As a further aspect of the present application, the determination value range is: the judgment value is more than 0 and less than or equal to 20 percent.
As a further scheme of the application, the judging value=20%, when K is more than or equal to 20%, the intelligent escape program control of considerable speed control in motion is carried out, and the pressurizing subsystem of the wheel carries out pressurizing braking on the wheel to prevent power loss; when K is less than 20%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
As a further scheme of the application: when K is more than or equal to 15%, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
By adopting the technical scheme, when K=15%, intelligent escaping judgment is carried out, the vehicle control system can carry out timely reaction, the vehicle power loss is minimum, the vehicle has comprehensive, reliable and good escaping performance, and the escaping effect is optimal.
As a further scheme of the application: the intelligent braking time is 5s.
As a further scheme of the application: and in the intelligent control time, the pressurizing subsystem provides braking force for the brake disc through the electric cylinder to perform continuous pressure braking.
As a further scheme of the application: the differential rotation escape intelligent program comprises the following steps: the steering wheel is hit to the left or right, the pressurizing subsystem carries out dead-pressing braking on the front wheel and the rear wheel which are on the same side with the steering, and yaw shear force is generated to increase the adhesive force so as to achieve escape; the vehicle runs according to a normal program when the vehicle gets rid of the poverty; and if the vehicle fails to get rid of the trapping, the differential rotation trapping intelligent program is continuously executed until the vehicle gets rid of the trapping into the normal program operation.
Through adopting above-mentioned technical scheme, the vehicle is when the silting up, and the wheel is the more deep that can make the wheel to the dead differential mechanism of single utilization, and two wheels around the steering wheel is bottomed and dead braking homonymy, and the differential rotation produces the yaw shear force and has increased adhesive force, gets rid of the silting up and gets rid of the stranded.
Compared with the prior art, the application has the beneficial effects that:
1. the electric cylinder is adopted in the pressurizing subsystem for pressure output, has the advantages of high reaction speed and quick-acting rate, good controllability and long service life, and can fully meet the requirements of intelligent control and quick reaction.
2. The intelligent escaping control method is characterized in that the intelligent escaping program for controlling the speed of the vehicle in a considerable way and the intelligent escaping program for controlling the differential rotation after the vehicle is jammed are used for intelligent control, so that the escaping performance of the vehicle is comprehensively improved.
3. When K is more than or equal to 15%, intelligent escape program control in motion is carried out, and the wheel is pressurized and braked by the pressurizing subsystem of the wheel so as to prevent power loss; when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program; when K=15%, the vehicle can perform timely reaction, the power loss of the vehicle is minimum, the vehicle has comprehensive, reliable and good escaping performance, and the escaping effect is optimal.
4. The differential rotation is used for getting rid of the intelligent procedure, when the vehicle is in a siltation state, the steering wheel is bottomed and the front and rear wheels on the same side are braked in a pressing mode, the differential rotation generates yaw shearing force to increase the adhesive force, and the vehicle can get rid of the siltation to get rid of the siltation, so that the vehicle gets rid of the siltation, and the performance of getting rid of the siltation is higher.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, serve to explain the application.
In the drawings:
FIG. 1 is a schematic diagram of a power subsystem according to the present application.
Fig. 2 is a schematic diagram of a steering subsystem according to the present application.
FIG. 3 is a schematic diagram of a pressurization subsystem according to an embodiment of the present application.
FIG. 4 is a schematic diagram of a second embodiment of a pressurization subsystem according to the present application.
Fig. 5 is a schematic diagram of the considerable speed and angle of rotation α of the wheel of the present application.
FIG. 6 is a flow chart of the intelligent escaping control method of the present application.
FIG. 7 is a graph showing the variation trend of the speed difference parameter K-power loss coefficient F test table according to the present application.
Reference numerals annotate:
11. a driving motor; 12. a motor controller; 13. a vehicle speed sensor; 14. a two-stage speed reducer; 15. a differential; 16. a wheel speed sensor; 21. a steering wheel; 22. angle and torque sensors; 23. a controller; 24. a steering assist motor; 25. a speed reducer; 31. an electric cylinder; 32. a server; 33. a brake lever; 34. a brake disc; 35. a piston pump; 36. a brake cylinder; 37. an oil pipe; 4. CAN line; 5. a comprehensive controller; 6. a battery;
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present embodiments disclosed herein as detailed in the accompanying claims.
