CN117416213A - Dual-mode coupling driving type automobile feedback braking failure composite control system and method - Google Patents
Dual-mode coupling driving type automobile feedback braking failure composite control system and method Download PDFInfo
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- CN117416213A CN117416213A CN202311545698.0A CN202311545698A CN117416213A CN 117416213 A CN117416213 A CN 117416213A CN 202311545698 A CN202311545698 A CN 202311545698A CN 117416213 A CN117416213 A CN 117416213A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
- B60L7/08—Controlling the braking effect
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- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
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- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- 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
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- 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
- B60W10/188—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
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- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
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- 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
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
Abstract
The invention belongs to the field of automobile feedback brake control, and discloses a dual-mode coupling driving type automobile feedback brake failure composite control system and method, comprising the following steps: acquiring system data acquired by each sensor in the dual-mode coupling driving type automobile, and analyzing the system data to obtain vehicle state data; analyzing the current vehicle driving mode and the states of all driving motors based on the vehicle state data, and when the dual-mode coupling driving type automobile has a failure driving motor in a distributed driving mode, reducing the torque of the driving motor which is not failed, and compensating the braking torque through a hydraulic braking system; and (3) performing transverse displacement correction in the torque reduction process, and performing gear shifting after the transverse displacement correction is completed, wherein the dual-mode coupling driving type automobile resumes normal feedback braking running. The technical scheme of the invention can solve the problems that the front-drive or rear-drive distributed drive vehicle fails in the feedback braking of the single-side drive motor to cause the transverse position deviation and the energy recovery can not be carried out.
Description
Technical Field
The invention belongs to the field of automobile feedback brake control, and particularly relates to a dual-mode coupling driving type automobile feedback brake failure composite control system and method.
Background
The distributed driving system can accurately and quickly adjust the torque of each wheel independently, and is beneficial to the dynamic control of the vehicle. However, in the process of backing-up braking of a front-drive or rear-drive distributed driving vehicle on a long downhill slope, under the condition of failure of driving of a single driving motor, running stability and running safety are difficult to ensure, and meanwhile, energy recovery cannot be performed, so that the endurance of the vehicle is seriously influenced.
Disclosure of Invention
The invention aims to provide a dual-mode coupling driving type automobile feedback braking failure composite control system and method, which are used for solving the problems in the prior art.
In order to achieve the above purpose, the invention provides a dual-mode coupling driving type automobile feedback braking failure composite control method, which comprises the following steps:
step one: acquiring system data acquired by each sensor in the dual-mode coupling driving type automobile, and analyzing the driving intention of the system data to obtain vehicle state data;
step two: analyzing the current vehicle driving mode and the states of all driving motors based on the vehicle state data, and when a dual-mode coupling driving type automobile has a failure driving motor in a distributed driving mode, reducing the torque of the driving motor which is not failed, and compensating the braking torque in the torque reduction process through a hydraulic braking system;
step three: performing transverse displacement correction in the torque reduction process, and performing gear shifting after the transverse displacement correction is completed;
step four: and after the gear shifting is completed, enabling the non-failure driving motor to resume torque control and the braking torque of the hydraulic braking system to be equal to 0, and enabling the dual-mode coupling driving type automobile to resume normal feedback braking running.
Optionally, the vehicle state data includes: current drive motor status, drive mode, and vehicle position data.
Optionally, the reduction torque of the non-failure driving motor is 0.
Optionally, the hydraulic braking system compensates braking torque in the torque reducing process, and specifically includes: and compensating the braking torque in the torque reducing process by the hydraulic system until reaching the preset braking torque, and maintaining the preset braking torque.
Optionally, the transverse displacement correction is performed during the torque reduction process, which specifically includes:
and performing lateral displacement correction by adjusting the driving torque of the non-driving motor in the torque reducing process.
