CN102975631A - Gesture control system for shaft saturated compensation of four-wheel all-wheel-drive electromobile and control method - Google Patents
Gesture control system for shaft saturated compensation of four-wheel all-wheel-drive electromobile and control method Download PDFInfo
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- CN102975631A CN102975631A CN2012104944554A CN201210494455A CN102975631A CN 102975631 A CN102975631 A CN 102975631A CN 2012104944554 A CN2012104944554 A CN 2012104944554A CN 201210494455 A CN201210494455 A CN 201210494455A CN 102975631 A CN102975631 A CN 102975631A
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Abstract
The invention provides a gesture control system for shaft saturated compensation of a four-wheel all-wheel-drive electromobile. The system is characterized by comprising a driver operating mechanism, a differential assembly, four traction motors and a control system of the four traction motors, a shaft saturated detection mechanism and a shaft saturated compensation mechanism. One end of The the driver operating mechanism on the one hand is connected to the differential assembly and on the other handthe other end of the driver operating mechanism is connected to the shaft saturated compensation mechanism. The differential assembly is connected to the four traction motors and the control system of the four traction motors. The four traction motors in the four traction motors and the control system of the four traction motors respectively drive four wheels. The four traction motors and the control system of the four traction motors are connected to the shaft saturated detection mechanism which is connected to the shaft saturated compensation mechanism. The shaft saturated compensation mechanism is connected to the differential assembly. According to the invention, problems in previous control methods are well solved, so that the effect is remarkable and the system and the control method provided by the invention are beneficially applied.
Description
Technical field
The invention discloses the full drive electric automobile of a kind of four-wheel and reach capacity at the tractive force of certain motor, travel when causing wheel drive shaft tractive force saturated (it is saturated to be called for short axle) attitude control system and control method.
Background technology
The four-wheel individual drive is the structure of electronlmobil novelty, and this structure will have significant impact to the design of following electronlmobil.The torque independence control ability of four-wheel traction electric machine provides unprecedented space for the raising of automotive performance, the electronlmobil of employing four-wheel individual drive no longer needs mechanical differential gear box when turning to, but by controlling the left and right traction electric machine of taking turns, make longitudinal force of tire produce difference, and then generation steering torque, realize turning to accurately control, compare with traditional differential control, can more effectively promote maneuvering ability and the stability of automobile.
But in the Vehicle Driving Cycle process, because the four-wheel individual drive, multi-motors drive system is subjected to motor and drive disk assembly property difference, system is non-linear, road conditions are rugged etc. affects, and can cause the four-wheel dynamic unbalance, causes running out the way even whipping occurs out of control.
The Collaborative Control of four-wheel traction electric machine is to improve the important means of vehicle stability.Differential control is according to the motoring condition of vehicle, adopt self-adapting electronic differential control algorithm regulating rotary to the time in the velocity contrast of foreign steamer, realize the accurate handling maneuver of vehicle; But because four-wheel traction electric machine control system is relatively independent, when larger dynamic deviation appearred in arbitrary traction electric machine control system, vehicle handling stability was difficult to guarantee.
The control of vehicle attitude parameter is the important method of control vehicle stabilization at present, and it produces the required inertia yaw moment of vehicle and dynamically adjust the attitude of travelling by the tractive force of control four-wheel motor; This scheme is lifting vehicle stability effectively, but under some limit motoring condition, single or multiple motors can't provide required propulsive effort by controlling instruction, and the four wheel drive force unbalance causes vehicle stability and handle accuracy descending.
Summary of the invention
Goal of the invention: the invention provides the full drive electric automobile axle of a kind of four-wheel saturation compensation attitude control system and control method, its objective is the following problem that solves: the problem that vehicle can't carry out resultful safety control when the maximum torque that surpasses traction electric machine and may provide when the vehicle traction requirements formed the axle saturated phenomenon.