It should be noted that all directional indications (such as up, down, left, right, front, and rear) in the embodiments are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
Furthermore, descriptions of the embodiments such as "first," "second," and the like, are provided for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor to limit the application, but are merely intended to distinguish between components or operations that are described in the same technical term and are not to be construed as indicating or implying a relative importance or implying any particular order among or between such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
For a further understanding of the nature, features, and efficacy of the present application, the following examples are set forth in order to provide a further understanding of the application, and are intended to be described in connection with the accompanying drawings:
embodiment one: as shown in fig. 1, 2 and 3:
the three-in-one electrically driven distributed control system for the vehicle comprises a power subsystem, a steering subsystem and a pressurizing subsystem.
The power subsystem comprises a driving motor 11, a motor controller 12, a vehicle speed sensor 13, a secondary speed reducer 14 and a differential 15.
The power subsystems are combined in a modularized mode, a group of power subsystems are respectively arranged on front and rear axles of the vehicle, wherein a motor controller 12 is connected with a comprehensive controller 5 through a CAN line 4, the comprehensive controller 5 is used for carrying out overall intelligent control on the operation of the vehicle, the comprehensive controller 5 is connected with a battery 6 for providing power, the battery 6 is used for providing power for the power subsystems, the motor controller 12 is connected with a driving motor 11, the driving motor 11 is connected with a secondary speed reducer 14 and a differential 15, a vehicle speed sensor 13 is arranged on the driving motor 11, the motor controller 12 CAN calculate the rotating speed of the driving motor 11 to obtain a vehicle speed V, the motor controller 12 is used for transmitting the vehicle speed V to the comprehensive controller 5, each wheel is provided with a wheel speed sensor 16, and each wheel speed sensor 16 CAN give the wheel speed of the corresponding wheel.
The steering subsystem includes an angle and torque sensor 22, a steering assist motor 24, and a controller 23.
The angle and torque sensor 22 is connected with the steering wheel 21, the controller 23 collects the steering wheel 21 angle information output by the angle and torque sensor 22 and calculates the angle alpha of the wheels, the controller 23 transmits the steering wheel 21 angle information to the integrated controller 5 through the CAN line 4, the controller 23 is connected with the steering power-assisted motor 24 in an information manner, the steering power-assisted motor 24 is in power connection with the speed reducer 25, the speed reducer 25 is in steering connection with the steering wheel 21, and the steering power-assisted motor 24 and the speed reducer 25 provide power assistance for steering of the steering wheel 21.
The pressurizing subsystem comprises an electric cylinder 31, a brake rod 33 and a server 32. The pressurization subsystem may apply pressurization braking to the wheels.
The server 32 is connected with the integrated controller 5 through the CAN line 4, and the server 32 controls the electric cylinder 31 to drive the brake rod 33 to work; each wheel is respectively connected with a pressurizing subsystem, each pressurizing subsystem is independently controlled by the integrated controller 5, and each pressurizing subsystem works independently and does not interfere with each other. Each wheel is provided with a brake disc 34, each wheel is connected with a vehicle braking system through the brake disc 34, and the pressurizing subsystem is in pressure braking connection with the brake disc 34 through a brake rod 33; the pressurizing subsystem and the vehicle braking system work independently and are not interfered with each other.
The electric cylinder 31 is adopted in the pressurizing subsystem for pressure output, and the electric cylinder 31 has the advantages of high response speed and quick-acting rate, good controllability and long service life, and can fully meet the requirements of intelligent control and quick response of vehicles.
Embodiment two: as shown in fig. 1, 2 and 4:
the three-in-one electrically driven distributed control system for the vehicle comprises a power subsystem, a steering subsystem and a pressurizing subsystem.
The power subsystem comprises a driving motor 11, a motor controller 12, a vehicle speed sensor 13, a secondary speed reducer 14 and a differential 15.
