CN117698727A - Vehicle anti-skid control method, system, terminal and storage medium - Google Patents
Vehicle anti-skid control method, system, terminal and storage medium Download PDFInfo
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- 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
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Abstract
The application discloses a vehicle anti-skid control method, a system, a terminal and a storage medium, and relates to the technical field of vehicle anti-skid control, wherein the method comprises the following steps: acquiring a vehicle driving wheel rotating speed V1 and a vehicle driven wheel rotating speed V2 based on an anti-skid control instruction; calculating a vehicle slip rate lambda based on the driving wheel rotation speed V1 and the driven wheel rotation speed V2; the slip ratio λ= (V1-V2)/V2 x 100%; controlling the output torque of a motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1. The method, the system, the terminal and the storage medium applying the method can effectively avoid the slipping accident of the vehicle in the running process and ensure the stable running of the vehicle.
Description
Technical Field
The application relates to the technical field of vehicle anti-skid control, in particular to a vehicle anti-skid control method.
Background
When a two-wheel vehicle is ridden, the problems of skidding and sideslip are often encountered, particularly when the two-wheel vehicle is driven on a rainy day, a snowy day or a wet road surface, the traction force is too large, the friction coefficient of the ground is very small, and when the speed difference between the driving wheel and the driven wheel is large, the two-wheel vehicle is easy to skid, and the vehicle is out of control to cause a safety accident.
Therefore, there is a need for a control method with high accuracy and good anti-slip effect, which can adjust the rotation speed of the wheels in time when the slip risk occurs during the running of the vehicle, ensure the stable running of the vehicle, and avoid the occurrence of safety accidents.
Disclosure of Invention
In order to avoid slipping accidents of a vehicle in the running process and ensure stable running of the vehicle, the application provides a vehicle anti-slip control method, a system, a terminal and a storage medium.
In a first aspect, the present application provides a vehicle anti-slip control method, which adopts the following technical scheme: the method comprises the following steps:
acquiring a vehicle driving wheel rotating speed V1 and a vehicle driven wheel rotating speed V2 based on an anti-skid control instruction;
calculating a vehicle slip rate lambda based on the driving wheel rotation speed V1 and the driven wheel rotation speed V2; the slip ratio λ= (V1-V2)/V2 x 100%;
controlling the output torque of a motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
Through adopting above-mentioned technical scheme, in the vehicle driving process, through drive wheel rotational speed V1 and driven wheel rotational speed V2, calculate vehicle slip rate lambda, then according to the torque control model of building in advance, the output torque of control motor to adjust the rotational speed of vehicle drive wheel, reduce the difference of drive wheel and driven wheel, the control method control accuracy of this application is higher, can effectively avoid the vehicle to appear skidding the phenomenon, improves the antiskid function of vehicle.
In a specific embodiment, the torque control model includes a first torque control sub-model; based on the vehicle slip rate lambda and the first torque control sub-model, controlling the output torque of the motor specifically includes:
if the slip rate lambda is at a first slip rate threshold lambda th1 And a second slip ratio threshold lambda th2 Calculating the value of target torque Ta by adopting a linear calculation model, and controlling the output torque of the motor based on the target torque Ta; the linear calculation model is as follows:
Ta=Tmax-[(λ-λ th1 )/(λ th2 -λ th1 )]*(Tmax-Tmin)；
wherein Tmax is a preset maximum torque, and Tmin is a preset minimum torque;
if the slip rate lambda exceeds a second slip rate threshold lambda th2 The output torque of the motor is controlled to be the minimum torque Tmin.
By adopting the technical scheme, when the slip rate lambda exceeds the first slip rate threshold lambda th1 But does not exceed the second slip ratio threshold lambda th2 At the moment, the situation that the motor has a slip risk is indicated, and a linear calculation model is adopted at the moment to calculate the target torque Ta which is required to be output currently by the motor; when the slip rate lambda exceeds the second slip rate threshold lambda th2 And when the slip risk is larger, the output torque of the motor is directly controlled according to the preset minimum torque Tmin, the rotation speed difference between the driving wheel and the driven wheel of the vehicle is controlled to the greatest extent, and better protection is realized. By the sectional control method, the optimal control effect can be realized under different conditions, and the control precision is improved.
