WO2016095106A1 - Procédé et système de détermination d'état de fonctionnement de véhicule en état de traction - Google Patents

Procédé et système de détermination d'état de fonctionnement de véhicule en état de traction Download PDF

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Publication number
WO2016095106A1
WO2016095106A1 PCT/CN2014/093957 CN2014093957W WO2016095106A1 WO 2016095106 A1 WO2016095106 A1 WO 2016095106A1 CN 2014093957 W CN2014093957 W CN 2014093957W WO 2016095106 A1 WO2016095106 A1 WO 2016095106A1
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WIPO (PCT)
Prior art keywords
vehicle
change value
output torque
working state
torque change
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PCT/CN2014/093957
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English (en)
Chinese (zh)
Inventor
徐国卿
徐坤
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中国科学院深圳先进技术研究院
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Priority to PCT/CN2014/093957 priority Critical patent/WO2016095106A1/fr
Publication of WO2016095106A1 publication Critical patent/WO2016095106A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/175—Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the technical field of vehicle working state detection, in particular to a method and system for judging the working state of a vehicle in a traction state.
  • the traditional judgment of vehicle stability is mainly based on the identification of the current slip rate and the judgment of the optimal slip rate.
  • many researchers have conducted a lot of research on the slip rate ⁇ .
  • the research results can be roughly divided into two categories: The class is to obtain the slip rate ⁇ directly through the relationship between the vehicle chassis speed (the actual vehicle speed) and the wheel speed (wheel linear speed), and judge the stability of the vehicle through the slip rate and the change of the friction coefficient. It can be seen from the slip rate formula that the slip rate ⁇ of a vehicle has a nonlinear relationship with the difference between the wheel speed and the vehicle chassis speed. Therefore, to obtain the slip rate parameters of the vehicle directly, the wheel speed and chassis speed must be accurately obtained.
  • the second type is called the state observer method, which obtains the relationship between wheel speed and slip rate ⁇ through the wheel motion equation, estimates the current slip rate, judges the optimal slip rate under the current tire and road conditions, and then judges the working state of the vehicle.
  • This method avoids the parameter of vehicle speed, but the accuracy of this method is poor when the vehicle is in a low-speed state, and its practicability is not high.
  • the optimal slip rate is different under different tire and road contact conditions, which is difficult to judge in real time, and has very large limitations in practical applications, and the practical application effect is not good.
  • the technical problem to be solved by the present invention is that the current common vehicle working state detection methods have technical problems that the actual vehicle speed cannot be accurately measured, or the judgment effect is not good when the vehicle is in a low speed state, and the optimal slip rate is difficult to judge in real time. Therefore, a method that can accurately identify the traction state only needs to measure the output torque of the vehicle motor and the wheel speed. To A method to determine whether the vehicle is in a stable working state or an unsteady working state.
  • the present invention provides the following technical solutions:
  • a method for judging the working state of a vehicle in a traction state including:
  • the vehicle working state in the traction state is judged.
  • the output torque T is obtained by measuring the input current of the motor. In the constant current state, the output torque T is equal to the product of the torque constant and the input current of the motor.
  • the adhesion torque T d is based on the formula Estimated, where Is the derivative of the wheel speed ⁇ .
  • the working state of the vehicle in the traction state is judged, including:
  • the working state of the vehicle in the traction state is judged, including:
  • ⁇ T(k) is the current calculated output torque change value
  • ⁇ T(k-1) is the last calculated output torque change value
  • ⁇ T d (k) is the current calculated adhesion torque change value
  • ⁇ T d (k-1) is the change value of the adhesion torque calculated last time.
  • the step of judging the working state of the vehicle in the traction state according to the output torque change value ⁇ T and the adhesion torque change value ⁇ T d further includes: real-time determination of whether to limit the output torque T according to the determined vehicle working state control.
  • real-time determination of whether to implement limiting control on the output torque T according to the determined vehicle working state includes:
  • the output torque T is controlled by limiting
  • the output torque T is not subject to limit control.
  • a system for judging the working state of a vehicle in a traction state including:
  • the measurement module is used to measure the output torque T and wheel speed ⁇ of the vehicle motor
  • the calculation module is used to calculate the output torque change value ⁇ T and the adhesion torque change value ⁇ T d ;
  • the judgment module is used to judge the working state of the vehicle in the traction state according to the output torque change value ⁇ T and the adhesion torque change value ⁇ T d.
