Drive skid prevention control algorithm for four-wheel independent drive electric automobile

Abstract

The invention discloses a drive skid prevention control algorithm for a four-wheel independent drive electric automobile, and belongs to the field of new-energy automobile control. The method includes the steps of firstly, estimating the largest torque output value Tmax of the whole automobile through combination with rotating speed information of four wheels and through the largest torque estimation algorithm; secondly, calculating the torque output value Tf of the front wheels according to the calculation result obtained in the first step and according to the load ratio of the front wheels to the rear wheels; thirdly, estimating the whole automobile speed V and the acceleration a through the rotating speed omega f of the front wheels; fourthly, calculating the actual slip rate S of the rear wheels and the change rate (please see the specification) of the rear wheels according to the result obtained in the third step and the rotating speed omega r of the rear wheels; fifthly, calculating the torque output value Tr of the rear wheels according to the results obtained from the first step to the fourth step and the target slip rate S* of the rear wheels and through a sliding membrane control algorithm. According to the method, no additional hardware structure is needed, cost of system is reduced to the maximum extent, reliability of the system is ensured, and the method and the system can be widely applied to the four-wheel independent drive electric automobile.

Description

technical field [0001] The invention belongs to the field of new energy vehicle control, in particular to a driving anti-slip control algorithm for four-wheel independently driven electric vehicles. Background technique [0002] With the development of new energy vehicles, electric vehicles are regarded by many people as the ultimate goal of automobile development. In recent years, four-wheel independent drive electric vehicles have also become the focus of everyone's research. The main reason is: the torque of the hub / wheel motor The closed-loop control is simple and easy, and the four driving wheels driven independently can realize complex dynamic processes. That is to say, the four-wheel independent drive electric vehicle provides new possibilities for the complex dynamic control process, for example, the drive anti-slip control problem without vehicle speed and acceleration sensors. For the antiskid control of traditional automobiles, speed and acceleration signals are ...

AI Technical Summary

Problems solved by technology

For four-wheel drive electric vehicles, because there are no non-driving wheels, the second solution cannot be implemented. If you want to use the traditional drive anti-skid algorithm, you can only use the first solution. However, increasing the speed or the vehicle The acceleration sensor not only increases the cost of the system, but also reduces the overall reliability of the system

Images