The power subsystems are combined in a modularized mode, a group of power subsystems are respectively arranged on front and rear axles of the vehicle, wherein a motor controller 12 is connected with a comprehensive controller 5 through a CAN line 4, the comprehensive controller 5 is used for carrying out overall intelligent control on the operation of the vehicle, the comprehensive controller 5 is connected with a battery 6 for providing power, the battery 6 is used for providing power for the power subsystems, the motor controller 12 is connected with a driving motor 11, the driving motor 11 is connected with a secondary speed reducer 14 and a differential 15, a vehicle speed sensor 13 is arranged on the driving motor 11, the motor controller 12 CAN calculate the rotating speed of the driving motor 11 to obtain a vehicle speed V, the motor controller 12 is used for transmitting the vehicle speed V to the comprehensive controller 5, each wheel is provided with a wheel speed sensor 16, and each wheel speed sensor 16 CAN give the wheel speed of the corresponding wheel.
The steering subsystem includes an angle and torque sensor 22, a steering assist motor 24, and a controller 23.
The angle and torque sensor 22 is connected with the steering wheel 21, the controller 23 collects the steering wheel 21 angle information output by the angle and torque sensor 22 and calculates the angle alpha of the wheels, the controller 23 transmits the steering wheel 21 angle information to the integrated controller 5 through the CAN line 4, the controller 23 is connected with the steering power-assisted motor 24 in an information manner, the steering power-assisted motor 24 is in power connection with the speed reducer 25, the speed reducer 25 is in steering connection with the steering wheel 21, and the steering power-assisted motor 24 and the speed reducer 25 provide power assistance for steering of the steering wheel 21.
The pressurizing subsystem includes an electric cylinder 31, a servo 32, a piston pump 35, and a brake cylinder 36. The pressurization subsystem may apply pressurization braking to the wheels.
The servo 32 of each wheel pressurizing subsystem is connected with the integrated controller 5 through the CAN line 4, the servo 32 controls the electric cylinder 31 to work, the piston pump 35 transmits the pressure of the electric cylinder 31 to the brake cylinder 36 through hydraulic oil in the oil pipe 37, and the brake cylinder 36 is in pressure braking connection with the brake disc 34 to perform pressure braking on the brake disc 34. Each pressurization subsystem is independently controlled by the integrated controller 5, and each pressurization subsystem works independently and does not interfere with each other.
The electric cylinder 31 is adopted in the pressurizing subsystem for pressure output, and the piston pump 35, the oil pipe 37 and the brake cylinder 36 are used for pressure transmission, so that the pressurizing subsystem has the advantages of low cost, quick response, long service life and high cost benefit, and meets the requirements of vehicle economy and larger pressure output.
Embodiment III: as shown in fig. 5 and 6:
the intelligent escaping control method comprises an intelligent escaping program with considerable speed control and an intelligent escaping program with differential rotation.
The intelligent escape control method comprises the following steps:
s1: when the vehicle needs to get rid of the trapping, the vehicle automatically starts up a speed considerable control intelligent trapping procedure, otherwise, the vehicle runs in a normal running procedure;
s2: the intelligent escape program control of the considerable speed control is carried out on the vehicle, and the vehicle enters a normal operation program after escape is realized through the intelligent escape program control of the considerable speed control;
s3: when the intelligent escape program with considerable speed control can not escape the vehicle, judging that the vehicle is in a silted state, starting the intelligent escape program with differential rotation to perform escape control on the vehicle;
s4: the intelligent program of differential rotation getting rid of trapping is utilized to control the vehicle, the vehicle gets into the normal operation program operation when getting rid of trapping, and the vehicle can not get out of trapping to continue to execute the intelligent program of differential rotation getting rid of trapping until the vehicle gets into the normal operation program.
The intelligent speed control procedure is performed in the running process of the vehicle, and the intelligent differential rotation trapping procedure is performed after the vehicle is trapped, so that the trapping performance of the vehicle is comprehensively improved.
When the vehicle speed V is smaller than 30Km/h, the intelligent escape program is controlled to be considerable in starting speed, otherwise, the intelligent escape program is not started.
The vehicle speed V is generally less than 30Km/h when the vehicle is off-road, so this vehicle speed is taken as a determination threshold for determining whether to start the intelligent escape procedure.
