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Antiskid control method for electric automobile with four wheels and hubs

A technology of electric vehicle and control method, which is applied in the direction of electric vehicle, control drive, control device, etc., can solve the problem that control parameters are difficult to be defined.

Inactive Publication Date: 2016-07-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, aiming at the problem that the control parameters are difficult to be determined in the driving anti-skid method based on PID control, a PID control parameter tuning method is given

Method used

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  • Antiskid control method for electric automobile with four wheels and hubs
  • Antiskid control method for electric automobile with four wheels and hubs
  • Antiskid control method for electric automobile with four wheels and hubs

Examples

Experimental program
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Embodiment

[0067] figure 1 It is a schematic diagram of anti-skid control of a four-wheel hub electric vehicle of the present invention.

[0068] In this example, if figure 1 As shown, a four-wheel hub electric vehicle drive anti-skid control system includes: road surface recognition module, expected wheel speed calculation module, wheel drive anti-skid control module, vehicle speed control module and limiter module.

[0069] Among them, the road surface recognition module estimates the road surface of the electric vehicle in real time, and obtains the optimal wheel slip ratio s opt_ij .

[0070] Expected wheel speed calculation module, based on the optimal wheel slip ratio s obtained by road surface recognition op t _ij , vehicle speed v and wheel radius r, calculate the expected wheel speed ω of the wheel ref_ij .

[0071] The wheel drive anti-slip control module obtains the compensation torque T of the wheel according to the state of the wheel e_ij . If the wheel speed ω i j...

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Abstract

The invention discloses an antiskid control method for an electric automobile with four wheels and hubs. The antiskid control method includes that the optimal slip rates of the wheels are computed in real time by the aid of road surface identification algorithms, and expected rotational speeds of the wheels are computed by the aid of the optimal slip rates of the wheels; compensating torque of the wheels is computed according to states of the wheels, to be more specific, expected wheel speeds of the wheels are used as control targets if the wheels slip, the compensating torque is computed by the aid of a PID (proportion, integration and differentiation) controller for wheel speeds of the wheels, or the compensating torque is zero if the wheels do not slip; expected automobile speeds are used as control targets for automobile speed control, and instruction torque of motors is computed according to an automobile speed controller; the compensating torque and the instruction torque are added with each other to obtain a sum, and the sum is inputted into the motors so as to carry out drive antiskid control on the electric automobile with the four wheels and the hubs.

Description

technical field [0001] The invention belongs to the technical field of electric vehicles, and more specifically relates to an anti-skid control method for four-wheel hub electric vehicles. Background technique [0002] Four-wheel hub motor electric vehicles have become one of the hot spots in the development of electric vehicles due to the characteristics of independently controllable four-wheel drive torque and easy measurement of torque and speed. When a four-wheel hub motor electric vehicle is running on a low-adhesion road surface, especially when accelerating, the output torque of the motor may exceed the torque corresponding to the maximum adhesion force that the road surface can provide. When this happens, the difference between the wheel speed and the vehicle speed will increase rapidly, the wheel will slip, and the slip rate will enter the unstable area from the stable area, resulting in the decrease of the adhesion between the electric vehicle and the road surface,...

Claims

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Application Information

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IPC IPC(8): B60L15/20B60L15/32
CPCB60L15/20B60L15/32B60L2220/42B60L2220/44B60L2240/423Y02T10/72
Inventor 邹见效申超辛晓帅彭超张健
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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