In a specific embodiment, the torque control model includes a second torque control sub-model; controlling the output torque of the motor based on the vehicle slip rate lambda and the second torque control sub-model, specifically comprising:
if the slip rate lambda exceeds a first slip rate threshold lambda th1 Continuously reducing the output torque of the motor by adopting a PI control method until the vehicle slip rate lambda does not exceed the first slip rate threshold lambda th1 。
By adopting the technical scheme, the PI control method can be directly adopted for speed regulation of the vehicle, and when the slip rate lambda exceeds the first slip rate threshold lambda th1 And when PI regulation is started, the output torque of the motor is gradually reduced according to real-time feedback, the speed difference between the driving wheel and the driven wheel of the vehicle is reduced, and the control of the slip rate lambda of the vehicle is realized.
In a specific embodiment, after controlling the output torque of the motor based on the vehicle slip ratio λ and a pre-constructed torque control model, the method further includes:
a vehicle inclination condition is acquired, an inclination coefficient Td is determined based on the vehicle inclination condition, and an output torque of the motor is adjusted based on the inclination coefficient Td.
By adopting the technical scheme, the inclination condition of the vehicle is considered, and the contact area between the wheels and the ground is reduced due to the inclination of the vehicle, so that the friction is reduced, when the inclination of the vehicle exceeds a certain degree, the vehicle is adjusted again on the basis of the current output torque of the motor, and the running safety of the vehicle is further ensured.
In a specific embodiment, before the acquiring the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 based on the anti-slip control command, the method includes:
acquiring the corresponding relation between the attachment coefficient mu and the slip rate lambda of the vehicle when the vehicle runs on different road conditions; the attachment coefficient mu comprises a longitudinal attachment coefficient and a transverse attachment coefficient;
determining a first slip rate threshold lambda based on the correspondence between the vehicle attachment coefficient mu and the slip rate lambda under different road conditions th1 And the second slip ratio threshold lambda th2 。
By adopting the technical scheme, before the actual use of the vehicle, the first slip rate threshold lambda is determined by testing the vehicle and according to the data of the vehicle running on different road conditions th1 And a second slip ratio threshold lambda th2 Therefore, the vehicle has better anti-skid effect when coping with different road conditions in practical application.
In a specific embodiment, the method further comprises:
during the running of the vehicle, the first slip rate threshold lambda is adjusted based on the braking influence factors of the vehicle th1 And the second slip ratio threshold lambda th2 The method comprises the steps of carrying out a first treatment on the surface of the The braking influencing factors include one or more of tire pressure, belt load capacity, and service life of the vehicle.
By adopting the technical scheme, as the acquisition accuracy of some sensors in the vehicle is reduced and the tires are gradually aged along with the increase of the service life of the vehicle, the tire pressure sensor can better adapt to the current vehicle condition according to the current tire pressure, the belt load capacity of the vehicle,Flexibly adjusting a first slip rate threshold lambda by using factors such as duration th1 And a second slip ratio threshold lambda th2 The control method is more fit with the actual situation of the vehicle, so that the anti-skid effect is improved.
In a specific embodiment, before the acquiring the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 based on the anti-slip control command, the method includes:
acquiring the running acceleration of the vehicle, and judging whether the vehicle has a slip risk or not based on the running acceleration and a preset acceleration threshold value;
if the running acceleration does not exceed the preset acceleration threshold value, determining that the vehicle is in a normal acceleration state;
and if the running acceleration exceeds a preset acceleration threshold value, determining that the vehicle has a slip risk, and generating an anti-slip control instruction.
By adopting the technical scheme, the vehicle acceleration is obtained in real time, and when the vehicle acceleration is overlarge, an anti-skid control instruction is generated, and the anti-skid control process is started.
