CN102935815B - Electric differential control method for electric wheel vehicle - Google Patents
Electric differential control method for electric wheel vehicle Download PDFInfo
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- CN102935815B CN102935815B CN201210509208.7A CN201210509208A CN102935815B CN 102935815 B CN102935815 B CN 102935815B CN 201210509208 A CN201210509208 A CN 201210509208A CN 102935815 B CN102935815 B CN 102935815B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention discloses an electric differential control method for an electric wheel vehicle. The device comprises a main controller, a left wheel hub motor, a left wheel hub motor controller, a right wheel hub motor, a right wheel hub motor controller, a left wheel speed sensor, a right wheel speed sensor and a steering wheel rotary angle sensor. The left and right wheel speed sensors are used for measuring the real-time rotation speeds of left and right wheels of the vehicle; the steering wheel rotary angle sensor is used for measuring the rotary angle of a steering wheel and feeding real-time measurement results back to the electric differential main controller; and the left and right wheel hub motor controllers are used for controlling the output torques of the left and right wheel hub motors, simultaneously the output torques of the left and right wheel hub motors are fed back to the corresponding wheel motor controllers in real time respectively, and the left and right wheel hub motor controllers feed the output torques of the corresponding wheel hub motors back to the electric differential main controller. The entire adjusting process is smooth, and the stability of the vehicle is improved.
Description
Technical field
The present invention relates to a kind of manufacture of electric drive wheel vehicle, relate in particular to a kind of Electronic differential control method of electric drive wheel vehicle.
Background technology
Along with earth energy is in short supply and environmental consciousness is strengthened, electronlmobil is the inexorable trend of automobile industry development.Electric wheel truck is the most promising a kind of electronlmobil, adopt wheel hub motor directly or drive by retarder, because energy source adopts flexible cable to be connected with the power transmission of drive motor, broken away from traditional mechanically operated design constraint, driving system is simplified, complete vehicle quality alleviates, reached automotive light weight technology target, the electric drive wheel of integrated wheel hub motor is convenient to realize electromechanical integration, improved driving efficiency, the design of electric wheel truck arrangement is more flexible, has increased passenger position and trunk space; Electric wheel truck can be by each wheel hub motor and control system are controlled respectively the propulsive effort of each wheel, and do not need other any mechanical part, improved Vehicle Driving Cycle crossing ability and steering stability.
When automobile turning, in order to meet kinematics requirement, the stroke of the outboard wheels of vehicle will be longer than inner side, as adopt single axle drive shaft that power is passed to left and right wheels, can be because the rotating speed of left and right wheels equates the different kinematics contradiction of stroke must cause a certain driving wheel and produce and trackslip or slippage, its result weares and teares too early except meeting makes tire, bootlessly consumed power and fuel and make live axle overload etc., and, also can be because not turning to road-holding property degenerated by desired instantaneous center.Meanwhile, due between wheel and road surface, if especially have large slippage or trackslip when turning, easily make automobile when turning to, lose the ability of anti-side sliding and stability is degenerated.Traditional mechanical drive vehicle adopts mechanical differential gear box can make the wheel of the left and right sides when turning to, have different rotating speeds, has avoided the problems referred to above.And electric wheel truck cannot be used mechanical differential gear box, differential problem in the time of need to designing effective differential speed system and solve Vehicular turn.
Existing electronlmobil Electronic differential control method, substantially be that the rotating speed of motor is controlled, adopting wheel steering angle signal to differentiate turns to, and in conjunction with steering angle signal, Ackermann-Jeantand steering model calculates the real-time target rotating speed of each drive wheel while turning to, and makes it reach the object of differential.The steering model hypothesis rigidity of vehicle body of Ackermann-Jeantand, wheel pure rolling, and do not consider tire nonlinearities change, it is a kind of desirable Vehicular turn model, and do not meet vehicle actual operating mode, and wheel steering angle signal is differentiated not science of the method that turns to, when rotating of steering wheel, vehicle is likely change lane, do not enter steering state, and automobile generally all has understeer characteristics, while turning to, the torque of wheel should progressively regulate, therefore steering angle signal and Ackermann-Jeantand steering model can not accurately reflect real-time vehicle running state, the result of calculating with this can not meet the differential effect of expection.And existing differential speed system has only been considered vehicle differential situation when turning to, do not consider that wheel in vehicle straight line is due to the situation of encountering obstacle and dallying or trackslipping.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of Electronic differential control equipment and control method of control process pulsation-free electric drive wheel vehicle.
