Maximum torque estimation and acceleration slip regulation algorithm for four-wheel independently driven electric vehicle

Abstract

The invention discloses a maximum torque estimation and acceleration slip regulation algorithm for a four-wheel independently driven electric vehicle, and belongs to the technical field of new energy vehicle control. The method includes the steps that (1) torque values Twf and Twr of a drive motor used for acceleration of front wheels and rear wheels are calculated and obtained according to the speed Vwf of the front wheels and the speed Vwr of the rear wheels; (2) according to output torques Tf and Tr of the drive motor of the front wheels and the rear wheels, corresponding ground drive force static response values Ff and Fr are calculated and obtained; (3) according to calculation results in the step (1) and the step (2), action force between the current front wheels, rear wheels and the ground can be estimated, as specified in the specification; (4) according to the calculation result in the step (3), the maximum torque output values Tmax,f and Tmax,r of the front wheels and the rear wheels are calculated. By means of the method, speed and acceleration speed sensors are not needed, system cost is lowered, system reliability is improved, quick and accurate response is achieved, it is guaranteed that the wheels do not slip, stability and safety of a vehicle in the running process are improved, and the method is easy to complement in engineering and can be widely applied to an acceleration slip regulation system of the four-wheel driven electric vehicle.

Description

technical field [0001] The invention belongs to the technical field of new energy vehicle control, and in particular relates to a maximum torque estimation driving anti-slip algorithm for four-wheel independently driven electric vehicles. Background technique [0002] With the aggravation of energy crisis and environmental pollution, electric vehicles have been gradually developed and gradually entered people's lives. Electric vehicles with four-wheel independent drive are one of the main configurations, not only because of its excellent energy-saving and emission-reduction effects , also because it is an excellent experimental platform to realize complex dynamic control, firstly, the torque response speed of the electric motor is 50 to 100 times that of the internal combustion engine; secondly, all four wheels can be individually controlled, and work flexibly; The output torque value can be accurately calculated by the three-phase current signal, which is very important for...

AI Technical Summary

Problems solved by technology

[0003] However, the development of four-wheel independent drive electric vehicles is still relatively early, and some dynamic control problems have not been well resolved, for example, the drive slip control problem (TCS) when there is no vehicle speed and acceleration sensors

For a two-wheel drive vehicle, the speed and acceleration of the vehicle can be directly estimated from the speed of the non-driving wheels, while for a four-wheel independent drive electric vehicle, due to the loss of the non-driving wheels, the estimation of the vehicle speed and acceleration becomes complex, and these two parameters are important input information of the traditional anti-skid control algorithm, therefore, it is necessary to add an additional vehicle speed or acceleration sensor to ensure the feasibility of the algorithm, which undoubtedly increases the cost of the system and reduces the reliability

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