TW201134706A - Traction anti-skid control system of electric vehicle and control method thereof - Google Patents

Abstract

This invention provides a traction anti-skid control system of an electric vehicle and a control method thereof. First, a normal force estimating device and a drive force estimating device are used to estimate the road surface frictional coefficient. Then, according to the road surface frictional coefficient and tire slip, a road surface condition estimating device is used to obtain the slop of a friction curve, which is used to design the calculation rule for a target slip. Finally, using adaptive fuzzy sliding control to perform slip control, and a sliding plane is calculated as an input according to the deviation of slip and the variation of deviation to output the adjusted gain value, which is multiplied by the torque required of a driver to obtain the reference command of the motor torque.

Description

201134706 VI. Description of the invention: ' 'Technical field to which the invention belongs 】 The present invention relates to an anti-system of the electric vehicle and its method, in particular to an electric load for making a change in the friction coefficient of the road surface. The tracking anti-skid control system and its control method. [Prior Art] In recent years, electric vehicles have been widely used as a means of transportation, but various control systems have been derived depending on the structure of the electric vehicle. At present, the general electric vehicles are driven by a controller driving motor, and the motor is connected by a belt or the like to drive the wheels to operate, so as to achieve the performance of the electric vehicle, but because the electric vehicle is used, Not all of them travel on flat terrain, and there is a considerable difference in the demand for different users to use electric vehicles. (If you need to climb frequently, you need high-torque electric vehicles, but often on wide and open roads. If you drive, you need a high-speed electric car. 'If you only produce - the performance of the electric car, it will not meet the needs of all users, but will be eliminated by the market, so there are operators in the production of electric cars, Electric vehicles with different parameters are combined with controllers installed on electric vehicles with different equipments and performances to utilize different parameters to achieve electric vehicle travelers in response to different situations. However, with different controllers combined with different electric vehicles, although the performance of the electric vehicle can be changed to provide different users to purchase and use, but because the controller is designed in the line and program layout - Lin - Chao - In the evening, it can be reduced. It is a large amount of human and material resources. It can be developed and produced with a lot of effort and money. If you want to meet the needs of different people, you can develop and produce a variety of products at the same time. The controller, not only does not meet the economic benefits, but also 201134706 due to the development of the cost of development is greatly improved, but will be relatively low, and then lose competitiveness. Moreover, the optimal slip value of the traditional Lilaiding is used for control. Not all the optimal slip values of the road surface are fixed at - value or - no domain, so when the road surface friction coefficient is different, there is no way to fully reach The most effective shaft anti-skid control effect, so how to solve this problem, has been eagerly pursued for solutions and improvements. SUMMARY OF THE INVENTION The object of the present invention is to provide a lion anti-slip _ money and its control method for the electric pure tool. By detecting the change of the road surface hybrid coefficient, the torque of the wheel motor is instantly controlled, and the tire is grounded between the ground and the ground. The slip is maintained in a stable area to improve the driving performance on the low-coefficient road surface, and can effectively reduce the efficiency of the motor purchase energy inspection. To achieve the above objective, the present invention provides a tracking and anti-skid control system for an electric vehicle, wherein the electric vehicle drives at least a wheel to drive at least a power source, and the tracking anti-skid control system includes: a power control unit and a Electronic control unit.

