CN201895662U - Optimal slip rate recognition system of electromobile - Google Patents
Optimal slip rate recognition system of electromobile Download PDFInfo
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- CN201895662U CN201895662U CN2010202838881U CN201020283888U CN201895662U CN 201895662 U CN201895662 U CN 201895662U CN 2010202838881 U CN2010202838881 U CN 2010202838881U CN 201020283888 U CN201020283888 U CN 201020283888U CN 201895662 U CN201895662 U CN 201895662U
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Abstract
The utility model discloses an optimal slip rate recognition system of an electromobile, which comprises a current pavement friction coefficient calculation unit, a current slip rate calculation unit and a standard optimal slip rate library unit, wherein a standard slip rate curve line information list and standard optimal slip rate information under a plurality of standard pavements are stored in the standard optimal slip rate library unit; an optimal slip rate recognition unit is connected with the current pavement friction coefficient calculation unit, the current slip rate calculation unit and the standard optimal slip rate library unit respectively, receives current pavement friction coefficient information and current slip rate information in real time and forms corresponding current slip rate curve line information; and the optimal slip rate recognition unit acquires standard slip rate curve line information and the corresponding standard optimal slip rate information from the standard optimal slip rate library unit to compare with the current slip rate curve line information, and recognizes the standard optimal slip rate information corresponding to the most similar standard slip rate curve line information as current pavement optimal slip rate information.
Description
Technical field
The utility model relates to a kind of electronlmobil recognition system, particularly a kind of electronlmobil optimal slip ratio recognition system.
Background technology
Along with the concern of the world to the energy and environmental problem, electronlmobil presented swift and violent growth momentum in recent years.Adopt electricity to drive and replace conventional engines, become the especially trend of new-energy automobile industry technology development of automobile as takeoff output.
The safety of automobile is a problem that can not be ignored all the time, is an effective method based on kinematic vehicle active safety control.TCS in the orthodox car ABS ESP all belong to this category.When vehicle travels, concern difference between tire-road surface on different road surfaces, be presented as that the relation of friction coefficient between tire and the road surface and slip rate is different.Same slip rate, friction force on the ice face is far smaller than the friction force at asphalt coating, if (especially quicken and glancing impact) when therefore vehicle travels on the ice face, if the size of ACTIVE CONTROL driving torque not, be easy to cause tyre skidding, and then cause losing of longitudinal force and side force, cause danger.In the prior art, often do not have automatic road surface identification, but handle, for example in the car brakeing process according to the poorest road surface situation, anti-block braking system of car (ABS) gets off to limit the driving torque size according to the poorest road surface such as ice condition, can't make full use of current ground-surface maximum frictional force.The maximum frictional force of asphalt coating is far longer than the maximum frictional force under the ice face road surface, also is that the available maximum driving force of asphalt coating vehicle is far longer than ice condition.If vehicle can be discerned current road surface situation automatically, and apply suitable tractive force or brake-power control, can improve the safety control performance of vehicle according to concrete road surface.Therefore the identification of the control of active safety and road surface is closely related.In order to obtain the ground-surface situation, conventional art needs vehicle speed signal, thereby friction coefficient and slip rate are estimated.The rotating speed of vehicle speed signal general using flower wheel replaces.But this method can not be used under some occasion, for example in the electronlmobil of four-wheel drive system.Adopt accelerometer also can obtain the speed of a motor vehicle, but the cumulative errors that integration brings are inevitable to integrated acceleration.Also has certain methods by sensor measurement and the bigger physical quantity of coefficient of road adhesion relation, rule of thumb predict current coefficient of road adhesion size, for example measure the variation that coefficient of road adhesion is judged to the absorption and the scattering situation of light in the road surface by optical pickocff, it is comparatively accurate that this method is measured, and can before the tire kiss the earth, estimate in advance, but used sensor is comparatively harsh to environmental requirement, and cost is higher, is difficult to realize large-scale commercial the application.Because adopt motor but not driving engine as the output block of electronlmobil, make the dynamics Controlling of electronlmobil and the active safety control volume that is closely related with it reveal new characteristics.Motor possesses the incomparable advantage of many driving engines as the drive element of electronlmobil: 1) torque response is fast; 2) torque (electric current) is easy to measure; 3) can realize that power decentralized drives and control.Above-mentioned plurality of advantages makes the road surface identification of electronlmobil and tractive force control have new characteristics and more performance.