The intelligent escape program with considerable speed control comprises the following steps:
the speed difference parameter between the speed of a certain wheel and the considerable speed of the wheel is
The wheel speed is given by a wheel speed sensor, the considerable wheel speed is calculated by a vehicle speed V, and the considerable wheel speed calculating method comprises the following steps:
wherein the rotation angle alpha is given by a steering subsystem, L is the vehicle wheelbase, B is the vehicle wheelbase, V is the vehicle speed and is given by a power subsystem, V 1 For considerable speed of front inner wheels, V 2 For considerable speed of front-outer wheels, V 3 For considerable speed of rear-outer wheels, V 4 A considerable speed for the rear inside wheels.
When K is more than or equal to the judgment value, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is smaller than the judgment value, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program; the intelligent braking time can not realize the escape, and if the intelligent braking time is judged to be the escape, the differential rotation escape intelligent program is started.
Wherein, the decision value range is: the judgment value is more than 0 and less than or equal to 20 percent.
Preferably, the judgment value=15%, when K is more than or equal to 15%, the intelligent escape program control of considerable speed control in motion is carried out, and the pressurization subsystem of the wheel carries out pressurization braking on the wheel to prevent power loss; when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
When K=15%, intelligent escaping judgment is carried out, the vehicle can carry out timely reaction, the power loss of the vehicle is minimum, the vehicle has comprehensive reliable good escaping performance, and the escaping effect is optimal.
The electric cylinder in the pressurizing subsystem can perform rapid braking reaction, so that the reaction time of the control system is shortened, the rapid braking reaction is performed in a short time, the power loss is reduced, and the escaping performance of the vehicle is improved.
Preferably, the intelligent braking time is 5s, and the pressurization subsystem provides braking force to continuously brake the brake disc 34 through the electric cylinder 31 in the 5s intelligent control time.
Preferably, the differential rotation escape intelligent program comprises: the steering wheel is hit to the left or right, the pressurizing subsystem carries out dead-pressing braking on the front wheel and the rear wheel which are on the same side with the steering, and yaw shear force is generated to increase the adhesive force so as to achieve escape; the vehicle runs according to a normal program when the vehicle gets rid of the poverty; and if the vehicle fails to get rid of the trapping, the differential rotation trapping intelligent program is continuously executed until the vehicle gets rid of the trapping into the normal program operation.
When the vehicle is in a siltation state, the wheels are prevented from sinking deeper by the aid of the locking differential mechanism, the steering wheel is bottomed, the front wheels and the rear wheels on the same side are braked in a pressing mode, yaw shear force is generated through differential rotation, adhesive force is increased, and the siltation is eliminated, so that the vehicle is free from the siltation.
Embodiment four:
when K is more than or equal to 20%, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is less than 20%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
When K=20%, intelligent escaping judgment is carried out, the vehicle can carry out timely reaction, the vehicle power loss is small, the vehicle has good escaping performance, and the escaping effect is good.
The intelligent braking time is 5s, and the pressurizing subsystem provides braking force to continuously brake the brake disc 34 through the electric cylinder 31 in the 5s intelligent control time.
The differential rotation escape intelligent program comprises the following steps: the steering wheel is hit to the left or right, the pressurizing subsystem carries out dead-pressing braking on the front wheel and the rear wheel which are on the same side with the steering, and yaw shear force is generated to increase the adhesive force so as to achieve escape; the vehicle runs according to a normal program when the vehicle gets rid of the poverty; and if the vehicle fails to get rid of the trapping, the differential rotation trapping intelligent program is continuously executed until the vehicle gets rid of the trapping into the normal program operation.
Fourth embodiment other control methods are the same as those of the embodiment.
Table 1: speed difference parameter K-power loss coefficient F test table:
K(％) 0 0.05 0.10 0.15 0.20 0.25 0.30 0.35
F(％) 0 0.02 0.05 0.12 0.30 0.65 0.86 -
table 1 is a table of the speed difference parameter K and the other side non-slip wheel power loss coefficient F, the F value being obtained by measuring the motor current variation, the greater the power loss coefficient F value, the more difficult it is to get rid of the problem. "-" indicates that the F value is difficult to measure.
By comparison of the data in Table 1 and as shown in FIG. 7, the non-slipping wheels quickly lose power when K >20%, the more difficult it is to get rid of. When K is less than or equal to 20%, the faster braking power loss is smaller, and the faster braking is better.
The vehicle control system brakes in the shortest reaction time, the less the power loss is, the best braking effect is achieved, and therefore, the judgment value is less than or equal to 20%.