The power control unit is coupled to the electric vehicle, and the power control unit further includes a -gate opening degree sensor and a wheel speed signal processing unit. The electric door opening sensor can generate an electric opening signal. The wheel speed signal processing unit is connected to the wheel motor to obtain the speed signal of the wheel and the wheel. The electronic control unit is connected to the electric vehicle, and can touch the remote opening signal, the wheel speed and the speed. The electronic control unit further includes: a horsepower estimation module and a driving force. Estimation module, - road surface condition estimation module, - target slip calculation module, - adaptive model control and listening - current control panel. The positive force estimation module is coupled to the power source and receives the longitudinal acceleration to calculate the required positive force. The driving force 201134706 .. is estimated to be connected to the positive force, according to the positive force, the wheel speed signal and the speed meter material - the road surface. The thief road sulfur seam reduction system is connected with the drive power estimation module, and the road surface friction coefficient is calculated according to the road surface friction coefficient. The slope value of the monthly difference curve. The target slip calculation module is connected to the road surface condition estimation module, and is connected according to the slope value to calculate an optimal target slip value ^ the adaptive fuzzy slip control module, and the system and the The target slip calculation module is connected, and the optimal target slip value is calculated to calculate the control touch value. The applicable ship current (4) shows its miscellaneous ship fuzzy sliding control _ module connected, according to the product of the control gain and a reference torque to calculate a reference torque value. Wherein, the electronic control unit calculates and determines the output of each of the wheel-viewing commands according to the threshold value of the electric door opening signal, and rotates each wheel motor and its connected wheels to generate an appropriate rotational speed action required. In order to achieve the above object, the tracking and anti-skid control method for the electric vehicle provided by the present invention is used for controlling the electric vehicle to drive according to the driving action requirement of the high and low friction road surface slipping risk. ► The electric vehicle is followed by The anti-slip control method comprises the following steps: Step (a) providing interconnections - electric power tools and - bribery slip control (four) system, the electric load, and even 7 power source drive at least two wheel actuation, the tracking anti-skid control The system has a power control unit and an electronic control unit. Step (6) is based on the motor vehicle's desired state and the driving control action, and the power control unit ❹m outputs a -gate opening degree to the electronic control unit. Step (c): The electronic control unit calculates an optimal target slip ratio according to the switch opening signal and determines that the wheel matches one of the driving actions, and outputs a speed control signal to the power source of the power source 201134706. Step (4): Righteousness _Torque _峨_Miscellaneous-spinning state, so that the vehicle drives the action according to the driving action requirements. In order to further understand the features, characteristics, and details of the present invention, reference should be made to the detailed description of the present invention, which is not to be construed as limiting. [Embodiment] Please refer to Fig. 1, which is a block diagram of the composition of the tracking anti-skid control system of the electric vehicle of the present invention. The present invention provides an electric vehicle 丨 that drives at least the power source 11 to drive at least the wheels 12. The tracking anti-skid control system of the electric vehicle of the present invention comprises: a power control unit 2 and an electronic control unit 3. The power control unit 2 is connected to the electric vehicle 1 , and the power control unit 2 further includes: The electric door opening sensor 21 and a wheel speed signal processing unit 22. The door opening sensor 21 is capable of generating a -gate opening signal. The driver manipulates the hand to connect the throttle to the switch opening sensor. Since the wheel speed signal processing unit 70 is connected to a wheel motor, one of the wheel speed signals of the wheel and one of the electric vehicle speed signals can be obtained. The following Figures 2 to 8b show the tracking anti-skid control method of the electric vehicle of the present invention. See also Figure 2 for a clear view of the free body of the tire. In order to calculate the tire slip required by the road condition estimator, it is necessary to know the wheel speed signal and the vehicle speed signal, so the front wheel speed is used as the vehicle speed signal, and the rear wheel speed is used as the wheel speed signal. Therefore, the analog toothed disc of the present invention is equipped with a knitting device to read the action of the wheel speed and the vehicle speed signal. The encoder's output signal ' is used and the angle of the tire rotation is known based on the number of square wave signals in a fixed sampling time. Therefore, according to the equation (1) of 201134706, the angle of rotation of the tire 馐t & is continuously calculated and updated, and at that time, the corner signal is reset to zero. The rotation angle exceeds 360 degrees. The program can be expressed as follows: . Assume that the corner signal can be obtained by the encoder, and its square = count, x< which makes the 'subscript k' represent the number of square waves of (1), which represents the count number of rounds. The error is the angle at which the tire is rotated. In order to reduce the tire transfer by the moving time window of the direct equation as shown below, the ηΤ ^ , - (2) rotation speed β ° ^ W points the wealth of the wheel ride, _ wheel non-drive wheel, The speed of the silk car, the speed of the secret cake, so the purchase of the slip can be calculated and 'know. The electronic control unit 3 __ is equipped with a eucalyptus tree, which can be connected to the door opening degree, the wheel number and the track number. The electronic control unit 3 further includes: a positive force evaluation group 31 , - _ force 峨 heart - lose _ 齢 33, a target slip calculation her 34 - suitable ___ 35 from the face-to-face control group 36. The positive force estimation module 31 is connected to the power source U and receives a longitudinal acceleration ~, and calculates the required forward force. For the road friction required by the road condition estimator, the method of estimating the positive force of the tire is to use equations (3) and (4) to estimate the positive force of the tire and cooperate with the driving force observer to know the friction coefficient of the road surface. F:f two one m saxhv av + m