The technical scheme of the Electronic differential control equipment of a kind of electric drive wheel vehicle of the present invention is: it comprises master controller, left wheel hub motor, left wheel hub electric machine controller, right wheel hub motor, right hub motor control device, left wheel speed sensors, right wheel speed sensors, steering wheel angle sensor, left wheel speed sensors is for the real-time rotate speed of measuring vehicle left wheel, and by the speed feedback of measuring to electronic differential master controller, right wheel speed sensors is for the real-time rotate speed of the right wheel of measuring vehicle, and by the speed feedback of measuring to electronic differential master controller, described steering wheel angle sensor is for measuring the corner size of wheel flutter, be used for judging whether vehicle finishes steering state, and by real-time measurement feedback to electronic differential master controller, described left wheel hub electric machine controller is for controlling the torque of left wheel hub motor output, right hub motor control device is for controlling the torque of right wheel hub motor output, a described left side, right hub motor control device is controlled respectively a corresponding left side by PID regulating control, the torque of right wheel hub motor output, simultaneously left, the torque of right wheel hub motor output also feeds back to respectively corresponding hub motor control device in real time, a described left side, right hub motor control device feeds back to electronic differential master controller by the torque of corresponding wheel hub motor output.
The Electronic differential control method of a kind of electric drive wheel vehicle of the present invention is that it comprises the following steps:
Step 1: electronic differential master controller self check during vehicle launch, detects all wheel speed sensors and whether steering wheel angle sensor is normal; If mal, reports to the police;
Step 2: left and right wheel speed sensors is measured the rotating speed of corresponding wheel, if the left and right vehicle wheel rotational speed of feedback is 0, represent that vehicle, for stopping or idling mode, is back to step 2 and again detects, if feed back left and right vehicle wheel rotational speed, not to be 0, enter step 3;
Step 3: whether left and right vehicle wheel rotational speed difference is at speed control error n
ain, if so, enter step 4, otherwise, step 5 entered;
Step 4: left and right wheel speed sensors is measured the rotating speed of corresponding wheel,
If the left and right vehicle wheel rotational speed that left and right wheel speed sensors is measured is not all 0, electronic differential master controller is back to step 2;
If it is 0 that left and right wheel speed sensors is measured a certain sidecar wheel speed, the hub motor control device transmitted signal of electronic differential master controller to this side, the hub motor control device of this side carries out PID torque to corresponding wheel hub motor output torque to be coordinated to control, wherein wheel hub motor output torque is: T '=kT, in formula, the torque that T is hub driven motor; T ' is the torque of target hub driven motor; K, for gain, torque adjustment detects the wheel speed of each wheel after once again, is not all 0 until wheel speed sensors measures the wheel speed of each wheel;
Step 5: vehicle enters steering state, wherein vehicle wheel rotational speed faster hub motor control device corresponding wheel hub motor output torque carried out to PID torque coordinate to control, wheel hub motor output torque is: T '=kT, in formula, the torque that T is hub driven motor; T ' is the torque of target hub driven motor; Be greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1 is 0 o'clock until steering wheel angle sensor detects steering wheel angle, after representing that Vehicular turn process finishes, is back to step 2.
The value of the k of described step 4 is for being less than wheel speed departure n when wheel speed difference
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1.
The value of the k of described step 5 is for being less than wheel speed departure n when wheel speed difference
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1.
Compared with prior art, advantage of the present invention is: the present invention is by taking turns rotary angle transmitter signal to the comparative analysis of each wheel real-time rotate speed and assisted diversion, can accurately judge running conditions of vehicle, avoided vehicle to change lane to think by mistake the situation of steering state, and can to motor torque, carry out closed loop control by vehicle wheel rotational speed feedback signal; When vehicle is kept straight on, the present invention can regulate the wheel hub motor torque of this side when certain single wheel runs into obstacle, makes vehicle smoothly by obstacle, has improved trafficability; During Vehicular turn, the present invention, by the progressively regulating rotary torque of drive motor laterally, makes torque progressively approach ideal and turns to torque value corresponding to differential situation, and control process is mild, meets vehicle understeer characteristics, and then has improved the stability of vehicle.