When K=20%, intelligent escaping judgment is carried out, the vehicle can carry out timely reaction through braking pressure output of the electric cylinder, the vehicle power loss is small, the vehicle has good escaping performance, and the escaping effect is good.
Preferably, when K=15%, intelligent escaping judgment is carried out, the vehicle can carry out timely reaction through braking pressure output of the electric cylinder, the control system algorithm is easy to realize, the vehicle power loss is minimum, the vehicle has the best comprehensive escaping performance, the escaping effect is optimal, and the practical application is good.
Table 2:
the intelligent braking time is 5s, and is the comprehensive result of an actual control system. The vehicle speed is generally less than 5km/h when the vehicle actually gets rid of poverty, namely less than 1.39m/s, the longest sunken region in the test process can not exceed 3m, and the getting rid of poverty can be completed within 2-3 s in actual measurement. The intelligent braking time is controlled to be 1.5-2 times of the actual braking time, so that the intelligent braking time is determined to be 5s to ensure that the passengers get rid of the passengers, namely 5s can effectively improve the effectiveness and reliability of the passengers getting rid of the passengers, as shown in the table 2.
As shown in fig. 7:
the intelligent escape control method comprises the following steps:
s1: when the vehicle speed V is smaller than 30Km/h, judging that the vehicle needs to get rid of the trapping state, and starting an intelligent trapping program with considerable control speed; otherwise, the vehicle executes normal program operation.
S2: the intelligent escape program for the automatic starting speed of the vehicle is controlled by the intelligent escape program for the speed of the vehicle, and the speed difference parameter between the speed of a certain wheel and the speed of the wheel is as followsWhen K is more than or equal to 15%, the intelligent escape program control of considerable speed control in motion is carried out, and the pressurizing subsystem of the wheel carries out pressurizing braking on the wheel so as to prevent power loss.
S3: when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
S4: and in the 5s intelligent braking time, the intelligent escape program controlled by the considerable speed is used for controlling the vehicle to escape, if the vehicle is judged to be in a silted state, the differential rotation escape intelligent program is started to perform escape control on the vehicle.
S5: and the steering wheel is hit to the left or right, the pressurizing subsystem carries out dead-pressing braking on the front and rear wheels on the same side as the steering, yaw shearing force is generated, the adhesive force is increased, the escape is realized, and the vehicle runs according to a normal program when the escape is realized.
S6: and if the vehicle fails to get rid of the trapping, the differential rotation trapping intelligent program is continuously executed until the vehicle gets rid of the trapping into the normal program operation.
In practical applications:
the electric cylinder is adopted in the pressurizing subsystem for pressure output, and has the advantages of high response speed and quick-acting rate, good controllability and long service life, and the algorithm of the control system is easy to realize, so that the requirement of intelligent control on quick response can be fully met.
The intelligent escaping control method is characterized in that the intelligent escaping program for controlling the speed of the vehicle in a considerable way and the intelligent escaping program for controlling the differential rotation after the vehicle is jammed are used for intelligent control, so that the escaping performance of the vehicle is comprehensively improved.
When K is more than or equal to 15%, intelligent escape program control in motion is carried out, and the wheel is pressurized and braked by the pressurizing subsystem of the wheel so as to prevent power loss; when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program; when K=15%, the vehicle is judged to be getting rid of poverty, and the vehicle has comprehensive, reliable and good getting rid of poverty and is best in getting rid of poverty effect.
The differential rotation is used for getting rid of the intelligent procedure, when the vehicle is in a siltation state, the steering wheel is bottomed and the front and rear wheels on the same side are braked in a pressing mode, the differential rotation generates yaw shearing force to increase the adhesive force, and the vehicle can get rid of the siltation to get rid of the siltation, so that the vehicle gets rid of the siltation, and the performance of getting rid of the siltation is higher.
Finally, it should be noted that: the above disclosure is only a preferred embodiment of the present application and is not intended to limit the present application, but although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. The scope of the application is limited only by the appended claims.