  • the system for judging the working status of the vehicle also includes:
  • the initialization module is used to obtain the inertia constant J of the vehicle; and/or
  • the filter module is used to filter the measured wheel speed ⁇ ; and/or
  • the limiter module is used to limit the output torque T when the vehicle in the traction state is in an unstable working state.
  • the invention provides a method and system for judging the working state of a vehicle in a traction state. Based on the physical and mechanical theory of the vehicle slipping process, it only needs to measure the output torque of the vehicle motor to the wheels and wheel speed information to judge the state of the traction.
  • the vehicle working state does not need to know the vehicle chassis speed and slip rate values, the determination process is simple and reliable, and the output parameters of this method can be used in the vehicle slip control process.
  • This method is very suitable for the practical application of vehicle control. In addition, fewer sensors are required, implementation costs are low, and reliability is high.
  • the invention is also suitable for detecting the slip state of four-wheel drive vehicles driven by motors and various robots and machine exoskeletons driven by motors.
  • FIG. 1 is a flowchart of a method for judging the working state of a vehicle in a traction state according to an embodiment of the present invention
  • Figure 2 is a diagram of the relationship between the slip rate ⁇ and the friction coefficient ⁇ when the vehicle is on different roads;
  • Figure 3 is a schematic diagram of the force distribution when the wheel is working
  • FIG. 4 is a flowchart of a method for judging the working state of a vehicle in a towing state according to another embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a system for judging the working state of a vehicle in a towing state according to an embodiment of the present invention.
  • d/dt represents the derivative of the variable
  • ⁇ represents the small signal, which refers to the change at the time of detection.
  • Fig. 1 shows a flowchart of a method for judging the working state of a vehicle in a traction state according to an embodiment of the present invention, and the method includes the following steps:
  • Step S1 Measure the output torque T of the vehicle motor and the wheel speed ⁇ .
  • the output torque T can be obtained by measuring the input current of the motor.
  • the output torque T of the motor is equal to the product of the torque constant and the input current of the motor, and the wheel speed ⁇ can be obtained by measuring the speed of the motor.
  • Step S2 Estimate the adhesion moment T d .
  • the adhesion torque T d is based on the formula Estimated, where J is the inertial variable of the vehicle, Is the derivative of the wheel speed ⁇ .
  • the inertial variable J of the vehicle is related to the parameters of the vehicle. Its value does not change with the environment and time. It can be determined by measurement. Normally, the parameter J is a known quantity. However, for the first use of the vehicle, in step S2 Previously, the step of initializing the inertial variable J of the vehicle needs to be performed to determine the value of the parameter J.
  • the derivation processing formula for wheel speed ⁇ is Where ⁇ t represents the time difference between the two measurements before and after, and ⁇ represents the difference of the wheel speed ⁇ ( ⁇ (k)- ⁇ (k-1)) between the two measurements. From this, the adhesion torque T d can be derived.
  • step S2 it may further include: filtering the wheel speed ⁇ to filter out noise interference during measurement and improve the accuracy of the subsequent derivative calculation results.
  • a low-pass filter can be used to filter the wheel speed ⁇ .
  • Step S3 Calculate the output torque change value ⁇ T and the adhesion torque change value ⁇ T d .
  • the output torque change value ⁇ T and the adhesion torque change value ⁇ T d respectively represent the difference between the output torque T transmitted by the motor to the wheel and the wheel adhesion torque T d for two consecutive measurements.
  • T(k) represents the current measured and calculated output torque value
  • T(k -1) represents the output torque value of the motor during the last measurement calculation
  • T d (k) represents the current estimated adhesion torque value
  • Step S4 Judging the working state of the vehicle in the traction state according to the output torque change value ⁇ T and the adhesion torque change value ⁇ T d. Specifically, there can be the following two criteria.
  • the second criterion is: in the case of ⁇ T ⁇ 0, when And When it is determined that the vehicle is in a critical transition state that is about to transition from a stable working state to an unsteady working state; And When it is determined that the vehicle is in a stable working state; And When, it is determined that the vehicle is in an unstable working state; And When it is time, it is determined that the vehicle is at the critical transition point from the unstable working state to the stable working state;
  • ⁇ T(k) is the current calculated output torque change value
  • ⁇ T(k-1) is the last calculated output torque change value
  • ⁇ T d (k) is the current calculated adhesion torque change value
  • ⁇ T d (k-1) is the change value of the adhesion torque calculated last time.