Ufg (3) 7 201134706 F = msS〇v + mxarh.. 2r ~ +~ guest (4) where 'g is the acceleration of gravity' ~ and & the front and rear wheels of the division table estimate the positive force of the tire, for the vehicle The wheelbase of the heavy (four) m wheel, with the vehicle's wheelbase π to the rear wheel as the mass on the ridge, and ~ the mass under the spring, respectively, and the longitudinal acceleration of the vehicle. The driving force estimation module 32 is The forward force estimation module 31 is connected to calculate the road surface miscellaneous ship according to the forward force, the wheel speed signal and the vehicle speed 。. In the present invention, the driving force estimation is only performed for the rear driving wheel. The kinematic equation of the wheel can be expressed as follows: (5) where 7 is the motor drive torque, the wheel female (four) speed 乂 is the tire moment of inertia and the motor torque can be known from the motor current, so when the tire and the ground The driving force between the two is the evaluation of the positive force of the tire, which can depend on the friction coefficient between the tire and the mantle. The road surface condition estimating module 33 and the driving force estimating module 32 Connected, according to the road friction Wei, the object __ Gu-age (four) shape - slope value. The tire and the road surface is determined heteroaryl coefficient "information, with the road condition estimator to measure sulfur curve solution to which party« (iv) may be as follows: dt dt ⑹ road ^ I A representative of road conditions. According to equation (6), the road condition A is estimated by the trajectory method. The estimated equation is as follows: (7) y(k) = &r(k)^(k) 201134706 (8) (9) P(k) = -

K When the estimated parameters are only one, in the (IV) algorithm, the skin can be modified to the following equation: 1 + α^(Λ)2 (10) where α is the tracking gain value. The target slip calculation module 34 is connected to the road surface condition estimation module, and calculates the optimal target slip value 1 according to the slope value, and refers to the third embodiment, which is the electric vehicle of the present invention. The purpose of the invention is to prevent the tire from being severely slipped, and to cause an estimation error of the road surface condition. Therefore, the present invention will be set for the road condition estimator - the door is made 'when the road surface is 黯靡When the estimated turtle is smaller than the correcting, the road surface condition is estimated as the initial value of the Ρ value and the θ value of H, and when the surface structure is delayed, the target slip calculation error is caused to affect the control performance, and the judgment formula As follows:

If Θ <~ threshold reset S(k-\) and P(k^l) (11) Therefore, this method is based on the following method: m-l,

0(k) = A (12) In the present invention, the target slip calculation rule is designed based on the slope heart estimated by the road condition estimator to calculate the target county of the tire for the slip condition. The target calculation algorithm mainly utilizes an arithmetic unit. In the preferred embodiment of the present invention, the arithmetic unit is an integrator, and the road surface condition is estimated to be different from the added line. When the tire is not slipped, the road surface is estimated. The value of 201134706 is positive, (4) the positive gain value obtained after adding the table check will increase the target slip; on the contrary, when the tire slips, the estimated age condition is negative, and the negative value is obtained after the limb is checked. The gain value will cause the target slip to drop to prevent the tire from slipping. The adaptive fuzzy sliding control module 35 is coupled to the target slip calculation module 34 to calculate a (four) gain value based on the optimal target slip value. Please refer to Figure 4 for the self-organized fuzzy controller control block diagram of the tracking anti-skid control system for the electric vehicle of the present invention. The self-organizing fuzzy controller can be divided into a self-organizing part and a basic fuzzy controller. In the self-organizing part, the fuzzy rule table is corrected according to the error of the slip and the amount of error change. The equation is as follows: AU = Μ ί(1 ~ς^ηΤ^ + fce(nT)] ( 13) where △« is the output correction amount and y is the learning rate. The part of the basic fuzzy controller whose controller input variables are the slip error (e) and the slip error (^), respectively. Corresponding to the fuzzy set, that is, ^ and ^ domain. Please refer to Figure 5, which is a fast calculation method of the excitation strength of the triangular membership function of the tracking anti-skid control system of the electric vehicle of the present invention. The excitation intensity w is expressed, so the present invention adopts a triangulation function which is easy to calculate, so the intensity w of the excitation can be obtained by linear interpolation, and the rounding of the rule of the first rule can be expressed as follows: ut{ nT + Γ) = u^nT) + =i> Rule^nT + Τ) = Rule^nT)^ ARulet (14) =Rule^nT) + weiwcei -^-[(1 - g)e(nT) + Gce{nT)]