Chinese patent CN101088818 discloses a kind of electronlmobil antiskid control system, comprise the sensor that is used for detecting in real time each vehicle wheel rotational speed, be used for car side brake that each wheel is braked, be used to drive the electrical motor and the integrated control unit of ABS/ASR of automobile sport, each wheel speed sensors all is connected with integrated control unit with electrical motor, when the integrated control unit of this ABS/ASR receives Acceleration Signal, adjust the output torque of electrical motor in real time according to the size of wheel slip, when receiving speed-slackening signal, the integrated control unit of this ABS/ASR adjusts the braking force of car side brake in real time according to the wheel slip size, and then reduce the rotating speed of wheel, the slip rate of this wheel is controlled near the optimal slip ratio 0.2.Slip rate when said system and control method can effectively reduce wheel braking/driving.Yet, slip rate is controlled near 0.2, be that the optimal slip ratio with normal conditions is defaulted as 0.2, as the reference value of control; For the road surface with different condition (friction coefficient difference), its optimal slip ratio is different.Therefore, the mode of being introduced in this patent can not allow the motoring condition of vehicle change along with the change of pavement conditions, removes to reach its optimal motoring condition.
In the prior art, in order to solve the vehicle safety control problem under the different pavement conditions, except the above-mentioned method of controlling according to the poorest pavement conditions, also have several additive methods.
Disclose among the IEEE variable quantity that utilizes current friction coefficient and current slip rate variable quantity are disclosed in one piece " fuzzy control of electronlmobil braking/traction system is used " ratio as controlled target, on the friction coefficient-slip rate curve of tire and road surface relation, the cooresponding above-mentioned ratio of optimal slip ratio is 0 (this moment, the friction coefficient of the corresponding longitudinal axis was got maxim, in the prior art also with this ratio be 1 as the controlled target reference value).This method has realized safety control from another angle, and not directly with optimal slip ratio as controlled target, can realize safety control, but shortcoming is when needs come the reflected signal rate of change information by ratio, because some disturbing factors, be that the noise existence can cause rate of change information inaccurate, and then cause the inaccurate of optimal slip ratio identification, therefore can't react current road surface optimal slip ratio well.
The utility model content
For this reason, the technical problems to be solved in the utility model is to solve disturbing factor in the prior art and gives the inaccurate of current road surface optimal slip ratio identification.For this reason, utility model purpose of the present utility model is to propose a kind of electronlmobil optimal slip ratio recognition system of obtaining current comparatively accurately road surface optimal slip ratio by the curve mode of comparing.
Therefore, a kind of electronlmobil optimal slip ratio recognition system of the present utility model comprises:
Current surface friction coefficient calculating unit is used for calculating in real time current surface friction coefficient information;
Current slip rate calculating unit is used for calculating in real time the current slip rate information of obtaining the electronlmobil under the current pavement conditions;
Also comprise
Standard optimal slip ratio library unit, described standard optimal slip ratio library unit stores under some the standard road surfaces, in surface friction coefficient information and the corresponding slip rate both information wherein a category information do the line transverse axis, another kind of information is as the common standard slip rate calibration curve information tabulation of forming of the longitudinal axis, and the pairing standard optimal slip ratio information that obtains by the mode that detects of current standard slip rate calibration curve information;
The optimal slip ratio diagnosis unit, respectively with described current surface friction coefficient calculating unit, described current slip rate calculating unit is connected with described standard optimal slip ratio library unit, receive the described current surface friction coefficient information that described current surface friction coefficient calculating unit sends in real time, the corresponding described current slip rate information of sending with described current slip rate calculating unit, and adopt category information same as described above to form current slip rate curve jointly as horizontal, the longitudinal axis; Described optimal slip ratio diagnosis unit obtain standard slip rate calibration curve information and corresponding standard optimal slip ratio information from standard optimal slip ratio library unit, and described current slip rate calibration curve information and the described standard slip rate calibration curve information that obtained compared, choose the pairing described standard optimal slip ratio information of a described standard slip rate calibration curve information that wherein receives most and be identified as current road surface optimal slip ratio information.
Above-mentioned electronlmobil optimal slip ratio recognition system, described optimal slip ratio diagnosis unit comprise that the slip rate curve ratio is than subelement, with can only store a slip rate curve with described slip rate curve ratio than the subelement bonded assembly and the optimal slip ratio information storage subelement of corresponding optimal slip ratio information with it, described slip rate curve ratio than subelement from described standard optimal slip ratio library unit, obtain described standard slip rate calibration curve information and with the cooresponding described standard optimal slip ratio information of this curve, and the standard slip rate curve in current slip rate curve and the described standard optimal slip ratio library unit compared, be chosen at the curve of some difference particular moment difference value minimums, and with the curve of this difference value minimum with it cooresponding described standard optimal slip ratio information is sent to described optimal slip ratio information storage subelement and carries out updated stored, after finishing all calibrated curve contrast work, the described optimal slip ratio information of staying described optimal slip ratio information storage subelement is the current road surface optimal slip ratio information of mating with current road surface.