In a second aspect, the present application provides a vehicle anti-slip control system, which adopts the following technical scheme: the system comprises: the device comprises a motor, a driven wheel speed sensor and a motor controller; the motor is arranged on a driving wheel of the vehicle, and comprises a position sensor;
the position sensor is used for acquiring the rotation speed V1 of a driving wheel of the vehicle based on the anti-skid control instruction and outputting the rotation speed V1 of the driving wheel to the motor controller;
the driven wheel speed sensor is used for acquiring the rotation speed V2 of a driven wheel of the vehicle based on an anti-slip control instruction and outputting the rotation speed V2 of the driven wheel to the motor controller;
the motor controller is used for calculating a vehicle slip rate lambda based on the driving wheel rotating speed V1 and the driven wheel rotating speed V2, wherein the slip rate lambda= (V1-V2)/V2 is 100%;
the motor controller is further used for controlling the output torque of the motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
In a third aspect, the present application provides a terminal, which adopts the following technical scheme: the terminal comprises: a processor, a memory, and a communication bus; the communication bus is used for realizing connection communication between a processor and a memory, and the processor is used for executing one or more programs stored in the memory to realize the vehicle anti-skid control method according to the first aspect or any implementation of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme: the computer readable storage medium stores instructions that, when executed, perform the vehicle anti-skid control method as set forth in the first aspect or any one of the possible embodiments of the first aspect.
In summary, the technical scheme of the application at least comprises the following beneficial technical effects:
1. in the running process of the vehicle, the slip rate lambda of the vehicle is calculated through the rotation speed V2 of the driving wheel and the rotation speed V1 of the driven wheel, and then the output torque of the motor is controlled according to a pre-constructed torque control model, so that the rotation speed of the driving wheel of the vehicle is adjusted, the difference between the driving wheel and the driven wheel is reduced, the control method has higher control precision, the slip phenomenon of the vehicle can be effectively avoided, the anti-slip function of the vehicle is improved, and the stable running of the vehicle is ensured;
2. before the actual use of the vehicle, the first slip rate threshold lambda is determined by testing the vehicle according to the data of the vehicle running on different road conditions th1 And a second slip ratio threshold lambda th2 Therefore, the vehicle has better anti-skid effect when coping with different road conditions in practical application.
Drawings
FIG. 1 is a flow chart of a vehicle anti-skid control method in an embodiment of the present application;
FIG. 2 is a control flow diagram of a first torque control sub-model in an embodiment of the present application;
FIG. 3 is a schematic diagram showing the correspondence between the adhesion coefficient μ and the slip ratio λ in the embodiment of the present application;
FIG. 4 is a first connection schematic of a vehicle anti-skid system according to an embodiment of the present application;
FIG. 5 is a second connection schematic of a vehicle anti-skid system in an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a vehicle anti-skid control method, as shown in fig. 1, the method includes:
acquiring a vehicle driving wheel rotating speed V1 and a vehicle driven wheel rotating speed V2 based on an anti-skid control instruction;
calculating a vehicle slip rate lambda based on the driving wheel rotation speed V1 and the driven wheel rotation speed V2; the slip ratio λ= (V1-V2)/V2 x 100%;
controlling the output torque of a motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
Therefore, when an anti-slip control command is received during running of the vehicle, anti-slip control operation is started, the slip rate lambda of the vehicle is calculated through the rotation speed V2 of the driving wheel and the rotation speed V1 of the driven wheel, and then the output torque of the motor is controlled according to a pre-constructed torque control model, so that the rotation speed of the driving wheel of the vehicle is adjusted, the difference between the driving wheel and the driven wheel is reduced, the control accuracy of the control method is higher, the slipping phenomenon of the vehicle can be effectively avoided, the anti-slip function of the vehicle is improved, and the stable running of the vehicle is ensured.
In one possible embodiment, the torque control model includes a first torque control sub-model and a second torque control sub-model, each of which is used to control the output torque of the motor, one of which is selected when the vehicle is actually anti-skid controlled. The control procedures of the first torque control sub-model and the second torque control sub-model are explained below.