M in equation (14) can be known that only when 6 and zero are zero, the experimental platform often measures the component, so that the amount of error and the amount of error will not be zero at the same time. In 201134706, the situation is diverged with the increase of time. Therefore, the present invention sets a dead zone range. When the absolute value of the error amount is smaller than the range, the rule base is not required to be corrected, and Δμ, + is 〇, and the judgment is made. The formula is as follows: if Qbs{e)< threshold Δ«(~〇(15) In the equation ((4)' is the system increment, so the μ value can be set to a constant, and the correction intensity is changed by r can be a slave, that is to say, through the setting of the value of ^ can change the rate of learning SGFC: the heart value is too large, the ship is too complicated, the commander's command is greatly changed, resulting in The output of the earthquake is too small, the learning rate is too slow to compensate the bad output immediately, and the transient response is not caused. The value of the value is the ratio of the correction weight between the ice (3). In general, ^ and It is important to influence the system and should not be biased towards any variables. As for the checklist of the rule table, it can also be known by the linear interpolation fuzzy operation method. The assumed error amount (Ο belongs to α, 4+1 in the fuzzy set, and the error variation (ce) belongs to ~^+1, then The algorithm for controlling the quantity U can be as follows: If X +1 is the average of the fuzzy numbers of two adjacent independent variables, φ ^ and X+1 are the average values of the dependent variables, then the linear interpolation formula is as follows : Less (work) = y. + ZiliZlL^xx.)

Xi+] " (16) = brother + (where +1 - brother) A, +1CO which is ^ to the degree of membership of X,. +1. s Qingjia, as shown in Fig. 6, is a linear interpolation fuzzy operation method of the tracking anti-skid control system of the electric vehicle of the present invention. Calculate in the order shown in the figure 'The equation of operation is as follows: = U-ij + (ζΖ-, +ι,; _ ) / ^0/+1 (α) = ; + ι + (ζΖ-oi.y +i " ^-/,7 + 1)^0.+1(^) (17) —U =ui + (U2 - 201134706) The adaptive current control group 36 and its adaptive fuzzy sliding control module The group 35 is connected 'according to the product of the control gain and the reference torque to calculate a reference torque value. The electronic control unit 3 determines the wheel to control each wheel according to the electric π dirty and the reference torque value The rev.-_voltage command rotates each wheel motor and its connected wheels to produce the appropriate rotational speed action required. The power source U is formed by a wheel motor mounted on the vehicle body to drive the vehicle's motor control The command issued by element 3 produces the appropriate rotational speed required. A wheel speed is provided on each wheel motor. ^, _ each wheel is slammed to the electronic control unit to bring the system response closer to the commanded speed. The invention is based on the motor The potential dynamic equation is estimated. The motor drive current controller of the present invention is designed to input the system estimation model as Of driving electric motor angular velocity significantly, as the motor output term money, New York estimated surface material, which secret table can listen Colin age ⑽ formula, given the input and the output A may call parameter values iU Chou scales pure.

Kz)

(18)

In the middle, ψτ f 丫1 】, (] vector. Therefore, the present invention transmits the vector., ♦ is called the gain value of the system parameter, and the characteristic coefficient comparison coefficient of the design is obtained, and the parameters of the following equation are determined. Adjust to change the control (4) gain value. It controls the U, the discretization of the cry + recognition " (20) discretization transfer '^, ^ item' D is the correction of the _ compensation. With the PI controller derived The motor drives the voltage 匕 and substitutes the derived motor drive 12 201134706 voltage, and uses the feedforward compensation method to eliminate the motor speed term. Therefore, the equation can be rewritten as follows: ί'( Ζ) bknz -bkn + bk, "magic + (.bk^al)z + bki-bkp+a (21) The present invention converts the second-order standard into a discrete model by z_conversion according to the second-order standard of the continuous system. The equation is as follows: (22) G(z) = -^±!h_ z +dlZ + d0 After comparing the coefficients by the characteristic equations of equations (21) and (22), you can find \ and & Value, as shown in the following equation: p