Technique scheme of the present utility model has the following advantages compared to existing technology:
1, the utility model adopts standard optimal slip ratio library unit, under some standard road surfaces, in surface friction coefficient information and the corresponding slip rate both information wherein a category information do the line transverse axis, another kind of information is as the common standard slip rate curve tabulation of forming of the longitudinal axis, and the pairing standard optimal slip ratio information that obtains by the mode that detects of current standard slip rate curve stores; Again by respectively with described current surface friction coefficient calculating unit, described current slip rate calculating unit and described standard optimal slip ratio library unit bonded assembly optimal slip ratio diagnosis unit, receive the described current surface friction coefficient information that described current surface friction coefficient calculating unit sends in real time, the corresponding described current slip rate information of sending with described current slip rate calculating unit, and adopt category information same as described above to form current slip rate curve as the horizontal longitudinal axis is common; Described optimal slip ratio diagnosis unit are with described current slip rate curve and described described standard slip rate curve in the tabulation of described standard slip rate curve in the described standard optimal slip ratio library unit is compared, and choose the wherein the most similar pairing described standard optimal slip ratio of a standard slip rate curve as current road surface optimal slip ratio; By with the standard road surface under the form that compares of standard slip rate curve obtain current optimal slip ratio, not with some disturbing factors, promptly noise is brought in the optimal slip ratio identifying, thereby can obtain optimal slip ratio comparatively accurately.
Description of drawings
For the easier quilt of content of the present utility model is clearly understood, according to specific embodiment of the utility model also in conjunction with the accompanying drawings, the utility model is described in further detail below.
Fig. 1 is an electronlmobil optimal slip ratio recognition system scheme drawing;
Fig. 2 has the electronlmobil optimal slip ratio recognition system scheme drawing of slip rate curve ratio than subelement;
Fig. 3 is the diagram of curves of friction coefficient-slip rate under the various criterion road surface
1-optimal slip ratio diagnosis unit;
The specific embodiment
Embodiment 1
Electronlmobil optimal slip ratio recognition system as shown in Figure 1 comprises:
Current surface friction coefficient calculating unit is used for calculating in real time current surface friction coefficient information;
Current slip rate calculating unit is used for calculating in real time the current slip rate information of obtaining the electronlmobil under the current pavement conditions;
Also comprise
Standard optimal slip ratio library unit, described standard optimal slip ratio library unit stores under some the standard road surfaces (under the various criterion road surface, the curve of forming by friction coefficient-slip rate, as shown in Figure 3) in surface friction coefficient information and the corresponding slip rate both information wherein a category information do the line transverse axis, another kind of information is as the common standard slip rate calibration curve information tabulation of forming of the longitudinal axis, and the pairing standard optimal slip ratio information that obtains by the mode that detects of current standard slip rate calibration curve information;
The optimal slip ratio diagnosis unit, respectively with described current surface friction coefficient calculating unit, described current slip rate calculating unit is connected with described standard optimal slip ratio library unit, receive the described current surface friction coefficient information that described current surface friction coefficient calculating unit sends in real time, the corresponding described current slip rate information of sending with described current slip rate calculating unit, and adopt category information same as described above to form current slip rate curve jointly as horizontal, the longitudinal axis; Described optimal slip ratio diagnosis unit obtain standard slip rate calibration curve information and corresponding standard optimal slip ratio information from standard optimal slip ratio library unit, and described current slip rate calibration curve information and the described standard slip rate calibration curve information that obtained compared, choose the pairing described standard optimal slip ratio information of a wherein immediate described standard slip rate calibration curve information and be identified as current road surface optimal slip ratio information.