As shown in fig. 2, controlling the output torque of the motor based on the vehicle slip ratio λ and the first torque control sub-model specifically includes:
if the slip rate lambda is at a first slip rate threshold lambda th1 And a second slip ratio threshold lambda th2 Calculating the value of target torque Ta by adopting a linear calculation model, and controlling the output torque of the motor based on the target torque Ta; the linear calculation model is as follows:
Ta=Tmax-[(λ-λ th1 )/(λ th2 -λ th1 )]*(Tmax-Tmin)；
wherein Tmax is a preset maximum torque, and Tmin is a preset minimum torque;
if the slip rate lambda exceeds a second slip rate threshold lambda th2 The output torque of the motor is controlled to be the minimum torque Tmin.
Thus, when the slip ratio lambda exceeds the first slip ratio threshold lambda th1 But does not exceed the second slip ratio threshold lambda th2 At the moment, the situation that the motor has a slip risk is indicated, and a linear calculation model is adopted at the moment to calculate the target torque Ta which is required to be output currently by the motor; when the slip rate lambda exceeds the second slip rate threshold lambda th2 And when the slip risk is larger, the output torque of the motor is directly controlled according to the preset minimum torque Tmin, the rotation speed difference between the driving wheel and the driven wheel of the vehicle is controlled to the greatest extent, and better protection is realized. By the sectional control method, the optimal control effect can be realized under different conditions, and the control precision is improved.
Controlling the output torque of the motor based on the vehicle slip rate lambda and the second torque control sub-model, specifically comprising:
if the slip rate lambda exceeds a first slip rate threshold lambda th1 Continuously reducing the output torque of the motor by adopting a PI control method until the vehicle slip rate lambda does not exceed the first slip rate threshold lambda th1 。
Therefore, the PI control method can also be directly adopted for the speed regulation of the vehicle, when the slip rate lambda exceeds the first slip rate threshold lambda th1 When PI regulation is started, the output torque of the motor is gradually reduced according to real-time feedback, and the speed between the driving wheel and the driven wheel of the vehicle is reducedThe degree difference realizes the control of the vehicle slip rate lambda.
In one possible embodiment, after controlling the output torque of the motor based on the vehicle slip ratio λ and a pre-constructed torque control model, the method further includes:
a vehicle inclination condition is acquired, an inclination coefficient Td is determined based on the vehicle inclination condition, and an output torque of the motor is adjusted based on the inclination coefficient Td. Specifically, a six-axis sensor may be employed to obtain a vehicle inclination condition.
Specifically, according to the vehicle inclination condition, when the vehicle inclination exceeds a preset threshold value, and the greater the inclination, the greater the inclination coefficient Td. Illustratively, adjusting the output torque of the motor based on the inclination coefficient Td may be: and subtracting the inclination coefficient Td on the basis of the current output torque of the motor, and adjusting the output torque of the motor.
According to the anti-skid control method, the inclination condition of the vehicle is considered, and the contact area between the wheels and the ground is reduced due to the inclination of the vehicle, so that when the inclination of the vehicle exceeds a certain degree, the vehicle is adjusted again on the basis of the current output torque of the motor, and the running safety of the vehicle is further ensured.
In one possible implementation manner, before the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 are obtained based on the anti-slip control command, the following testing process is further included:
acquiring the corresponding relation between the attachment coefficient mu and the slip rate lambda of the vehicle when the vehicle runs on different road conditions; the attachment coefficient mu comprises a longitudinal attachment coefficient and a transverse attachment coefficient; the different road conditions comprise one or more of a high adhesion road surface, a common road surface and a low adhesion road surface; specifically, the friction force of the high-adhesion pavement surface is larger, the friction force of the common pavement surface is moderate, and the friction force of the low-adhesion pavement surface is smaller.