(23) (24) t -1+α+“ Κ一〆b and the controller gain value and A:,· will change the control gain of the controller as the system estimates the changes of parameters 3 and b, Achieve adaptive control effects. Clearly, as shown in Figures 7a to 7d, it is the system of the lion slip control system of the electric field of the present invention. When the invention is in the shackles, the first sneak _ system judgment is made to estimate the 模型 纯 pure model record, and the electric charm effect of the reference test is checked. The invention utilizes a virtual random three-input input signal (Pseud〇rand〇m such as (4) i叩 this fine PRBS), and then cooperates with a 5.55% motor drive voltage signal input, and the voltage varies from 24V to 26.4V, as in the 7a The figure shows. The system parameter estimation results are shown in the % chart. The system estimates the apology output current, the green scale reduction output current, and the comparison diagram of the domain, such as the 7c lion. From the secret side view of the (four) flow Heda current peach also has a small convergence range, as shown in Figure 7d. Please refer to the figure 8a to 8b, which is the adaptation of the tracking anti-skid control system of the electric vehicle of the present invention. ___ 4 The sacrifice device is 13 201134706 No good follow-up sj is given __ When you rise, check the fast reference step. It is known from the 8th round that 'when the driver gives a step-by-step reference current, the adaptive current controller still exists. Good current control effect, the current signal estimated by the estimator is also measured. The currents are very similar, as shown in Figure 8b. The simulation driver inputs a step-by-step reference torque signal to the adaptive current control H, so that the motor can reach the driver's needs, and when the electric motor vehicle has a high friction coefficient road surface to a low friction coefficient road surface, when there is a TCS controller, The suppression effect of tire slip. However, when the 剌t is in the surface, the ship is equipped with the vehicle's torque to make the tire slip on the high friction coefficient road surface, so as to facilitate the simulation time to control the performance of $.钃Fig. 9a to 帛9f are the high-friction coefficient road surface to low friction coefficient road surface response map of the present invention, and the simulation of the motor driver respectively provides the electronic brakes, etc., and the performance of the TCS control system is What is the impact, its TCS1 is an electronic brake-free function, so the Tcs controller only outputs a positive control gain value' to reduce the output torque of the motor. The TCS2 has an electronic brake function. Therefore, when the TCS controller outputs a negative control gain value, it is braked at this time. Figure 9a shows the control gain value output by the TCS controller, and adjusts the output torque of the vehicle_wheel motor by 4 control gain values and controls the output torque via the lower adaptive current controller, as shown in Figure 9b. Shown. From the figure 9C, it can be known that the target slip calculation rule proposed by the present invention can quickly calculate the tire target county on the road surface by Wei Weilai (10). In addition, Qing Qing provides a quicker suppression of the increase in tire slip than TCS1, and does not affect the straight-line reliance of the electric motor vehicle. From the figure shown in Figure 9d, it can be seen that after driving, it can be driven high. The road surface of the county and the low friction surface of the road are in a stable area greater than 0. 'On the road with high friction coefficient to low friction coefficient, the road sulfur condition is estimated: 〆14 201134706 The average value of the state is temporarily _ He Wei. It is expected that the road surface is close to the actual value, as shown in Figure 9f. From the 1st to the 10th, the verification system of the present invention discriminates the experimental results. In the experiment, the experiment will first estimate the parameters of the system, and then carry out the control of the step reference current signal to discuss the electricity money. In this experiment, the virtual _ binary input is given, and then combined with 50W 5% motor drive voltage signal input, the voltage varies from 24v to 26 4v, such as