Accompanying drawing explanation
Fig. 1 is Electronic differential control method structural representation of the present invention;
Fig. 2 is Electronic differential control method program block diagram of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, a kind of Electronic differential control method and apparatus of electric drive wheel vehicle comprises master controller, left wheel hub motor, left wheel hub electric machine controller, right wheel hub motor, right hub motor control device, left wheel speed sensors, right wheel speed sensors, steering wheel angle sensor, left wheel speed sensors is for the real-time rotate speed of measuring vehicle left wheel, and by the speed feedback of measuring to electronic differential master controller, right wheel speed sensors is for the real-time rotate speed of the right wheel of measuring vehicle, and by the speed feedback of measuring to electronic differential master controller, all wheel speed sensors are corresponding one by one with wheel, electronic differential master controller compares computing to all vehicle wheel rotational speeds of measuring, difference between wheel speed is greater than wheel speed departure n
atime, vehicle is steering situation, otherwise vehicle is craspedodrome operating mode, described wheel speed departure n
aaccording to vehicle real-world operation test figures, after statistical analysis, obtain, for preparing to judge Vehicular turn whether standard, described steering wheel angle installation of sensors is on some wheel flutters, also left wheel or right wheel, for measuring the corner size of wheel flutter, and by real-time measurement feedback to electronic differential master controller, the effect of steering wheel angle sensor is when the steering wheel angle of measuring is 0, affirm that vehicle is not at steering state, in craspedodrome state, vehicle needs change lane sometimes, now the deflection angle of wheel flutter can change, and be not 0, Electronic differential control method in the past can judge that vehicle is as steering state according to the variation of deflection angle, and the method whether this judgement vehicle of the present invention turns to, avoided vehicle to change lane to think the situation that enters steering state by mistake, because the time of vehicle to change lane is shorter, the rotating speed of each wheel does not have significant change, difference between wheel speed is less than wheel speed departure n
a, electronic differential master controller exports respectively torque adjustment electric signal to a left side according to operation result, right hub motor control device, the present invention determines whether and enters steering state according to vehicle wheel rotational speed operation result, by steering wheel angle, determine whether end steering state, described hub motor control device is corresponding one by one with wheel hub motor, left wheel hub electric machine controller is for controlling the torque of left wheel hub motor output, right hub motor control device is for controlling the torque of right wheel hub motor output, according to different running conditions of vehicle, electronic differential master controller sends and the corresponding current signal of motor torque to each hub motor control device respectively by signal wire (SW), a described left side, right hub motor control device is controlled respectively a corresponding left side by PID regulating control, the torque of right wheel hub motor output, simultaneously left, the torque of right wheel hub motor output also feeds back to respectively corresponding hub motor control device in real time, a described left side, right hub motor control device feeds back to electronic differential master controller by the torque of corresponding wheel hub motor output.
As shown in Figure 2, the electronic differential main controller controls method of described electric drive wheel vehicle is:
Step 1: after vehicle launch, the electronic differential master controller self check of vehicle, detects all wheel speed sensors and whether steering wheel angle sensor is normal; If mal, reports to the police; As normally, enter next step;
Step 2: after each working sensor is normal, differential speed system enters mode of operation, the signal of the real-time wheel speed sensors of omnidistance monitoring, judge thus running conditions of vehicle, left and right wheel speed sensors is measured the rotating speed of corresponding wheel, if the left and right vehicle wheel rotational speed of feedback is 0, represent that vehicle is for stopping or idling mode, being back to step 2 and again detecting, is not to be 0 if feed back left and right vehicle wheel rotational speed, enters next step;
Step 3: electronic differential master controller compares computing to gathering all left and right vehicle wheel rotational speed coming, and each vehicle wheel rotational speed difference is at speed control error n
ain, vehicle is craspedodrome state, enters step 4, otherwise vehicle enters steering state, enters step 5;
Step 4: vehicle is craspedodrome state, electronic differential master controller is measured the rotating speed of corresponding wheel according to real-time left and right wheel speed sensors,
If the left and right vehicle wheel rotational speed that left and right wheel speed sensors is measured is not all 0, represent not encounter obstacle in vehicle craspedodrome state, do not need electronic differential master controller to regulate the torque of wheel, the speed coordination of all wheels of vehicle is consistent, guarantee vehicle straight-line travelling, electronic differential master controller is back to step 2;