Technical scheme: the present invention is achieved by the following technical solutions:
The full drive electric automobile axle of a kind of four-wheel saturation compensation attitude control system is characterized in that: this system comprises pilot control mechanism, box of tricks, quadruplet traction electric machine and control system thereof, axle saturation detection mechanism and axle saturation compensation mechanism; Pilot control mechanism is connected to box of tricks on the one hand, is connected on the other hand axle saturation compensation mechanism; Box of tricks is connected to quadruplet traction electric machine and control system thereof, wherein the quadruplet traction electric machine in quadruplet traction electric machine and the control system thereof drives respectively four wheels, quadruplet traction electric machine and control system thereof are connected to axle saturation detection mechanism, axle saturation detection mechanism is connected to axle saturation compensation mechanism, and axle saturation compensation mechanism connects return difference speed mechanism.
Quadruplet traction electric machine and control system thereof are respectively the near front wheel traction electric machine and control system, off front wheel traction electric machine and control system thereof, left rear wheel traction electric machine and control system thereof and off hind wheel traction electric machine and control system thereof; The near front wheel traction electric machine and control system thereof, off front wheel traction electric machine and control system thereof, left rear wheel traction electric machine and control system thereof are connected control system and are connected with axle saturation detection mechanism with box of tricks respectively with the off hind wheel traction electric machine; Every cover traction electric machine and control system thereof include traction electric machine and control system, the box of tricks connection control system, and control system connects traction electric machine, and control system is connected to axle saturation detection mechanism, and traction electric machine is connected to corresponding wheel.
Axle saturation detection mechanism is by the near front wheel torque observer, left rear wheel torque observer, off front wheel torque observer, off hind wheel torque observer and weighted average calculation cell formation; The near front wheel torque observer, left rear wheel torque observer, off front wheel torque observer and off hind wheel torque observer all are connected to the weighted average calculation unit; The near front wheel torque observer connects the near front wheel traction electric machine and control system thereof, the left rear wheel torque observer connects left rear wheel traction electric machine and control system thereof, the off front wheel torque observer connects off front wheel traction electric machine and control system thereof, and the off hind wheel torque observer connects off hind wheel traction electric machine and control system thereof.
Axle saturation compensation mechanism is made of compensating controller and simulated machine model and numerical value conversion unit; Box of tricks is connected with compensating controller, compensating controller is connected with axle saturation detection mechanism on the one hand, be connected with the simulated machine model on the other hand, the simulated machine model connects the numerical value conversion unit, numerical value conversion unit and box of tricks be connected, the compensating controller of axle saturation compensation mechanism is connected with pilot control mechanism.
The full drive electric automobile axle of the four-wheel saturation compensation attitude control method that utilizes the full drive electric automobile axle of above-mentioned four-wheel saturation compensation attitude control system to implement, it is characterized in that: the step of the method is as follows: utilize the voltage of wheel traction motor, current value to detect electromagnetic torque information, when road surface and certain tire interaction force excessive, to produce axle when saturated, the electromagnetic torque T of wheel traction motor
eCan increase thereupon, at this moment, utilize the electromagnetic torque of four the wheel traction motors of the dynamic observation of four torque observers in the axle saturation detection mechanism, generate compensation value by axle saturation compensation mechanism, the speed of a motor vehicle of regulating box of tricks is given, adjust simultaneously the four-wheel torque by box of tricks, to take turns arbitrarily dynamic disturbances mean allocation to four a wheel traction motor that produces, carry out the dynamic cooperation control of many motors, correct in real time the driving path, improve the road-holding property of vehicle, the attitude of control vehicle.