Determining a first slip rate threshold lambda based on the correspondence between the vehicle attachment coefficient mu and the slip rate under different road conditions th1 And the second slip ratio threshold lambda th2 。
Specifically, the test process can obtain the corresponding relation between the adhesion coefficient mu and the slip rate lambda when the vehicle runs under different road conditions through a brake test. The adhesion coefficient mu represents the static friction coefficient between the tire and the road surface, the larger the adhesion coefficient mu is, the larger the available adhesion force is, the larger the longitudinal adhesion coefficient is, the larger the longitudinal adhesion force of the wheel is, and the better the longitudinal traction force of the vehicle is; the larger the transverse attachment coefficient, the larger the adhesion representing the lateral direction of the wheel, and the better the lateral stability of the vehicle.
In the above process, the slip rate λ may be determined by a calculation formula of slip rate λ= (V1-V2)/V2 x 100%, and the determination process of the adhesion coefficient μmay be calculated by a person skilled in the art, for example, may be determined by a ratio of a friction force to a normal pressure of a wheel, and the friction force is a friction force between the wheel and a road surface, which is not limited in this application.
Fig. 3 shows the correspondence between the longitudinal adhesion coefficient and the transverse adhesion coefficient of the vehicle and the slip rate lambda respectively under different road conditions in the testing process of a certain vehicle, according to fig. 3, when the slip rate lambda is in the range of 10% -30%, the longitudinal adhesion coefficient and the transverse adhesion coefficient of the vehicle are both at higher levels under various road conditions, at the moment, the vehicle has better traction and stability, and when the slip rate lambda is 20%, the corresponding longitudinal adhesion coefficient and transverse adhesion coefficient are comprehensively optimal; in other regions, the adhesion coefficient μ drastically decreases when slip occurs, and the stability of the vehicle is poor. Therefore, according to the case of FIG. 3, a first slip ratio threshold lambda of the vehicle can be set th1 20%, a second slip ratio threshold lambda th2 40%.
Therefore, before the actual use of the vehicle, the first slip rate threshold lambda is determined by testing the vehicle according to the data of the vehicle running on different road conditions th1 And a second slip ratio threshold lambda th2 Therefore, the vehicle has better anti-skid effect when coping with different road conditions in practical application.
In one possible embodiment, the method further comprises:
during the running of the vehicle, the first slip rate threshold lambda is adjusted based on the braking influence factors of the vehicle th1 And the second slip ratio threshold lambda th2 The method comprises the steps of carrying out a first treatment on the surface of the The braking influencing factors include one or more of tire pressure, belt load capacity, and service life of the vehicle.
As the acquisition precision of some sensors in the vehicle is reduced and the tires are gradually aged along with the increase of the service life of the vehicle, the first slip rate threshold lambda can be flexibly adjusted according to the current tire pressure, belt load capacity, service life and other factors of the vehicle in order to better adapt to the current vehicle condition th1 And a second slip ratio threshold lambda th2 The control method is more fit with the actual situation of the vehicle, so that the anti-skid effect is improved.
In one possible embodiment, before the acquiring the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 based on the anti-slip control command, the method includes:
acquiring the running acceleration of the vehicle, and judging whether the vehicle has a slip risk or not based on the running acceleration and a preset acceleration threshold value;
if the running acceleration does not exceed the preset acceleration threshold value, determining that the vehicle is in a normal acceleration state;
and if the running acceleration exceeds a preset acceleration threshold value, determining that the vehicle has a slip risk, and generating an anti-slip control instruction.
Therefore, by acquiring the vehicle acceleration in real time, when the vehicle acceleration is excessive, an anti-slip control command is generated, and an anti-slip control process is started.
In one possible embodiment, before the acquiring the vehicle running acceleration, the method includes:
acquiring a distance L between an obstacle on a road surface in front of a vehicle and the vehicle, and determining the acceleration threshold value based on the distance L; the acceleration threshold value is positively correlated with the distance L, and the smaller the distance L is, the shorter the distance between the obstacle and the vehicle is, the acceleration threshold value is reduced, and the running safety of the vehicle is further improved. Illustratively, the obstacle includes one or more of a pedestrian, a stone, and other vehicle.