Figure l〇a shows. The system parameter estimation results are shown in the figure of the coffee. The system estimates the output current of the model, which is also very close to the motor output current. The comparison of the current response is shown in the figure. The system estimates the output current and motor current, and the error value also converges to a small range, as shown in Figure l〇d. Figure 11a to 帛lid circle is the experimental control response diagram of the step reference current signal. Therefore, the effect of the current control is verified by using a computer-sending step reference track number that is faster. It can be seen from the 11a @ @ 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在It is known in Fig. 11b that the measured current signal is very close to the estimated current signal, and the error amount of both is also maintained within a small range, as shown in the figure of Figure 11 . The lid picture is the valve opening voltage signal β output to the motor driver. In order to verify the TCS controller, in the wet road test, a plastic pad with a surface length of 31 cm and a width of 5 cm is adhered to the general road surface. And use a detergent such as dishwashing detergent or soap to add water and stir it, and spray it on the plastic cushion to greatly reduce the adhesion between the tire and the plastic cushion to make the tire more slippery and construct a sufficient Verify the experimental environment of the TCS control system. 15 201134706 Firstly, the solid-state step current signal is sent by the computer, so that the motor vehicle accelerates over the wet road. The 12th to 12th pictures of the invention are the wet sliding road control response circle of the present invention. It can be seen from the first diagram that when the tracking anti-skid controller is actuated, the computer will immediately reduce the voltage of the electric door voltage sent to the motor driver to reduce the motor's wheel current and reduce the torque applied to the tire, as shown in section 12b. The map does not. In the 12th figure, the tire slip has a beating phenomenon at the beginning, but the tire does not slip at this time. The reason is that the front and rear wheel speeds are at a lower speed when starting, so there is a slight gap in the preparation speed. At the time, it is easier to cause the slip to calculate the jitter. Therefore, in order to prevent the control (4) misjudgment and control, the experiment will wait for the target slip to be calculated before the anti-skid controller performs the control action. And in the figure (3), it can be known that the tracking anti-skid strategy of the present invention can calculate the target slip within 0.1, as the control target of the anti-skid controller, and the anti-skid controller takes about G. 7 seconds to slip the tire. Controlled by the target slippery, it achieves a good tire slip and a ship's fruit. The parallel electric motor vehicle has the best acceleration performance under the _ domain command, as shown in Figure 12d. In addition, from the point of view of energy efficiency, the most important energy source for electric motor vehicles comes from Wei, so how to use the _ capacity towel to do the most efficient riding, which needs to be considered in electric vehicles. Therefore, it can be seen from Fig. 12b and Fig. 12d that although the current of the tracking anti-miscellaneous H control is small, the speed of the vehicle is higher than the uncontrolled speed, which not only shows that the bribe slips. After the control, the efficiency of the remaining sources is improved. And from the 13th money can be seen, adding people to follow the anti-skid control, after the motor car's secrets are out of control _ driving miscellaneous (four) far, and the gods of Xiao Xiao consumption are less than the control of the smaller 'ru Figure 13b shows. And from the table! The order can be used to know whether there is a comparison of the anti-skid control system. Therefore, it can be clearly seen that after adding the tracking anti-skid controller, it can be reduced by 16 201134706 9 ^ repair - quantity, good price, k still 71% The driving distance and the end speed of the electric motor are increased by about 48%, so that the endurance of the electric motor vehicle is improved. The present invention proposes a TCS system architecture specifically designed for wheel motors, based primarily on the motor vehicle architecture, and utilizing the rear wheel motor as a source of power for the vehicle. In the TCS control, the target slip of the tire is calculated according to the road condition estimation combined with the target slip calculation rule, and the upper TCS control is performed by the S0FC, and the controlled motor reference torque is used as the lower adaptive current controller. The reference command makes the entire system a closed loop system.