Claims (12)

1. The utility model provides a three unification electric drive distributed control system for automobile-used which characterized in that: comprises a power subsystem, a steering subsystem and a pressurizing subsystem;
the power subsystem comprises a driving motor (11), a motor controller (12), a vehicle speed sensor (13), a two-stage speed reducer (14) and a differential mechanism (15); the motor controller (12) is connected with the comprehensive controller (5) through a CAN line (4), the comprehensive controller (5) is connected with a battery (6) for providing power, the motor controller (12) is connected with the driving motor (11), the driving motor (11) is connected with the secondary speed reducer (14) and the differential mechanism (15), a vehicle speed sensor (13) is arranged on the driving motor (11), the motor controller (12) CAN calculate the rotating speed of the driving motor (11) to obtain the vehicle speed V, each wheel is provided with a wheel speed sensor (16), and each wheel speed sensor (16) CAN give the wheel speed of the corresponding wheel;
the steering subsystem comprises an angle and torque sensor (22), a steering power-assisted motor (24) and a controller (23), wherein the angle and torque sensor (22) is connected with a steering wheel (21), the controller (23) collects steering wheel (21) angle information output by the angle and torque sensor (22) and calculates the angle alpha of wheels, the controller (23) transmits the steering wheel (21) angle information to the integrated controller (5) through a CAN (controller area network) line (4), the controller (23) is in information connection with the steering power-assisted motor (24), the steering power-assisted motor (24) is in power connection with a speed reducer (25), and the speed reducer (25) is in steering connection with the steering wheel (21);
the pressurizing subsystem comprises an electric cylinder (31), a brake rod (33) and a server (32), wherein the server (32) is connected with the integrated controller (5) through a CAN line (4), and the server (32) controls the electric cylinder (31) to drive the brake rod (33) to work; each wheel is respectively connected with a pressurizing subsystem, a brake disc (34) is arranged at each wheel, each wheel is connected with the vehicle braking system through the brake disc (34), and the pressurizing subsystem is in pressure braking connection with the brake disc (34) through the brake rod (33); the pressurizing subsystem and the vehicle braking system work independently and are not interfered with each other;
the intelligent escaping control method for the three-in-one electric drive distributed control system for the vehicle comprises an intelligent escaping program for controlling considerable speed and an intelligent escaping program for controlling differential rotation, wherein the intelligent escaping control method comprises the following steps:
s1: when the vehicle needs to get rid of the trapping, the vehicle automatically starts up a speed considerable control intelligent trapping procedure, otherwise, the vehicle runs in a normal running procedure;
s2: the intelligent escape program control of the considerable speed control is carried out on the vehicle, and the vehicle enters a normal operation program after escape is realized through the intelligent escape program control of the considerable speed control;
s3: when the intelligent escape program with considerable speed control can not escape the vehicle, judging that the vehicle is in a silted state, starting the intelligent escape program with differential rotation to perform escape control on the vehicle;
s4: the intelligent program of differential rotation getting rid of trapping is utilized to control the vehicle, the vehicle gets into the normal operation program operation when getting rid of trapping, and the vehicle can not get out of trapping to continue to execute the intelligent program of differential rotation getting rid of trapping until the vehicle gets into the normal operation program.
2. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: the pressurizing subsystem structure CAN also be an electric cylinder (31), a servo (32), a piston pump (35) and a brake cylinder (36), wherein the servo (32) is connected with the integrated controller (5) through a CAN line (4), the servo (32) controls the electric cylinder (31) to work, the piston pump (35) transmits the pressure of the electric cylinder (31) to the brake cylinder (36) through hydraulic oil in an oil pipe (37), and the brake cylinder (36) is connected with the brake disc (34) in a pressure braking manner to perform pressure braking on the brake disc (34).
3. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: the power subsystems are in modularized combination, and a group of power subsystems is arranged on a front axle or a rear axle of the vehicle, or a group of power subsystems is arranged on the front axle and the rear axle of the vehicle.
4. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: each pressurization subsystem is independently controlled by the integrated controller (5), and each pressurization subsystem independently works without interference.
5. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: when the vehicle speed V is smaller than 30Km/h, the intelligent escape program is controlled by the automatic starting speed considerable, otherwise, the intelligent escape program is not started.
6. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: the intelligent escape program with considerable speed control comprises the following steps:
the speed difference parameter between the speed of a certain wheel and the considerable speed of the wheel is
Wherein the wheel speed is given by a wheel speed sensor (16), the wheel considerable speed is calculated by a vehicle speed, and the wheel considerable speed calculating method is as follows:
wherein the rotation angle alpha is given by a steering subsystem, L is the vehicle wheelbase, B is the vehicle wheelbase, V is the vehicle speed and is given by a power subsystem, V 1 For a considerable speed of the front inside wheel,V 2 for considerable speed of front-outer wheels, V 3 For considerable speed of rear-outer wheels, V 4 For a considerable speed of the rear inside wheel,
when K is more than or equal to the judgment value, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is smaller than the judgment value, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program; the intelligent braking time can not realize the escape, and if the vehicle is judged to be in the escape state, the differential rotation escape intelligent program is started.
7. The three-in-one electrically driven distributed control system for a vehicle of claim 6, wherein: the judging value range is as follows: the judgment value is more than 0 and less than or equal to 20 percent.
8. The three-in-one electrically driven distributed control system for a vehicle of claim 7, wherein: when K is more than or equal to 20%, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is less than 20%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
9. The three-in-one electrically driven distributed control system for a vehicle of claim 7, wherein: when K is more than or equal to 15%, performing considerable speed control intelligent escaping program control in motion, and performing pressurizing braking on the wheel by a pressurizing subsystem of the wheel to prevent power loss; when K is less than 15%, the vehicle gets rid of poverty, the wheel pressurization subsystem immediately releases the braking pressure, and the vehicle operates according to a normal program.
10. The three-in-one electrically driven distributed control system for a vehicle of claim 6, wherein: the intelligent braking time is 5s.
11. The three-in-one electrically driven distributed control system for a vehicle of claim 6, wherein: during the intelligent control time, the pressurizing subsystem provides braking force to continuously brake the brake disc (34) through the electric cylinder (31).
12. A three-in-one electrically driven distributed control system for a vehicle as defined in claim 1, wherein: the differential rotation escape intelligent program comprises the following steps: the steering wheel is hit to the left or right, the pressurizing subsystem carries out dead-pressing braking on the front wheel and the rear wheel which are on the same side with the steering, and yaw shear force is generated to increase the adhesive force so as to achieve escape; the vehicle runs according to a normal program when the vehicle gets rid of the poverty; and if the vehicle fails to get rid of the trapping, the differential rotation trapping intelligent program is continuously executed until the vehicle gets rid of the trapping into the normal program operation.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4004065A1 (en) * 1990-02-10 1991-08-14 Teves Gmbh Alfred Vehicle anti-locking braking system - has piston position signal for servo device coupled to electronic control unit for magnetic braking regulation valves
KR19980061363A (en) * 1996-12-31 1998-10-07 박병재 Vehicle anti skid control system and skid detection sensor
CN1911706A (en) * 2005-08-10 2007-02-14 株式会社日立制作所 Running controller and electric running control system for electric vehicle
CN106314168A (en) * 2015-06-30 2017-01-11 陕西同力重工股份有限公司 Electric auxiliary driving system for haul truck and design method for electric auxiliary driving system
CN109383256A (en) * 2018-12-12 2019-02-26 三汽车制造有限公司 Emergency is got rid of poverty wheel undercarriage and unmanned platform truck
CN115978172A (en) * 2022-12-30 2023-04-18 山东卫禾传动科技有限公司 Agricultural machinery gearbox with differential lock function

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4004065A1 (en) * 1990-02-10 1991-08-14 Teves Gmbh Alfred Vehicle anti-locking braking system - has piston position signal for servo device coupled to electronic control unit for magnetic braking regulation valves
KR19980061363A (en) * 1996-12-31 1998-10-07 박병재 Vehicle anti skid control system and skid detection sensor
CN1911706A (en) * 2005-08-10 2007-02-14 株式会社日立制作所 Running controller and electric running control system for electric vehicle
CN106314168A (en) * 2015-06-30 2017-01-11 陕西同力重工股份有限公司 Electric auxiliary driving system for haul truck and design method for electric auxiliary driving system
CN109383256A (en) * 2018-12-12 2019-02-26 三汽车制造有限公司 Emergency is got rid of poverty wheel undercarriage and unmanned platform truck
CN115978172A (en) * 2022-12-30 2023-04-18 山东卫禾传动科技有限公司 Agricultural machinery gearbox with differential lock function

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