If it is 0 that left and right wheel speed sensors is measured a certain sidecar wheel speed, be illustrated in vehicle craspedodrome, certain single wheel is encountered obstacle, vehicle is impassable, need to progressively improve the torque of this side wheel hub motor, it is broken the barriers, electronic differential master controller sends torque adjustment electric signal to the hub motor control device of this side, the hub motor control device of this side carries out PID torque to corresponding wheel hub motor output torque to be coordinated to control, wherein wheel hub motor output torque is: T '=kT, in formula, the torque that T is hub driven motor; T ' is the torque of target hub driven motor; K is gain, and wheel speed difference is less than wheel speed departure n
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1, and torque adjustment detects the wheel speed of each wheel after once again, be not all 0, and wheel speed difference is less than wheel speed departure n until wheel speed sensors measures the wheel speed of each wheel
a, represent that vehicle breaks the barriers, then by the closed loop control to torque, make each motor torque get back to mean allocation state, then be back to step 2;
Step 5: vehicle enters steering state, the vehicle wheel rotational speed of vehicle outside is fast compared with inner side, in order to meet differential condition, the torque of Vehicular turn outboard wheels is greater than inner side, and change along with the variation of turn inside diameter radius, electronic differential master controller sends and the corresponding current-order of motor torque the hub motor control device in outside, with certain ride gain, through PID regulating control, progressively increase wheel hub motor torque, electronic differential master controller Real-Time Monitoring wheel flutter steering angle sensor signal, when steering wheel angle is 0, by the closed loop control to torque, make each motor torque get back to mean allocation state, wherein vehicle wheel rotational speed faster hub motor control device corresponding wheel hub motor output torque carried out to PID torque coordinate to control, wheel hub motor output torque is: T '=kT, in formula, T is the torque of hub driven motor, T ' is the torque of target hub driven motor, k is gain, and wheel speed difference is less than wheel speed departure n
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1 is 0 o'clock until steering wheel angle sensor detects steering wheel angle, after representing that Vehicular turn process finishes, is back to step 2, enters vehicle straight-going mode.
The present invention can, for entirely driving electric wheel truck, can be also forerunner or rear-guard electric wheel truck.
Claims (3)
1. an Electronic differential control method for electric drive wheel vehicle, is characterized in that, it comprises the following steps:
Step 1: electronic differential master controller self check during vehicle launch, detects all wheel speed sensors and whether steering wheel angle sensor is normal; If mal, reports to the police;
Step 2: left and right wheel speed sensors is measured the rotating speed of corresponding wheel, if the left and right vehicle wheel rotational speed of feedback is 0, represent that vehicle, for stopping or idling mode, is back to step 2 and again detects, if feed back left and right vehicle wheel rotational speed, not to be 0, enter step 3;
Step 3: whether left and right vehicle wheel rotational speed difference is at speed control error n
ain, if so, enter step 4, otherwise, step 5 entered;
Step 4: left and right wheel speed sensors is measured the rotating speed of corresponding wheel;
If the left and right vehicle wheel rotational speed that left and right wheel speed sensors is measured is not all 0, electronic differential master controller is back to step 2;
If it is 0 that left and right wheel speed sensors is measured a certain sidecar wheel speed, the hub motor control device transmitted signal of electronic differential master controller to this side, the hub motor control device of this side carries out PID torque to corresponding wheel hub motor output torque to be coordinated to control, wherein wheel hub motor output torque is: T '=kT, in formula, the torque that T is hub driven motor; T ' is the torque of target hub driven motor; K, for gain, torque adjustment detects the wheel speed of each wheel after once again, is not all 0 until wheel speed sensors measures the wheel speed of each wheel;
Step 5: vehicle enters steering state, wherein vehicle wheel rotational speed faster hub motor control device corresponding wheel hub motor output torque carried out to PID torque coordinate to control, wheel hub motor output torque is: T '=kT, in formula, the torque that T is hub driven motor; T ' is the torque of target hub driven motor, and k is gain; Until steering wheel angle sensor detects steering wheel angle, be 0 o'clock, after representing that Vehicular turn process finishes, be back to step 2.
2. the Electronic differential control method of a kind of electric drive wheel vehicle according to claim 1, is characterized in that, the value of the k of described step 4 is for being less than wheel speed departure n when wheel speed difference
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1.
3. the Electronic differential control method of a kind of electric drive wheel vehicle according to claim 1, is characterized in that, the value of the k of described step 5 is for being less than wheel speed departure n when wheel speed difference
atime, or steering wheel angle is 0 o'clock, k=1, and wheel speed difference is greater than wheel speed departure n
atime, the value of k is to take tolerance as 0.1, the arithmetic progression item that first term is 1.1.
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| CN111429722A (en) * | 2020-03-30 | 2020-07-17 | 淮阴工学院 | Auxiliary vehicle speed alarm control system based on real-time road condition |
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| CN112938830A (en) * | 2021-02-24 | 2021-06-11 | 安徽合力股份有限公司 | Control method of double-drive electric forklift |
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