  • the driving force of the vehicle forward comes from the friction between the wheels and the ground.
  • the driving force of the power system to the wheels is converted into the driving force of the vehicle and the friction and heat generated by the wheels and the ground. Therefore, the vehicle speed in the traction state is lower than the rotation speed of the wheels (linear wheel speed); in the braking state, the vehicle speed is greater than the rotation speed of the wheels (linear wheel speed).
  • vehicle slip rate ⁇ is:
  • ⁇ represents the wheel angular velocity
  • r represents the wheel radius
  • ⁇ represents the vehicle speed
  • ⁇ is a small constant that prevents the denominator of the formula from being zero.
  • the method for judging the working state of a vehicle provided in this embodiment is only applicable to a vehicle in a traction state, so
  • the slip rate ⁇ of a car reflects the interaction relationship between the vehicle tires and the ground, through the change relationship between the slip rate ⁇ and the friction factor ⁇ It can judge the stability of the vehicle when it is working. Studies have shown that: on different ground (dry ground, watery road and icy surface), there is a regular non-linear relationship between the slip rate ⁇ and the friction coefficient ⁇ of the car. As shown in Figure 2, it is a schematic diagram of the ⁇ - ⁇ relationship when the car is on different roads. It can be seen that in the three road environments, the friction and slip rate of the vehicle have similar changing trends: in the stable zone, The increase in the slip rate of the vehicle is accompanied by the increase in friction.
  • the friction provides adhesion to the vehicle so that the vehicle can work normally; when the vehicle is working in a critical state and in an unstable zone, the friction of the vehicle reaches its maximum value.
  • the force is not following the increase in the slip rate of the vehicle, the wheels of the vehicle slip.
  • the correlation between the vehicle slip coefficient ⁇ and the friction coefficient ⁇ can be divided into two areas, one area is a stable area, and the other part is called an unstable area (slip area).
  • slip rate ⁇ and the friction system ⁇ satisfy the formula It means that the car is running in a critical state, when the friction force of the car reaches the maximum value and no longer follows the change of slip rate.
  • slip rate ⁇ and the friction system ⁇ satisfy the formula It shows that the car is working in an unstable working state (slip state), and the friction of the wheel at this time decreases with the increase of the slip rate.
  • N represents the normal phase pressure of the car wheel against the ground, which is a constant
  • F d represents the adhesion (friction force) between the wheel and the ground.
  • FIG. 3 it is a schematic diagram of the force distribution when the vehicle wheels are working.
  • the adhesion force between the wheel and the ground when the wheel rotates and the driving force of the wheel driving the vehicle forward are a pair of interaction forces.
  • the output driving force of the vehicle motor is greater than the maximum friction between the wheel and the ground
  • the wheels will slip.
  • the rotation speed of the wheel will increase at this time, and the resistance of the wheel is composed of the adhesion force of the wheel and the ground and the inertia force of the wheel rotation.
  • the torque distribution of the wheel during operation satisfies formula (3):
  • J is the inertia constant of the tire
  • T is the output torque of the motor
  • F d is the adhesion force between the wheel and the ground
  • T d is the torque generated by the friction between the wheel and the ground on the wheel, that is, the wheel adhesion moment, due to the force
  • the frictional torque is also the driving torque for driving the wheels forward; the torque produced by the frictional force is subtracted from the output torque of the motor.
  • the difference is greater than 0, it is the slipping torque of the wheel, that is, the frictional force of the wheel is less than the driving force of the wheel.
  • the wheels slip, and the excess energy is consumed by the slipping heat.
  • the wheel slip moment can be calculated.
  • the dynamic formula of the longitudinal motion of the car is:
  • M represents the mass of the car
  • V represents the vehicle speed
  • F dr is the inertial resistance when the wheel rotates, which is a constant.
  • g is used to represent the slope of the curve at a certain operating point of the curve. Assuming that the ⁇ - ⁇ curve shows a linear relationship within a short distance, the value of the slope g of the curve at the operating point i can be Expressed as:
  • V i (1- ⁇ i )r ⁇ i ; (12)
  • K is a static gain parameter, it shows that when the slip rate increases, the motor's driving torque can be reduced.