Optionally, after the gear shifting is completed, enabling the non-failure driving motor to resume torque control, specifically including:
after gear shifting is completed, the driving mode of the dual-mode coupling driving type automobile is changed into a centralized driving mode, the non-failure driving motor resumes torque control after the driving mode is changed, so that the increasing value of the braking torque applied by the non-failure driving motor to each wheel is equal to the decreasing value of the braking torque of the hydraulic braking system to each wheel, and when the braking torque of the hydraulic braking system is equal to 0, the dual-mode coupling driving type automobile resumes normal feedback braking running.
A dual-mode coupling driving type automobile feedback brake failure composite control system is applied to a dual-mode coupling driving type automobile feedback brake failure composite control method, and comprises the following steps:
the driving assembly is provided with a driving module and a plurality of wheels at two sides;
the variable die system is fixed at the upper part of the shell of the transmission assembly;
the hydraulic braking system is arranged among a plurality of wheels;
the control module comprises a composite controller and a brake system controller, wherein the composite controller is respectively connected with the variable die system, the hydraulic brake system and the brake system controller at low pressure;
and the vehicle state sensor group is arranged on the dual-mode coupling driving type automobile body and is in communication connection with the composite controller.
Optionally, the driving module comprises a driving motor I and a driving motor II, and spline shafts of the driving motor I and the driving motor II are connected with an input shaft of the transmission assembly through a coupler;
the driving motor I and the driving motor II are respectively connected with a driving motor I controller and a driving motor II controller at high voltage;
the battery pack and the management system are respectively connected with the driving motor I controller, the driving motor II controller and the DC/DC direct current chopper through high voltage connectors at high voltage.
Optionally, the variable mold system includes: the device comprises a variable die mechanism, a variable die motor I, a variable die motor II, a variable die motor I controller and a variable die motor II controller;
the variable die mechanism is fixedly arranged above the transmission assembly, the variable die motor I and the variable die motor II are sequentially arranged above the variable die mechanism, the variable die motor I and the variable die motor II are respectively connected with the driving variable die I controller and the variable die motor II controller at low pressure, and the driving variable die I controller and the variable die motor II controller are both connected with the composite controller at low pressure.
Optionally, a driving intention analysis module, a motor failure and lateral displacement detection module, a gear shifting control sub-module, a driving control sub-module and a braking control sub-module are integrated in the composite controller;
the gear shifting control sub-module is connected with the variable die system at low pressure, the driving control sub-module is electrically connected with the driving module, and the braking control sub-module is electrically connected with the braking system controller;
the driving intention analysis module is in communication connection with a gear sensor, an accelerator pedal displacement sensor, a brake pedal displacement sensor, a steering wheel torque sensor and a steering wheel angle sensor;
the motor failure and transverse displacement detection module is in communication connection with a brake pressure sensor, a variable die mechanism angular displacement sensor, a vehicle body movement posture sensor and a vehicle position sensor.