17 201134706 f Simple description of the figure] Fig. 1 is a block diagram showing the structure of the tracking anti-skid control system of the electric vehicle of the present invention. Figure 2 is a schematic diagram of the free body of the tire. Figure 3 is a block diagram of the target slip calculation of the tracking anti-skid control system of the electric vehicle of the present invention. Figure 4 is a block diagram of the self-organizing fuzzy controller control of the tracking and anti-skid control system of the electric vehicle. Figure 5 is a quick calculation method for the triggering of bribery in the hair of the hairpin (10) of the hairpin. The sixth figure is the linear plug-in operation method of the tracking anti-skid control system of the launching vehicle. Figures 7a through 7d show the results of the system decision of the tracking and anti-skid control system for the electric vehicle of the present invention. 8a to 8b are adaptive current control responses of the tracking anti-bone control system of the electric vehicle of the present invention. Figures 9a to 9f are diagrams showing the response of the friction coefficient road surface to the low friction coefficient road surface of the present invention. The graphs from 1a to 1d are the results of the discriminating experiment of the verification system of the present invention. The 11th to the llth diagrams are experimental control response diagrams of the step reference current signals. Fig. 12a to Fig. 2f are diagrams showing the road surface control response of the present invention. Figures 13a to 13b are diagrams showing the travel distance and power consumption of the electric motor vehicle of the present invention. Table 1 is a comparison table of energy consumption of the present invention. [Main component symbol description] 1 to electric vehicle 11 to power source 201134706 12 to wheel 2 to power control unit 21 to door opening degree sensor 22 to wheel speed signal processing unit 3 to electronic control unit 31 to positive force estimation Module 32~Drive Force Estimation Module #33~Road Surface Condition Estimation Module 34~Target Slip Calculation Module 35~Adaptive Fuzzy Sliding Control Module 36~Adaptable Current Control Module

Claims (1)

201134706 VII. Patent application scope: 1. A tracking anti-skid control system for electric vehicles, the electric vehicle driving at least one wheel with at least one power source, the tracking anti-skid control system comprises: - power control 7C, which is connected with the electric field, and the axial force measuring unit further comprises: - an electric door opening sensor "which can generate a door opening signal; - a wheel speed letter unit" of its miscellaneous wheel motor Connected, one of the wheel speed signals of the wheel and one of the speed signals of the electric vehicle; - an electronic control unit, which is connected to the electric field, and can receive the electric door signal, the wheel speed signal and the speed signal. The electronic control unit further comprises: a positive force estimation module connected to the power source and receiving the longitudinal acceleration, and calculating one of the required positive forces; - a driving force estimation group, the system and the forward direction The force estimation module is connected, and a road friction coefficient is calculated according to the forward force, the wheel speed 峨 and the vehicle speed signal; - the road surface secret group, the money and the _ power estimation _ connection, according to the road surface iT, coefficient, what counts The slope friction coefficient and the slope value of one tire slip curve; a target slip calculation module, which is connected with the finger and the road condition estimation module, and the root carries the slope value to calculate an optimal target slip Difference; - suitable for the 嶋 嶋 ' 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其 其The sliding control module phase i| 20 201134706 - t ·- · is connected according to the product of the control gain and a reference torque to calculate a reference torque value; wherein the electronic control unit is based on the switch opening signal and the reference torque The value is calculated to determine the wheel drive control of one of the wheel speeds to drive the voltage command to drive each wheel motor. 2 The tracking anti-skid control system for the electric vehicle as described in the first item of the scope of the patent scope, wherein, the "the difference calculation module, the operation calculation II and the road surface condition estimation value correspond to a gain value check" The table calculates a gain value and a predicted value of the road surface condition, and matches the operator to obtain a tire target slip. 3 The electric vehicle according to the second claim of claim 2 The anti-slip control system, wherein when the tire is not slipped, the road condition is estimated to be positive, and a positive gain value is obtained after looking up the table by the gain value, which will increase the target slip. 4 The tracking anti-skid control system of the electric vehicle, wherein when the tire is slipping, the road surface condition is estimated to be negative, and the negative gain value obtained by looking up the table after the gain value will cause the target slip to decrease to prevent the tire from being damaged. # 5,-The electric vehicle's tracking anti-skid control method is used to control the driving action of an electric vehicle under the high and low friction road surface/monthly critical driving control action. Control methods include Steps: () providing an interconnected electric vehicle and a lion slip control (four) system, the electric vehicle and the v power source driving at least two wheels, the tracking anti-skid control system has a power control unit and an electronic control unit ;, (8) According to the requirements of the electric machinery - the state and the driving (four), Wei power control, · material sense _ output - electricity (10) degrees 峨 to the sub-control unit; 21 201134706 (C) the electronic control unit according to The electric door opening signal is used to calculate an optimal target slip and determine that the wheel matches one of the driving actions, and output a speed control signal to the power source; (d) the power source controls the wheel according to the torque control signal One of the rotation dynamics causes the vehicle to drive according to the driving action requirements. twenty two