An embodiment of the present application provides a vehicle anti-skid control system, applying the vehicle anti-skid control method described in the above embodiment, where the vehicle anti-skid control system includes: the device comprises a motor, a driven wheel speed sensor and a motor controller; the motor is mounted on a drive wheel of the vehicle, the motor including a position sensor. As shown in fig. 4, the vehicle anti-skid system may employ the following connection means:
the driven wheel speed sensor is connected to the motor controller, and the motor controller is connected with the motor. In this connection, the operation of the vehicle anti-skid system includes:
the position sensor is used for acquiring the rotation speed V1 of a driving wheel of the vehicle based on the anti-skid control instruction and outputting the rotation speed V1 of the driving wheel to the motor controller;
the driven wheel speed sensor is used for acquiring the rotation speed V2 of a driven wheel of the vehicle based on an anti-slip control instruction and outputting the rotation speed V2 of the driven wheel to the motor controller;
the motor controller is used for calculating a vehicle slip rate lambda based on the driving wheel rotating speed V1 and the driven wheel rotating speed V2, wherein the slip rate lambda= (V1-V2)/V2 is 100%;
the motor controller is further used for controlling the output torque of the motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
In one possible embodiment, the vehicle anti-skid control system further includes a speed regulation knob connected to the motor controller, the motor controller senses a driving state of the vehicle through the speed regulation knob, and controls an output torque of the motor if the motor controller senses that the vehicle is in an accelerating state through the speed regulation knob.
In one possible embodiment, the vehicle anti-skid control system further includes: a driving wheel speed sensor and a whole vehicle controller; as shown in fig. 5, the vehicle anti-skid system may also employ the following connection means:
the driving wheel speed sensor and the driven wheel speed sensor are connected to the whole vehicle controller, the whole vehicle controller is connected to the motor controller, and the motor controller is connected with the motor. In this connection, the operation of the vehicle anti-skid system includes:
the driving wheel speed sensor is used for acquiring the rotation speed V1 of a driving wheel of the vehicle based on an anti-skid control instruction and outputting the rotation speed V1 of the driving wheel to the whole vehicle controller;
the driven wheel speed sensor is used for acquiring the rotation speed V2 of a driven wheel of the vehicle based on an anti-skid control instruction and outputting the rotation speed V2 of the driven wheel to the whole vehicle controller;
the whole vehicle controller is used for calculating the vehicle slip rate lambda based on the driving wheel rotating speed V1 and the driven wheel rotating speed V2, wherein the slip rate lambda= (V1-V2)/V2 is 100%;
the vehicle controller is also used for controlling the output torque of the motor through the motor controller based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
The embodiment of the application provides a terminal, which comprises: a processor, a memory, and a communication bus; the communication bus is used to implement the connection communication between the processor and the memory, and the processor is used to execute one or more programs stored in the memory to implement the vehicle anti-skid control method as described in the above embodiments.
The present embodiment provides a computer-readable storage medium storing instructions that, when executed, perform the vehicle anti-skid control method as described in the above embodiments.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. A vehicle anti-slip control method, characterized by comprising:
acquiring a vehicle driving wheel rotating speed V1 and a vehicle driven wheel rotating speed V2 based on an anti-skid control instruction;
calculating a vehicle slip rate lambda based on the driving wheel rotation speed V1 and the driven wheel rotation speed V2; the slip ratio λ= (V1-V2)/V2 x 100%;
controlling the output torque of a motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
2. The vehicle anti-skid control method of claim 1, wherein said torque control model comprises a first torque control sub-model; based on the vehicle slip rate lambda and the first torque control sub-model, controlling the output torque of the motor specifically includes:
if the slip rate lambda is at a first slip rate threshold lambda th1 And a second slip ratio threshold lambda th2 Calculating the value of target torque Ta by adopting a linear calculation model, and controlling the output torque of the motor based on the target torque Ta; the linear calculation model is as follows:
Ta=Tmax-[(λ-λ th1 )/(λ th2 -λ th1 )]*(Tmax-Tmin)；
wherein Tmax is a preset maximum torque, and Tmin is a preset minimum torque;
if the slip rate lambda exceeds a second slip rate threshold lambda th2 The output torque of the motor is controlled to be the minimum torque Tmin.