Concrete grammar of the present invention is as follows:
1., differential calculates: according to the speed of a motor vehicle and two steering instructions of deflection angle that pilot control mechanism provides, utilize box of tricks to calculate left front, left back, right front and right back four traction electric machines rotational speed setup separately
,
,
,
2., utilize four-wheel motor pull-in control system, adopt the rotating speed of Direct Torque Control algorithm control four-wheel traction electric machine, make it follow the tracks of respectively separately given
,
,
,
3., axle saturation detection: utilize the near front wheel torque observer, left rear wheel torque observer, off front wheel torque observer and off hind wheel torque observer to observe respectively the torque value T of four-wheel traction electric machine
E1, T
E2, T
E3, T
E4, these four torque observe values can characterize out the axle saturated conditions of four wheels,
After recycling weighted average calculation unit is weighted on average, take advantage of again a balance parameters to calculate compensation value T
f
4., utilize axle saturation compensation controller to introduce four-wheel weighted mean load T
fBy the simulated machine model with certain cause the saturated excessive torque disturbance of axle by the box of tricks mean compensation algorithm in the four-wheel motor driven systems, the dynamic deviation of four traction electric machines of balance, realize the dynamic cooperation control of four-wheel traction electric machine, adjusting of compensation value regulated by the coefficient of numerical value conversion unit.
Advantage and effect: the invention provides the full drive electric automobile axle of a kind of four-wheel saturation compensation attitude control system and control method.In the Vehicle Driving Cycle process, some in the four-wheel traction electric machine will form the axle saturated phenomenon because the tractive force demand surpasses the maximum torque that motor may provide, and causes the four-wheel torque unbalance, and vehicle attitude departs from steering instructions.
The present invention is directed to the characteristics of the full drive electric automobile motor of four-wheel individual drive, the dynamic disturbances that arbitrary traction electric machine is excessive on average arrives the four-wheel motor driven systems, dynamical equilibrium the four-wheel speed error, avoid vehicle driving trace significantly to depart from steering instructions, improve vehicle to the traceability of driving instruction.
Description of drawings:
Fig. 1 is structural representation block diagram of the present invention;
Fig. 2 is axle saturation detection of the present invention mechanism schematic block diagram;
Fig. 3 is axle saturation compensation of the present invention mechanism schematic block diagram.
The specific embodiment:The present invention is described further below in conjunction with accompanying drawing:
As shown in Figure 1, the present invention relates to the full drive electric automobile axle of a kind of four-wheel saturation compensation attitude control system, this system comprises pilot control mechanism 1, box of tricks 2, quadruplet traction electric machine and control system thereof, axle saturation detection mechanism 7 and axle saturation compensation mechanism 8; Pilot control mechanism 1 is connected to box of tricks 2 on the one hand, is connected on the other hand axle saturation compensation mechanism 8; Box of tricks 2 is connected to quadruplet traction electric machine and control system thereof, wherein the quadruplet traction electric machine in quadruplet traction electric machine and the control system thereof drives respectively four wheels, quadruplet traction electric machine and control system thereof are connected to axle saturation detection mechanism 7, axle saturation detection mechanism 7 is connected to axle saturation compensation mechanism 8, and axle saturation compensation mechanism 8 connects return difference speed mechanism 2.
Quadruplet traction electric machine and control system thereof are respectively the near front wheel traction electric machine and control system 3, off front wheel traction electric machine and control system 4 thereof, left rear wheel traction electric machine and control system 5 thereof and off hind wheel traction electric machine and control system 6 thereof; The near front wheel traction electric machine and control system 3 thereof, off front wheel traction electric machine and control system 4 thereof, left rear wheel traction electric machine and control system 5 thereof are connected control system 6 and are connected with axle saturation detection mechanism with box of tricks 2 respectively and are connected with the off hind wheel traction electric machine; Every cover traction electric machine and control system thereof include traction electric machine and control system, box of tricks 2 connection control system, and control system connects traction electric machine, and control system is connected to axle saturation detection mechanism 7, and traction electric machine is connected to corresponding wheel.
