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A method for controlling the speed of a four-wheel electric vehicle

A technology for electric vehicles and vehicle speed control, which is applied in electric vehicles, control drives, control devices, etc., and can solve problems such as the influence of vehicle speed estimation accuracy and the lack of consideration of multiple driving modes.

Inactive Publication Date: 2017-10-31
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method does not consider the fact that there are multiple driving modes in the four-wheel hub electric vehicle, and the switching of driving modes will have a certain impact on the accuracy of vehicle speed estimation.

Method used

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  • A method for controlling the speed of a four-wheel electric vehicle
  • A method for controlling the speed of a four-wheel electric vehicle
  • A method for controlling the speed of a four-wheel electric vehicle

Examples

Experimental program
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Embodiment

[0066] figure 1 It is a schematic diagram of a vehicle speed control system for a four-wheel hub electric vehicle of the present invention.

[0067] In this example, if figure 1 Shown, a kind of four-wheel hub electric vehicle speed control system of the present invention comprises:

[0068] The UKF-based vehicle speed estimation module uses the collected vehicle sensor signals and the nonlinear three-degree-of-freedom estimation model with HSRI tires to estimate the vehicle speed of electric vehicles in real time;

[0069] The vehicle speed estimation module based on wheel speed uses the non-driving wheel speed of the electric vehicle to estimate the vehicle speed of the electric vehicle in real time;

[0070] The vehicle speed estimation method switching module selects the appropriate vehicle speed estimation module according to the current driving mode and the slip ratio of the non-driving wheels, that is, selects the vehicle speed estimation module based on UKF or the ve...

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Abstract

The invention discloses a vehicle speed control method for a four-wheel hub electric vehicle. A suitable vehicle speed estimation module is selected through the current driving mode, that is, a UKF-based vehicle speed estimation module or a wheel speed-based vehicle speed estimation module, and the current vehicle speed is estimated in real time; at the same time , smoothing and filtering the vehicle speed jump when the driving mode is switched; then, with the desired vehicle speed as the control target, the PID controller is used to control the output of the total torque; finally, the total torque is input to each The motor controller, and then controls the speed of the electric vehicle to achieve the desired speed.

Description

technical field [0001] The invention belongs to the technical field of electric vehicles, and more specifically relates to a method for controlling the speed of a four-wheel hub electric vehicle. Background technique [0002] Vehicle speed is an important variable in vehicle dynamics control and stability control, and the measurement accuracy of vehicle speed will directly affect the control effect of the vehicle. At present, the control methods for wheel hub vehicles mainly include drive anti-skid control, traction control and stability control. However, the above methods all assume that the vehicle speed is a known quantity, and do not consider the impact of vehicle speed measurement on vehicle stability and ride comfort. . [0003] In order to reduce the cost, the vehicle speed measurement method is mainly realized based on the vehicle-mounted common sensor. There are mainly two existing measurement methods, one is obtained by direct conversion of basic measurement info...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20B60L15/32
CPCB60L15/20B60L15/32B60L2240/423B60L2240/461B60L2240/465B60L2260/28Y02T10/72
Inventor 辛晓帅张文建邹见效彭超张健
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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