  • the expression of K is:
  • the value of the time parameter ⁇ is:
  • 1(t) represents a unit step signal.
  • the working state of the vehicle is an unstable working state.
  • the working state of the vehicle is a stable working state.
  • the judgment process is simple and reliable, and the method
  • the output parameters can be used in the vehicle slip control process, this method is very suitable for the practical application of vehicle control.
  • fewer sensors are required, implementation costs are low, and reliability is high.
  • Fig. 4 shows a flowchart of a method for judging the working state of a vehicle in a traction state according to another embodiment of the present invention, and the method includes the following steps:
  • Step S21 Initialize the inertia constant J of the vehicle.
  • Step S22 Measure the output torque T of the vehicle motor and the wheel speed ⁇ .
  • Step S23 filtering the wheel speed ⁇ , preferably a low-pass filter may be used to filter the wheel speed ⁇ .
  • Step S24 Estimate the adhesion moment T d . According to the formula To estimate the adhesion moment T d , where Is the derivative of the wheel speed ⁇ .
  • Step S25 Calculate the output torque change value ⁇ T and the adhesion torque change value ⁇ T d .
  • Step S26 Judging the working state of the vehicle in the traction state according to the output torque change value ⁇ T and the adhesion torque change value ⁇ T d.
  • Step S27 Determine in real time whether to implement limiting control on the output torque T according to the determined operating state of the vehicle, which specifically includes: when the vehicle is in an unstable operating state, deciding to implement limiting control on the output torque T of the vehicle motor , To make the vehicle return to a stable working state; when the vehicle is in a stable working state, it is decided not to implement limiting control on the output torque T of the vehicle motor.
  • the output torque T is controlled by limiting, that is, the value of the output torque T is limited to a small value to reduce the wheel speed ⁇ , so that the vehicle slowly stabilizes and no longer slips, and finally runs stably at a low speed.
  • step S27 when it is found that the vehicle in the traction state has changed from a stable working state to an unsteady working state, the output torque is controlled by limiting; in the next detection, if the vehicle is When it is still in an unstable working state, the output torque will continue to be controlled by limiting. If the vehicle has been converted from an unstable working state to a stable working state, the limiting control on the output torque will be cancelled so that the driver can Take over the control, otherwise, the vehicle will always maintain the limit value of the previous attached road to limit the output torque of the motor.
  • This embodiment provides a method for judging the working state of a vehicle in a traction state. Based on the physical and mechanical theory of the vehicle slipping process, it only needs to measure the output torque of the vehicle motor to the wheels and wheel speed information to determine the state of the vehicle in the traction state.
  • the vehicle working state does not need to know the vehicle chassis speed and slip rate values, the determination process is simple and reliable, and the output parameters of the method can be used in the vehicle slip control process.
  • This method is very suitable for the practical application of vehicle control. In addition, fewer sensors are required, implementation costs are low, and reliability is high.
  • the invention is also suitable for detecting the slip state of four-wheel drive vehicles driven by motors and various robots and machine exoskeletons driven by motors.
  • the present invention also provides a system for judging the working state of a vehicle in a towing state, including:
  • the measurement module 32 is used to measure the output torque T and wheel speed ⁇ of the vehicle motor
  • the estimation module 34 is used to estimate the adhesion moment T d ;
  • the calculation module 35 is used to calculate the output torque change value ⁇ T and the adhesion torque change value ⁇ T d ;
  • the determination module 36 is configured to determine the working state of the vehicle in the traction state according to the output torque change value ⁇ T and the adhesion torque change value ⁇ T d.
  • This embodiment provides a system for judging the working state of the vehicle in the traction state. It only needs to measure the output torque of the vehicle motor to the wheels and wheel speed information to judge the working state of the vehicle in the traction state, without knowing the vehicle. To The determination process of the chassis speed and slip rate value is simple and reliable, and the output parameters of this method can be used in the vehicle slip control process, which is very suitable for the practical application of vehicle control.
  • the system may also include: an initialization module 31 for obtaining the inertia constant J of the vehicle.
  • the initialization module 31 is usually activated only when the vehicle is used for the first time to determine the value of the parameter J. For subsequent use of the vehicle, since the inertia constant J is a known value, the initialization module 31 does not need to be activated.