As shown in Figure 2, axle saturation detection mechanism 7 is made of the near front wheel torque observer 9, left rear wheel torque observer 10, off front wheel torque observer 11, off hind wheel torque observer 12 and weighted average calculation unit 13; The near front wheel torque observer 9, left rear wheel torque observer 10, off front wheel torque observer 11 and off hind wheel torque observer 12 all are connected to weighted average calculation unit 13; The near front wheel torque observer 9 connects the near front wheel traction electric machine and control system 3 thereof, left rear wheel torque observer 10 connects left rear wheel traction electric machine and control system 5 thereof, off front wheel torque observer 11 connects off front wheel traction electric machine and control system 4 thereof, and off hind wheel torque observer 12 connects off hind wheel traction electric machine and control system 6 thereof.
As shown in Figure 3, axle saturation compensation mechanism 8 is made of compensating controller 14 and simulated machine model 15 and numerical value conversion unit 16; Box of tricks 2 is connected with compensating controller 14, compensating controller 14 is connected with axle saturation detection mechanism 7 on the one hand, be connected with simulated machine model 15 on the other hand, simulated machine model 15 connects numerical value conversion unit 16, numerical value conversion unit 16 and box of tricks 2 be connected, the compensating controller 14 of axle saturation compensation mechanism 8 is connected with pilot control mechanism 1.。
In addition, the application also provides a kind of full drive electric automobile axle of four-wheel saturation compensation attitude control method that utilizes the full drive electric automobile axle of above-mentioned four-wheel saturation compensation attitude control system to implement, in the Vehicle Driving Cycle process, some maximum torques that surpasses motor and may provide owing to the tractive force demand in the four-wheel traction electric machine form the axle saturated phenomenon, this is taken turns actual torque and is lower than required value, cause this wheel speed not enough, and then the torque of generation four-wheel is unbalance, vehicle attitude departs from steering instructions.
The step of the full drive electric automobile axle of this four-wheel saturation compensation attitude control method is as follows: utilize the voltage of wheel traction motor, current value to detect electromagnetic torque information, when the load that road surface and certain tire effect produce excessive, to produce axle when saturated, the electromagnetic torque T of wheel traction motor
eCan increase thereupon, at this moment, utilize the electromagnetic torque of four the wheel traction motors of the dynamic observation of four torque observers in the axle saturation detection mechanism 7, the speed of a motor vehicle that generates compensation value adjusting box of tricks 2 is given, adjusts simultaneously the four-wheel torque, is distributed equally to four wheel traction motors taking turns arbitrarily the dynamic disturbances that produces, carry out the dynamic cooperation control of many motors, correct in real time and drive the path, improve the road-holding property of vehicle, the attitude of control vehicle.
The method step is as follows specifically:
1., differential calculates: according to the speed of a motor vehicle and two steering instructions of deflection angle that pilot control mechanism 1 provides, utilize box of tricks 2 to calculate left front, left back, right front and right back four traction electric machines rotational speed setup separately
,
,
,
2., utilize four-wheel motor pull-in control system to adopt the rotating speed of Direct Torque Control algorithm control four-wheel traction electric machine, make it follow the tracks of respectively separately given
,
,
,
3., axle saturation detection: utilize the near front wheel torque observer 9, left rear wheel torque observer 10, off front wheel torque observer 11 and off hind wheel torque observer 12 to observe respectively the torque value T of four-wheel traction electric machine
E1, T
E2, T
E3, T
E4, these four torque observe values can characterize out the axle saturated conditions of four wheels,
After recycling weighted average calculation unit 13 is weighted on average, take advantage of again a balance parameters to calculate compensation value T
f
4., utilize axle saturation compensation controller 14 to introduce four-wheel weighted mean load T
fBy simulated machine model 15 with certain cause the saturated excessive torque disturbance of axle by box of tricks 2 mean compensation algorithms in the four-wheel motor driven systems, the dynamic deviation of four traction electric machines of balance, realize the dynamic cooperation control of four-wheel traction electric machine, adjusting of compensation value regulated by the coefficient of numerical value conversion unit 16.
The present invention has well solved existing problem in the control method in the past, and its successful is beneficial to and applies.
