Distributed type driving electric automobile anti-skid controlling system and method considering intention of driver

Abstract

The invention relates to a distributed type driving electric automobile anti-skid controlling system and method considering the intention of a driver. The system comprises a motor controller, a driver intention torque acquisition unit, a road surface adhesion coefficient estimation unit and a driving anti-skid control unit, the motor controller is connected with driving motors of four automobile wheels of the distributed type driving electric automotive, the driver intention torque acquisition unit and the road surface adhesion coefficient estimation unit are both connected with the driving anti-skid control unit, and the driving anti-skid control unit is connected with the motor controller; and a road surface adhesion coefficient estimation device acquires an automobile wheel road surface peak value adhesion coefficient, the driver intention torque acquisition unit acquires a driver intention torque, and the driving anti-skid control device controls and outputs a controlling torque to the motor controller according to the road surface peak value adhesion coefficient and the driver intention torque. Compared with the prior art, the distributed type driving electric automobile anti-skid controlling system and method considering the intention of the driver comprehensively considers the intention of the driver, and the anti-slip controlling effect is good.

Description

technical field [0001] The invention relates to a distributed drive electric vehicle anti-skid control system and method, in particular to a distributed drive electric vehicle anti-skid control system and method considering the driver's intention. Background technique [0002] As one of the basic systems of vehicle active safety, the drive antiskid control system has always been a hotspot in the research of vehicle dynamics. Statistics show that during the starting and accelerating process of the vehicle, if the road surface adhesion coefficient is small, the driving force will cause excessive slippage of the driving wheels, which not only reduces the driving performance of the vehicle, but also slips and causes loss of control in the case of front-wheel drive. The slippage causes the tail to flick. Especially in rain, snow, hail, frozen roads, and when the vehicle is turning, the wheel slip can easily cause the vehicle to become unstable, and eventually cause a traffic acc...

AI Technical Summary

Problems solved by technology

However, it is difficult to establish the fuzzy control rules of this method, and it is also difficult to debug.

[0007] (4) Optimal control solves the optimal index of the driving anti-skid control system according to the optimal principle, and its effect depends on the accuracy of the mathematical model of the system, which is difficult to achieve in practical applications

[0008] (5) Sliding mode variable structure control enables the phase trajectory of the system control variable to slide to the control target along the switching line. This control method has strong robustness, but near the sliding mode surface, the control torque will produce high-frequency jitter

[0009] In addition, the existing method usually adopts a layered control algorithm, in which the distribution layer gives the distribution torque, and drives the anti-skid control system to output the control torque. Therefore, it is necessary to set up a control algorithm intervention mechanism to judge when to control the drive motor through distribution torque and when to pass Access to the anti-skid control system to control the drive motor, resulting in low control efficiency

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