The invention has the technical effects that:
according to the dual-mode coupling driving type automobile feedback braking failure composite control system and method provided by the invention, the information of each subsystem is acquired through communication with each sensor, so that driving intention analysis is realized, and the current driving motor state, driving mode and vehicle position are acquired; then, after detecting that one side driving motor fails, quickly reducing the torque of the driving motor which does not fail to 0, and simultaneously compensating the required braking torque by using a hydraulic braking system; at this time, since a certain time is required for the torque of the non-failure driving motor to drop to 0, the vehicle generates a deviation of lateral displacement, and thus the torque of the non-failure driving motor needs to be adjusted to correct the deviation of lateral displacement; and finally, after the transverse displacement correction is completed, the vehicle is switched to a centralized driving mode driven by a single motor, and the vehicle resumes normal feedback braking running. The invention solves the problems that the front-drive or rear-drive distributed drive vehicle fails in the feedback braking of the single-side drive motor to cause the transverse position deviation and the energy recovery can not be carried out. The invention can effectively solve the problems of instability and incapability of energy recovery caused by failure of the feedback braking of the front-drive or rear-drive distributed drive vehicle on a downhill long slope, and greatly improves the safety and the braking energy feedback effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:
FIG. 1 is a schematic diagram of a dual mode coupling drive vehicle feedback brake failure compound control system in an embodiment of the present invention;
FIG. 2 is a block diagram of a dual mode coupling drive vehicle feedback brake failure compound control system in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a centralized driving mode of a dual-mode coupling driving type vehicle feedback brake failure composite control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a distributed driving mode of a dual mode coupling driving type vehicle feedback brake failure composite control system according to an embodiment of the present invention;
FIG. 5 is a control flow chart of a dual-mode coupling driving type automobile feedback braking failure composite control method for driving a motor I to fail in an embodiment of the invention;
FIG. 6 is a control flow chart of a dual-mode coupling driving type automobile feedback braking failure composite control method for driving motor II failure in the embodiment of the invention;
description of the reference numerals: 1-driving motor I, 2-distributed speed reducer I, 3-synchronizer I, 4-centralized speed reducer I, 5-centralized speed reducer II, 6-synchronizer II, 7-distributed speed reducer II, 8-driving motor II, 9-wheel I, 10-semi-axle I, 11-secondary speed reducer I, 12-secondary speed reducer II, 13-semi-axle II, 14-wheel II and 15-differential.
Detailed Description
Various exemplary embodiments of the invention will now be described in detail, which should not be considered as limiting the invention, but rather as more detailed descriptions of certain aspects, features and embodiments of the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In addition, for numerical ranges in this disclosure, it is understood that each intermediate value between the upper and lower limits of the ranges is also specifically disclosed. Every smaller range between any stated value or stated range, and any other stated value or intermediate value within the stated range, is also encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although the invention has been described with reference to a preferred method, any method similar or equivalent to those described herein can be used in the practice or testing of the present invention. All documents mentioned in this specification are incorporated by reference for the purpose of disclosing and describing the methodologies associated with the documents. In case of conflict with any incorporated document, the present specification will control.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the invention described herein without departing from the scope or spirit of the invention. Other embodiments will be apparent to those skilled in the art from consideration of the specification of the present invention. The specification and examples are exemplary only.
As used herein, the terms "comprising," "including," "having," "containing," and the like are intended to be inclusive and mean an inclusion, but not limited to.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
As shown in fig. 1-6, the present embodiment provides a dual-mode coupling driving type automobile feedback brake failure composite control system and method, including:
a dual-mode coupling driving type automobile feedback braking failure composite control method comprises the following steps:
step one: acquiring system data acquired by each sensor in the dual-mode coupling driving type automobile, and analyzing the driving intention of the system data to obtain vehicle state data;
step two: analyzing the current vehicle driving mode and the states of all driving motors based on the vehicle state data, and when a dual-mode coupling driving type automobile has a failure driving motor in a distributed driving mode, reducing the torque of the driving motor which is not failed, and compensating the braking torque in the torque reduction process through a hydraulic braking system;
step three: performing transverse displacement correction in the torque reduction process, and performing gear shifting after the transverse displacement correction is completed;
step four: and after the gear shifting is completed, enabling the non-failure driving motor to resume torque control and the braking torque of the hydraulic braking system to be equal to 0, and enabling the dual-mode coupling driving type automobile to resume normal feedback braking running.
In practice, the vehicle state data includes: current drive motor status, drive mode, and vehicle position data.
In one embodiment, the method for reducing torque of the drive motor without failure specifically includes:
and reducing the torque of the non-failure driving motor to 0.
In practice, the hydraulic braking system compensates the braking torque in the torque reducing process, and specifically comprises the following steps: and compensating the braking torque in the torque reducing process by the hydraulic system until reaching the preset braking torque, and maintaining the preset braking torque.
The transverse displacement correction can be implemented in the torque reduction process, and specifically comprises the following steps:
and performing lateral displacement correction by adjusting the driving torque of the non-driving motor in the torque reducing process.