Claims (6)
1. the full drive electric automobile axle of four-wheel saturation compensation attitude control system, it is characterized in that: this system comprises pilot control mechanism (1), box of tricks (2), quadruplet traction electric machine and control system thereof, axle saturation detection mechanism (7) and axle saturation compensation mechanism (8); Pilot control mechanism (1) is connected to box of tricks (2) on the one hand, is connected on the other hand axle saturation compensation mechanism (8); Box of tricks (2) is connected to quadruplet traction electric machine and control system thereof, wherein the quadruplet traction electric machine in quadruplet traction electric machine and the control system thereof drives respectively four wheels, quadruplet traction electric machine and control system thereof are connected to axle saturation detection mechanism (7), axle saturation detection mechanism (7) is connected to axle saturation compensation mechanism (8), and axle saturation compensation mechanism (8) connects return difference speed mechanism (2).
2. the full drive electric automobile axle of four-wheel according to claim 1 saturation compensation attitude control system, it is characterized in that: quadruplet traction electric machine and control system thereof are respectively the near front wheel traction electric machine and control system (3), off front wheel traction electric machine and control system (4) thereof, left rear wheel traction electric machine and control system (5) thereof and off hind wheel traction electric machine and control system (6) thereof; The near front wheel traction electric machine and control system thereof (3), off front wheel traction electric machine and control system (4) thereof, left rear wheel traction electric machine and control system (5) thereof are connected control system (6) and are connected 7 with box of tricks (2) with axle saturation detection mechanism respectively with the off hind wheel traction electric machine) be connected; Every cover traction electric machine and control system thereof include traction electric machine and control system, box of tricks (2) connection control system, and control system connects traction electric machine, and control system is connected to axle saturation detection mechanism (7), and traction electric machine is connected to corresponding wheel.
3. the full drive electric automobile axle of four-wheel according to claim 1 saturation compensation attitude control system is characterized in that: axle saturation detection mechanism (7) is made of the near front wheel torque observer (9), left rear wheel torque observer (10), off front wheel torque observer (11), off hind wheel torque observer (12) and weighted average calculation unit (13); The near front wheel torque observer (9), left rear wheel torque observer (10), off front wheel torque observer (11) and off hind wheel torque observer (12) all are connected to weighted average calculation unit (13); The near front wheel torque observer (9) connects the near front wheel traction electric machine and control system (3) thereof, left rear wheel torque observer (10) connects left rear wheel traction electric machine and control system (5) thereof, off front wheel torque observer (11) connects off front wheel traction electric machine and control system (4) thereof, and off hind wheel torque observer (12) connects off hind wheel traction electric machine and control system (6) thereof.
4. the full drive electric automobile axle of four-wheel according to claim 1 saturation compensation attitude control system is characterized in that: axle saturation compensation mechanism (8) is made of compensating controller (14) and simulated machine model (15) and numerical value conversion unit (16); Box of tricks (2) is connected with compensating controller (14), compensating controller (14) is connected with axle saturation detection mechanism (7) on the one hand, be connected with simulated machine model (15) on the other hand, simulated machine model (15) connects numerical value conversion unit (16), numerical value conversion unit (16) and box of tricks (2) be connected, the compensating controller (14) of axle saturation compensation mechanism (8) is connected with pilot control mechanism (1).
5. the full drive electric automobile axle of the four-wheel saturation compensation attitude control method that utilizes the full drive electric automobile axle of four-wheel claimed in claim 4 saturation compensation attitude control system to implement, it is characterized in that: the step of the method is as follows: utilize the voltage of wheel traction motor, current value to detect electromagnetic torque information, when road surface and certain tire interaction force excessive, to produce axle when saturated, the electromagnetic torque T of wheel traction motor
eCan increase thereupon, at this moment, utilize the electromagnetic torque of four the wheel traction motors of the dynamic observation of four torque observers in the axle saturation detection mechanism (7), generate compensation value by axle saturation compensation mechanism, the speed of a motor vehicle of regulating box of tricks (2) is given, adjust simultaneously the four-wheel torque by box of tricks, dynamic disturbances mean allocation to four a wheel traction motor that produces will be taken turns arbitrarily, carry out the dynamic cooperation control of many motors, correct in real time and drive the path, improve the road-holding property of vehicle, the attitude of control vehicle.
