Self-adaption electronic differential control system

Abstract

The invention discloses a self-adaption electronic differential control system which comprises a vehicle controller, an upper computer, two inverters and two driving motors which correspond to two driving wheels. The upper computer is connected with the vehicle control system, the upper machine is connected with two inverters through a controller area network (CAN) bus, and the driving motors are controlled to rotate by the inverters. Difference between slip rate of two driving pulleys is taken as a steering signal of an automobile so as to achieve self-adaption steering and switching. In the process of direct movement, the control system can guarantee that wheel speed is synchronous to vehicle speed, and simultaneously, motor power is changed in a real-time mode along with resisting moment of motion so as to achieve stable motion. In the process of bending movement, a torque control model based on best slip rate is used for revising a torque command in a real-time mode so as to control the slip rate to achieve the best place and stable steering. In addition, the self-adaption steering control based on the slip rate does not need a steering sensor and can save cost.

Description

technical field [0001] The invention relates to the field of electronic differential speed control, in particular to an adaptive electronic differential speed control system. Background technique [0002] Currently, there are two popular electronic differential control strategies: speed-based regulation and torque-based regulation. The two control strategies have their own advantages and disadvantages: the differential strategy based on torque control can timely adjust the torque output according to the load change when the vehicle is running, and has good dynamic performance, fast response and strong adaptability, but the essence of differential control is The influence of speed and torque on speed is realized through dynamic equations. Since there is a first-order derivative between torque and speed, which is a nonlinear relationship, the control torque has a delay effect on the change of speed; the differential strategy based on speed control can Accurately control the w...

AI Technical Summary

Problems solved by technology

The two control strategies have their own advantages and disadvantages: the differential strategy based on torque control can timely adjust the torque output according to the load change when the vehicle is running, and has good dynamic performance, fast response and strong adaptability, but the essence of differential control is The influence of speed and torque on speed is realized through dynamic equations. Since there is a first-order derivative between torque and speed, which is a nonlinear relationship, the control torque has a delay effect on the change of speed; the differential strategy based on speed control can Accurately control the wheel speed. At this time, the motor adopts speed closed-loop control, which can adjust the torque current value in real time according to the change of road load to keep the speed stable, so the stability is good and the precision is high. But on the other hand, the torque is uncontrollable , unable to react and adjust in real time to various operating conditions of the vehicle, poor dynamics and weak self-adaptation

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