After the gear shifting is completed, the non-failure driving motor is enabled to resume torque control, and the method specifically comprises the following steps:
after gear shifting is completed, the driving mode of the dual-mode coupling driving type automobile is changed into a centralized driving mode, the non-failure driving motor resumes torque control after the driving mode is changed, so that the increasing value of the braking torque applied by the non-failure driving motor to each wheel is equal to the decreasing value of the braking torque of the hydraulic braking system to each wheel, and when the braking torque of the hydraulic braking system is equal to 0, the dual-mode coupling driving type automobile resumes normal feedback braking running.
A dual-mode coupling driving type automobile feedback brake failure composite control system is applied to a dual-mode coupling driving type automobile feedback brake failure composite control method, and comprises the following steps:
the driving assembly is provided with a driving module and a plurality of wheels at two sides;
the variable die system is fixed at the upper part of the shell of the transmission assembly;
the hydraulic braking system is arranged among a plurality of wheels;
the control module comprises a composite controller and a brake system controller, wherein the composite controller is respectively connected with the variable die system, the hydraulic brake system and the brake system controller at low pressure;
and the vehicle state sensor group is arranged on the dual-mode coupling driving type automobile body and is in communication connection with the composite controller.
The driving module comprises a driving motor I and a driving motor II, and spline shafts of the driving motor I and the driving motor II are connected with an input shaft of the transmission assembly through a coupler;
the driving motor I and the driving motor II are respectively connected with a driving motor I controller and a driving motor II controller at high voltage;
the battery pack and the management system are respectively connected with the driving motor I controller, the driving motor II controller and the DC/DC direct current chopper through high voltage connectors at high voltage.
In practice, the variable mold system comprises: the device comprises a variable die mechanism, a variable die motor I, a variable die motor II, a variable die motor I controller and a variable die motor II controller;
the variable die mechanism is fixedly arranged above the transmission assembly, the variable die motor I and the variable die motor II are sequentially arranged above the variable die mechanism, the variable die motor I and the variable die motor II are respectively connected with the driving variable die I controller and the variable die motor II controller at low pressure, and the driving variable die I controller and the variable die motor II controller are both connected with the composite controller at low pressure.
The distributed driving system and the coupled driving system are shown in the figure 2, and comprise a driving motor I1, a distributed speed reducer I2, a synchronizer I3, a centralized speed reducer I4, a centralized speed reducer II 5, a synchronizer II 6, a distributed speed reducer II 7, a driving motor II 8, wheels I9, a half axle I10, a secondary speed reducer I11, a secondary speed reducer II 12, a half axle II 13, wheels II 14 and a differential 15; the system has four driving modes, namely a centralized driving mode and a distributed driving mode.
The composite controller is integrated with a driving intention analysis module, a motor failure and transverse displacement detection module, a gear shifting control sub-module, a driving control sub-module and a braking control sub-module;
the gear shifting control sub-module is connected with the variable die system at low pressure, the driving control sub-module is electrically connected with the driving module, and the braking control sub-module is electrically connected with the braking system controller;
the driving intention analysis module is in communication connection with a gear sensor, an accelerator pedal displacement sensor, a brake pedal displacement sensor, a steering wheel torque sensor and a steering wheel angle sensor;
the motor failure and transverse displacement detection module is in communication connection with a brake pressure sensor, a variable die mechanism angular displacement sensor, a vehicle body movement posture sensor and a vehicle position sensor.
A dual-mode coupling driving type automobile feedback braking failure composite control method is shown in a figure 1, and is based on hardware of a control system, and comprises a driving motor, a driving motor controller, a transmission assembly, a variable-mode motor controller, a variable-mode mechanism, a composite controller, a hydraulic braking system, a braking system controller, a gear sensor, an accelerator pedal displacement sensor, a brake pedal displacement sensor, a steering wheel angle sensor, a steering wheel torque sensor, a vehicle body movement posture sensor, a vehicle position sensor, a braking pressure sensor and a variable-mode mechanism angular displacement sensor.