6. the full drive electric automobile axle of four-wheel according to claim 5 saturation compensation attitude control method, it is characterized in that: concrete grammar of the present invention is as follows:
1., differential calculates: according to the speed of a motor vehicle and two steering instructions of deflection angle that pilot control mechanism (1) provides, utilize box of tricks (2) to calculate left front, left back, right front and right back four traction electric machines rotational speed setup separately,
,
,
2., utilize four-wheel motor pull-in control system, adopt the rotating speed of Direct Torque Control algorithm control four-wheel traction electric machine, make it follow the tracks of respectively separately given
,
,
,
3., axle saturation detection: utilize the near front wheel torque observer (9), left rear wheel torque observer (10), off front wheel torque observer (11) and off hind wheel torque observer (12) to observe respectively the torque value T of four-wheel traction electric machine
E1, T
E2, T
E3, T
E4, these four torque observe values can characterize out the axle saturated conditions of four wheels,
Recycling weighted average calculation unit (13) takes advantage of a balance parameters to calculate compensation value T after being weighted on average again
f
4., utilize axle saturation compensation controller (14) to introduce four-wheel weighted mean load T
fBy simulated machine model (15) with certain cause the saturated excessive torque disturbance of axle by box of tricks (2) mean compensation algorithm in the four-wheel motor driven systems, the dynamic deviation of four traction electric machines of balance, realize the dynamic cooperation control of four-wheel traction electric machine, adjusting of compensation value regulated by the coefficient of numerical value conversion unit (16).
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| CN201210494455.4A CN102975631B (en) | 2012-11-28 | 2012-11-28 | The full drive electric automobile axle saturation compensation attitude control system of four-wheel and control method |
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| CN201210494455.4A CN102975631B (en) | 2012-11-28 | 2012-11-28 | The full drive electric automobile axle saturation compensation attitude control system of four-wheel and control method |
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| CN102975631B CN102975631B (en) | 2017-10-10 |
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Cited By (6)
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| CN103318051A (en) * | 2013-06-19 | 2013-09-25 | 电子科技大学 | Failure control method for electric drive system of four-wheel drive electric vehicle |
| CN104139777A (en) * | 2013-05-08 | 2014-11-12 | 万都株式会社 | Vehicle running control apparatus and method |
| CN104742888A (en) * | 2015-02-06 | 2015-07-01 | 中国第一汽车股份有限公司 | Full-driven vehicle reference vehicle speed real-time detection method |
| CN106143673A (en) * | 2015-04-25 | 2016-11-23 | 合肥多加农业科技有限公司 | A kind of intelligent distant control 4 wheel driven equipment for plant protection and control method thereof |
| CN108068661A (en) * | 2017-11-15 | 2018-05-25 | 沈阳工业大学 | Electric vehicle aids in excitatory switched reluctance machines trailer system and control method |
| CN109291803A (en) * | 2018-08-21 | 2019-02-01 | 沈阳工业大学 | The stability control method virtually taken turns based on the full drive electric automobile of four-wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104139777A (en) * | 2013-05-08 | 2014-11-12 | 万都株式会社 | Vehicle running control apparatus and method |
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| CN108068661A (en) * | 2017-11-15 | 2018-05-25 | 沈阳工业大学 | Electric vehicle aids in excitatory switched reluctance machines trailer system and control method |
| CN109291803A (en) * | 2018-08-21 | 2019-02-01 | 沈阳工业大学 | The stability control method virtually taken turns based on the full drive electric automobile of four-wheel |
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