  • the system may further include: a filtering module 33 for filtering the measured wheel speed ⁇ to filter out noise interference during measurement and improve the accuracy of subsequent derivative calculation results.
  • a low-pass filter can be used to filter the wheel speed ⁇ .
  • the system may further include: an amplitude limiting module 37, which is used to implement amplitude limiting control on the output torque of the vehicle motor when the vehicle is in an unstable working state. That is, when the vehicle is in an unstable working state, the output torque T is limited to a small value, and the wheel speed is reduced, so that the vehicle gradually gets rid of the slipping state and is in a stable working state of low-speed driving.
  • an amplitude limiting module 37 which is used to implement amplitude limiting control on the output torque of the vehicle motor when the vehicle is in an unstable working state. That is, when the vehicle is in an unstable working state, the output torque T is limited to a small value, and the wheel speed is reduced, so that the vehicle gradually gets rid of the slipping state and is in a stable working state of low-speed driving.
  • This embodiment provides a system for judging the working state of a vehicle in a traction state. It only needs to measure the output torque of the vehicle motor to the wheels and wheel speed information to judge the working state of the vehicle in the traction state without knowing the vehicle chassis.
  • the speed and slip rate value, the determination process is simple and reliable, and the output parameters of this method can be used in the vehicle slip control process, this method is very suitable for the practical application of vehicle control.
  • fewer sensors are required, implementation costs are low, and reliability is high.

Abstract

L'invention concerne un procédé et un système de détermination de l'état de fonctionnement d'un véhicule dans un état de traction. Le procédé comprend les étapes suivantes : mesurer un couple de sortie T d'un moteur de véhicule et une vitesse de roue ω ; estimer un moment d'adhérence Td ; calculer une valeur de changement de couple de sortie ΔT et une valeur de changement de moment d'adhérence ΔTd ; et déterminer l'état de fonctionnement du véhicule en fonction de la valeur de changement de couple de sortie ΔT et de la valeur de changement de moment d'adhérence ΔTd. Selon le procédé et le système, l'état de fonctionnement du véhicule dans l'état de traction peut être déterminé juste en mesurant le couple de sortie délivré par le moteur de véhicule aux roues ainsi que des informations de vitesse de roue, le processus de détermination est simple et fiable, et des paramètres de sortie dans le procédé peuvent être utilisés dans un processus d'antipatinage de véhicule. En outre, peu de capteurs sont nécessaires, les coûts de mise en œuvre sont faibles et la fiabilité est élevée.
PCT/CN2014/093957 2014-12-16 2014-12-16 Procédé et système de détermination d'état de fonctionnement de véhicule en état de traction WO2016095106A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168352A (zh) * 2006-10-23 2008-04-30 上海燃料电池汽车动力系统有限公司 多电机轮边独立驱动的电动车动力控制系统及方法
WO2008087925A1 (fr) * 2007-01-18 2008-07-24 Hitachi, Ltd. Automobile et dispositif de commande pour automobile
JP2009065793A (ja) * 2007-09-07 2009-03-26 Bridgestone Corp 電動車両
CN201646432U (zh) * 2009-11-24 2010-11-24 深圳先进技术研究院 一种电动汽车的运动控制器
CN103991390A (zh) * 2013-02-15 2014-08-20 住友重机械工业株式会社 电动叉车的马达驱动装置及电动叉车
CN104442450A (zh) * 2014-12-16 2015-03-25 中国科学院深圳先进技术研究院 一种判断牵引状态下的车辆工作状态的方法和系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101168352A (zh) * 2006-10-23 2008-04-30 上海燃料电池汽车动力系统有限公司 多电机轮边独立驱动的电动车动力控制系统及方法
WO2008087925A1 (fr) * 2007-01-18 2008-07-24 Hitachi, Ltd. Automobile et dispositif de commande pour automobile
JP2009065793A (ja) * 2007-09-07 2009-03-26 Bridgestone Corp 電動車両
CN201646432U (zh) * 2009-11-24 2010-11-24 深圳先进技术研究院 一种电动汽车的运动控制器
CN103991390A (zh) * 2013-02-15 2014-08-20 住友重机械工业株式会社 电动叉车的马达驱动装置及电动叉车
CN104442450A (zh) * 2014-12-16 2015-03-25 中国科学院深圳先进技术研究院 一种判断牵引状态下的车辆工作状态的方法和系统

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