Present embodiment adopts standard optimal slip ratio library unit, under some standard road surfaces, in surface friction coefficient information and the corresponding slip rate both information wherein a category information do the line transverse axis, another kind of information is as the common standard slip rate curve tabulation of forming of the longitudinal axis, and the pairing standard optimal slip ratio information that obtains by the mode that detects of current standard slip rate curve stores; Again by respectively with described current surface friction coefficient calculating unit, described current slip rate calculating unit and described standard optimal slip ratio library unit bonded assembly optimal slip ratio diagnosis unit, receive the described current surface friction coefficient information that described current surface friction coefficient calculating unit sends in real time, the corresponding described current slip rate information of sending with described current slip rate calculating unit, and adopt category information same as described above to form current slip rate curve as the horizontal longitudinal axis is common; Described optimal slip ratio diagnosis unit are with described current slip rate curve and described described standard slip rate curve in the tabulation of described standard slip rate curve in the described standard optimal slip ratio library unit is compared, and choose the wherein the most similar pairing described standard optimal slip ratio of a standard slip rate curve as current road surface optimal slip ratio; By with the standard road surface under the form that compares of standard slip rate curve obtain current optimal slip ratio, thereby can guarantee that anti-block braking system of car can be operated in the electronlmobil optimal slip ratio recognition system of optimum regime.
Embodiment 2
As shown in Figure 2, the difference of present embodiment and embodiment 1 is, the optimal slip ratio diagnosis unit comprise, comprise that the slip rate curve ratio is than subelement, with can only store a slip rate curve with described slip rate curve ratio than the subelement bonded assembly and the optimal slip ratio information storage subelement of corresponding optimal slip ratio information with it, described slip rate curve ratio than subelement from described standard optimal slip ratio library unit, obtain described standard slip rate calibration curve information and with the cooresponding described standard optimal slip ratio information of this curve, and the standard slip rate curve in current slip rate curve and the described standard optimal slip ratio library unit compared, be chosen at the curve of some difference particular moment difference value minimums, and with the curve of this difference value minimum with it cooresponding described standard optimal slip ratio information is sent to described optimal slip ratio information storage subelement and carries out updated stored, after finishing all calibrated curve contrast work, the described optimal slip ratio information of staying described optimal slip ratio information storage subelement is identified as the current road surface optimal slip ratio information of mating with current road surface.
Obviously, the foregoing description only is for example clearly is described, and is not the qualification to embodiment.For those of ordinary skill in the field, can also make other changes in different forms according to varying in size of equipment on the basis of the above description.Here need not also can't give exhaustive to all embodiments.And conspicuous variation of being extended out thus or change still are among the protection domain of the utility model creation.
Claims (1)
1. electronlmobil optimal slip ratio recognition system comprises:
Current surface friction coefficient calculating unit;
Current slip rate calculating unit;
It is characterized in that: also comprise
Standard optimal slip ratio library unit;
The optimal slip ratio diagnosis unit, respectively with described current surface friction coefficient calculating unit, described current slip rate calculating unit is connected with described standard optimal slip ratio library unit, be used for receiving in real time the described current surface friction coefficient information that described current surface friction coefficient calculating unit sends, the corresponding described current slip rate information that described current slip rate calculating unit sends and from standard optimal slip ratio library unit, obtain standard slip rate calibration curve information and corresponding standard optimal slip ratio information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202838881U CN201895662U (en) | 2010-08-06 | 2010-08-06 | Optimal slip rate recognition system of electromobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202838881U CN201895662U (en) | 2010-08-06 | 2010-08-06 | Optimal slip rate recognition system of electromobile |
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| CN201895662U true CN201895662U (en) | 2011-07-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013409A (en) * | 2021-11-03 | 2022-02-08 | 东风汽车集团股份有限公司 | Automobile power control method and device based on optimal pavement slip rate recognition |
-
2010
- 2010-08-06 CN CN2010202838881U patent/CN201895662U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114013409A (en) * | 2021-11-03 | 2022-02-08 | 东风汽车集团股份有限公司 | Automobile power control method and device based on optimal pavement slip rate recognition |
| CN114013409B (en) * | 2021-11-03 | 2022-12-09 | 东风汽车集团股份有限公司 | Automobile power control method and device based on optimal pavement slip rate recognition |
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Effective date of registration: 20200113 Address after: Room a-207, office building, Shenzhen Institute of advanced technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Shenzhen University City, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen advanced science and technology Cci Capital Ltd Address before: 1068 No. 518055 Guangdong city in Shenzhen Province, Nanshan District City Xili University School Avenue Patentee before: Shenzhen Institutes of Advanced Technology, Chinese Academy of Science |
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Effective date of registration: 20200520 Address after: 1068 No. 518055 Guangdong city of Shenzhen province Nanshan District Shenzhen University city academy Avenue Patentee after: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES Address before: Room a-207, office building, Shenzhen Institute of advanced technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Shenzhen University City, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen advanced science and technology Cci Capital Ltd |
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Granted publication date: 20110713 |