Fig. 5 is a control flow chart showing a failure of a driving motor i during distributed driving of a dual-mode coupling driving pure electric vehicle provided in this embodiment 1, where a current driving mode is a distributed driving mode, and information of each subsystem is obtained by communicating with each sensor, so as to obtain a current driving motor state, a driving mode and a vehicle position; after detecting that the driving motor I fails, quickly reducing the torque of the driving motor II to zero, and simultaneously compensating the braking torque by using a hydraulic system, so that the ideal braking torque is maintained after the ideal braking torque is achieved, but the torque of the driving motor II is reduced to a certain time, so that the deviation of transverse displacement is caused; performing transverse displacement correction by adjusting the driving torque of the non-driving motor II; after the transverse displacement correction is completed, gear shifting is carried out, after the gear shifting is completed, the vehicle is in a centralized driving mode driven by a driving motor II, the driving motor II resumes torque control, the increasing value of the braking torque applied to the wheels I and II by the driving motor II is equal to the decreasing value of the braking torque of the hydraulic braking system at the wheels I and II, and after the braking torque of the hydraulic braking system is equal to the decreasing value of the braking torque of the hydraulic braking system, the vehicle resumes normal feedback braking running.
Example 2
Fig. 6 is a control flow chart showing a failure of a driving motor ii in the distributed driving of the dual-mode coupling driving pure electric vehicle provided in this embodiment 2, where the current driving mode is a distributed driving mode, and information of each subsystem is obtained by communicating with each sensor, so as to obtain a current driving motor state, a driving mode and a vehicle position; after detecting that the driving motor II fails, quickly reducing the torque of the driving motor I to zero, and simultaneously compensating the braking torque by using a hydraulic system, so that the ideal braking torque is maintained after the ideal braking torque is achieved, but the torque of the driving motor I is reduced to a certain time, so that the deviation of transverse displacement is caused; the transverse displacement correction is carried out by adjusting the driving torque of the non-driving motor I; after the transverse displacement correction is completed, gear shifting is carried out, after the gear shifting is completed, the vehicle is in a centralized driving mode driven by a driving motor I, the driving motor I resumes torque control, the increasing value of the braking torque applied to wheels I and II by the driving motor I is equal to the decreasing value of the braking torque of a hydraulic braking system at the wheels I and II, and after the braking torque of the hydraulic braking system is equal to the decreasing value of the braking torque of the hydraulic braking system, the vehicle resumes normal feedback braking running.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A dual-mode coupling driving type automobile feedback braking failure composite control method is characterized by comprising the following steps of:
step one: acquiring system data acquired by each sensor in the dual-mode coupling driving type automobile, and analyzing the driving intention of the system data to obtain vehicle state data;
step two: analyzing the current vehicle driving mode and the states of all driving motors based on the vehicle state data, and when a dual-mode coupling driving type automobile has a failure driving motor in a distributed driving mode, reducing the torque of the driving motor which is not failed, and compensating the braking torque in the torque reduction process through a hydraulic braking system;
step three: performing transverse displacement correction in the torque reduction process, and performing gear shifting after the transverse displacement correction is completed;
step four: and after the gear shifting is completed, enabling the non-failure driving motor to resume torque control and the braking torque of the hydraulic braking system to be equal to 0, and enabling the dual-mode coupling driving type automobile to resume normal feedback braking running.
2. The dual mode coupling driving type vehicle feedback brake failure compound control method of claim 1, wherein,
the vehicle state data includes: current drive motor status, drive mode, and vehicle position data.
3. The dual mode coupling drive vehicle regenerative braking failure compound control method of claim 1, wherein the torque reduction of the non-failed drive motor is 0.