3. The vehicle anti-skid control method of claim 1, wherein said torque control model comprises a second torque control sub-model; controlling the output torque of the motor based on the vehicle slip rate lambda and the second torque control sub-model, specifically comprising:
if the slip rate lambda exceeds a first slip rate threshold lambda th1 Continuously reducing the output torque of the motor by adopting a PI control method until the vehicle slip rate lambda does not exceed the first slip rate threshold lambda th1 。
4. The vehicle anti-slip control method according to claim 1, characterized by further comprising, after controlling the output torque of the motor based on the vehicle slip ratio λ and a torque control model constructed in advance:
a vehicle inclination condition is acquired, an inclination coefficient Td is determined based on the vehicle inclination condition, and an output torque of the motor is adjusted based on the inclination coefficient Td.
5. The vehicle anti-slip control method according to claim 2, characterized by comprising, before acquiring the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 based on the anti-slip control instruction:
acquiring the corresponding relation between the attachment coefficient mu and the slip rate lambda of the vehicle when the vehicle runs on different road conditions; the attachment coefficient mu comprises a longitudinal attachment coefficient and a transverse attachment coefficient;
determining the first slip rate threshold lambda based on the corresponding relation between the vehicle attachment coefficient mu and the slip rate lambda under different road conditions th1 And the second slip ratio threshold lambda th2 。
6. The vehicle anti-skid control method according to claim 2, characterized by further comprising:
during the running of the vehicle, the first slip rate threshold lambda is adjusted based on the braking influence factors of the vehicle th1 And the second slip ratio threshold lambda th2 The method comprises the steps of carrying out a first treatment on the surface of the The braking influencing factors include one or more of tire pressure, belt load capacity, and service life of the vehicle.
7. The vehicle anti-slip control method according to claim 1, characterized by comprising, before acquiring the vehicle driving wheel rotation speed V1 and the vehicle driven wheel rotation speed V2 based on the anti-slip control instruction:
acquiring the running acceleration of the vehicle, and judging whether the vehicle has a slip risk or not based on the running acceleration and a preset acceleration threshold value;
if the running acceleration does not exceed the preset acceleration threshold value, determining that the vehicle is in a normal acceleration state;
and if the running acceleration exceeds a preset acceleration threshold value, determining that the vehicle has a slip risk, and generating an anti-slip control instruction.
8. A vehicle anti-skid control system, characterized by comprising: the device comprises a motor, a driven wheel speed sensor and a motor controller; the motor is arranged on a driving wheel of the vehicle, and comprises a position sensor;
the position sensor is used for acquiring the rotation speed V1 of a driving wheel of the vehicle based on the anti-skid control instruction and outputting the rotation speed V1 of the driving wheel to the motor controller;
the driven wheel speed sensor is used for acquiring the rotation speed V2 of a driven wheel of the vehicle based on an anti-slip control instruction and outputting the rotation speed V2 of the driven wheel to the motor controller;
the motor controller is used for calculating a vehicle slip rate lambda based on the driving wheel rotating speed V1 and the driven wheel rotating speed V2, wherein the slip rate lambda= (V1-V2)/V2 is 100%;
the motor controller is further used for controlling the output torque of the motor based on the vehicle slip rate lambda and a pre-constructed torque control model; the output torque of the motor is used to adjust the vehicle drive wheel speed V1.
9. A terminal, comprising: a processor, a memory, and a communication bus; the communication bus is used for realizing connection communication between a processor and a memory, and the processor is used for executing one or more programs stored in the memory to realize the vehicle anti-skid control method as set forth in any one of claims 1 to 7.
10. A computer-readable storage medium storing instructions that, when executed, perform the vehicle anti-skid control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311740835.6A CN117698727A (en) | 2023-12-15 | 2023-12-15 | Vehicle anti-skid control method, system, terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311740835.6A CN117698727A (en) | 2023-12-15 | 2023-12-15 | Vehicle anti-skid control method, system, terminal and storage medium |
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