4. The dual mode coupling driving type vehicle feedback brake failure compound control method according to claim 1, wherein the compensation of the braking torque in the torque reduction process is performed by the hydraulic brake system, specifically comprising:
and compensating the braking torque in the torque reducing process by the hydraulic system until reaching the preset braking torque, and maintaining the preset braking torque.
5. The dual mode coupling drive vehicle regenerative braking failure compound control method of claim 1, wherein the lateral displacement correction is performed during the torque reduction process, specifically comprising:
and performing transverse displacement correction by adjusting the driving torque of the undriven motor in the torque reducing process.
6. The dual mode coupling drive vehicle regenerative braking failure compound control method of claim 1, wherein after gear shifting is completed, enabling the non-failure drive motor to resume torque control, comprising the following steps:
after gear shifting is completed, the driving mode of the dual-mode coupling driving type automobile is changed into a centralized driving mode, the non-failure driving motor resumes torque control after the driving mode is changed, so that the increasing value of the braking torque applied by the non-failure driving motor to each wheel is equal to the decreasing value of the braking torque of the hydraulic braking system to each wheel, and when the braking torque of the hydraulic braking system is equal to 0, the dual-mode coupling driving type automobile resumes normal feedback braking running.
7. A dual-mode coupling driving type automobile feedback brake failure composite control system, which is applied to the dual-mode coupling driving type automobile feedback brake failure composite control method as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
the driving assembly is provided with a driving module and a plurality of wheels at two sides of the driving assembly, and the driving module and the wheels at the same side of the driving assembly are in transmission connection;
the variable die system is fixed at the upper part of the shell of the transmission assembly;
a hydraulic brake system mounted between each of the wheels;
the control module comprises a composite controller and a brake system controller, wherein the composite controller is respectively connected with the variable die system, the hydraulic brake system and the brake system controller at low pressure;
and the vehicle state sensor group is arranged on the dual-mode coupling driving type automobile body and is in communication connection with the composite controller.
8. The dual-mode coupling driving type automobile feedback braking failure composite control system according to claim 7, wherein the driving module comprises a driving motor I and a driving motor II, and spline shafts of the driving motor I and the driving motor II are connected with an input shaft of a transmission assembly through a coupler;
the driving motor I and the driving motor II are respectively connected with a driving motor I controller and a driving motor II controller at high voltage;
the battery pack and the management system are respectively connected with the driving motor I controller, the driving motor II controller and the DC/DC direct current chopper through high voltage connectors at high voltage.
9. The dual mode, coupled drive, compound control system for vehicle regenerative braking failure of claim 7, wherein,
the variable mold system includes: the device comprises a variable die mechanism, a variable die motor I, a variable die motor II, a variable die motor I controller and a variable die motor II controller;
the variable die mechanism is fixedly arranged above the transmission assembly, the variable die motor I and the variable die motor II are sequentially arranged above the variable die mechanism, the variable die motor I and the variable die motor II are respectively connected with the driving variable die I controller and the variable die motor II controller at low pressure, and the driving variable die I controller and the variable die motor II controller are both connected with the composite controller at low pressure.
10. The dual mode, coupled drive, compound control system for vehicle regenerative braking failure of claim 7, wherein,
the composite controller is integrated with a driving intention analysis module, a motor failure and transverse displacement detection module, a gear shifting control sub-module, a driving control sub-module and a braking control sub-module;
the gear shifting control sub-module is connected with the variable die system at low pressure, the driving control sub-module is electrically connected with the driving module, and the braking control sub-module is electrically connected with the braking system controller;
the driving intention analysis module is in communication connection with a gear sensor, an accelerator pedal displacement sensor, a brake pedal displacement sensor, a steering wheel torque sensor and a steering wheel angle sensor;
the motor failure and transverse displacement detection module is in communication connection with a brake pressure sensor, a variable die mechanism angular displacement sensor, a vehicle body movement posture sensor and a vehicle position sensor.
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