CN103935354B - Driving force coordinated control system and the control method of multiaxis independence Electric Motor Wheel vehicle - Google Patents
Driving force coordinated control system and the control method of multiaxis independence Electric Motor Wheel vehicle Download PDFInfo
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- CN103935354B CN103935354B CN201410145972.XA CN201410145972A CN103935354B CN 103935354 B CN103935354 B CN 103935354B CN 201410145972 A CN201410145972 A CN 201410145972A CN 103935354 B CN103935354 B CN 103935354B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/463—Torque
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of driving force coordinated control system and control method thereof of multiaxis independence Electric Motor Wheel vehicle. This control method comprises: relatively measured value and the desired value of yaw velocity, export torque according to the target that result relatively and each axle of multiaxis independence Electric Motor Wheel vehicle and each axle of distance adjustment of axle load barycenter are required; Calculate respectively the revolver of respective shaft and rightly take turns required target torque according to the load pressure of the output torque of the required target of each axle and each wheel. Compared with prior art, driving force coordinated control system of the present invention and control method thereof can coordinate to control according to the position of axle for vehicle load-carrying barycenter the torque of each wheel, difference between desired value and the measured value of the yaw velocity of compensation vehicle in time, thereby make vehicle stable in the process of turning, improved security.
Description
Technical field
The present invention relates to automotive field, relate in particular to driving force coordinated control system and the control thereof of multiaxis independence Electric Motor Wheel vehicleMethod.
Background technology
The independent electronic wd vehicle of multiaxis generally comprises three Electric Motor Wheel more than axle, and each axle comprises revolver and the right sideWheel. Owing to not having bearing to connect revolver and right wheel of same axle, each Electric Motor Wheel by one independently wheel hub motor driveMoving. The normally each motor of the independent electronic wd vehicle of multiaxis of the prior art is shared out equally the required total driving moment of car loadAnd there is no differential mechanism mechanical device. Therefore, this vehicle easily causes because the driving moment of each independent Electric Motor Wheel is inharmoniousTurn to unstable, thereby reduced steering safety.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of driving force coordinated control system of multiaxis independence Electric Motor Wheel vehicleAnd control method, in the process of turning in operation at multiaxis independence Electric Motor Wheel vehicle, coordinate in time each Electric Motor Wheel driving forceSquare, thus make multiaxis independence Electric Motor Wheel vehicle stable direction, improve steering safety.
The present invention solves its technical problem and adopts following technical scheme:
The driving force coordinated control system that the invention provides a kind of multiaxis independence Electric Motor Wheel vehicle, described control system comprises:
Multiaxis independence Electric Motor Wheel, each axle of described multiaxis independence Electric Motor Wheel comprises revolver and right wheel, described revolver and described inRight wheel comprises respectively wheel hub motor, and the output torque of described wheel hub motor has determined the moment of described Electric Motor Wheel;
It is characterized in that, described control system also comprises:
Steering wheel angle sensor, for responding to the corner of steering wheel of described vehicle, and produces and represents first of described cornerInduced signal;
Yaw-rate sensor, for detection of the yaw velocity of described vehicle, and the described yaw velocity of generation expressionThe second induced signal of measured value;
Multiple LOAD CELLSs, described multiple LOAD CELLSs are assemblied in respectively each wheel of described multiaxis independence Electric Motor Wheel,Described multiple LOAD CELLS detects respectively the load pressure of corresponding wheel, and produces respectively the multiple of the described load pressure of expressionThe 3rd induced signal; And
The motor being connected with described steering wheel angle sensor, described yaw-rate sensor and described LOAD CELLS drivesForce controller, for receiving described the first induced signal, described the second induced signal and described the 3rd induced signal, and producesMultiple Electric Motor Wheel control signals, to control respectively the output torque of each wheel hub motor in described multiaxis independence Electric Motor Wheel,
Wherein, described motor driving force controller determines the yaw of described vehicle according to described the first induced signal and current vehicle speedThe desired value of angular speed, calculates the axle load barycenter position of described vehicle, and calculates institute according to described the 3rd induced signalState the distance of axle load barycenter to each axle of described multiaxis independence Electric Motor Wheel,
Measured value and the desired value of the more described yaw velocity of described motor driving force controller, according to the result of described comparisonThe target output torque required with each axle of multiaxis described in described distance adjustment, according to the required target of described each axleThe load pressure of output torque and described each wheel is calculated respectively revolver and the right target moment of taking turns of respective shaft, and passes through instituteThe output torque of stating the wheel hub motor of Electric Motor Wheel control signal control respective shaft equals corresponding described target moment,
Wherein, described multiaxis independence Electric Motor Wheel comprises the first axle, the second axle and the 3rd axle, described the first axle and described axle loadDistance between barycenter is greater than the distance between described the second axle and described axle load barycenter, described the 3rd axle and described axle loadDistance between barycenter is greater than the distance between described the second axle and described axle load barycenter; When described measured value is less than described orderWhen scale value, described motor driving force controller increases the output torque of described the first axle, and the output that reduces described the second axle turnsSquare; In the time that described measured value is greater than described desired value, described motor driving force controller reduces the output torque of described the first axle,And increase the output torque of described the second axle.
In one embodiment, the total driving torque of target of the average described vehicle of described motor driving force controller, to obtainState the target drive torque of multiaxis independence Electric Motor Wheel axis; In the time that described yaw velocity measured value is less than described desired value, instituteState the output torque that motor driving force controller makes described the first axle increases k doubly on the basis of described target drive torque,And the output torque that makes described the second axle reduces k doubly on the basis of described target drive torque; When described measured value is greater thanWhen described desired value, the output torque that described motor driving force controller makes described the first axle is at described target drive torqueOn basis, reduce m doubly, and make the output torque of described the second axle on the basis of described target drive torque, increase m doubly;Wherein, described k and described m are constant.
In one embodiment, if the wheel hub motor in described the first axle Electric Motor Wheel reaches specified maximum output torque, and work asWhen described yaw velocity measured value is less than described desired value, described motor driving force controller makes the output of described the 3rd axleTorque increases n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant.
In one embodiment, described motor driving force controller calculates respectively each axle revolver and the right side in described multiple axleRatio between load pressure and described revolver and the described right load pressure sum of taking turns of wheel, and count respectively according to described ratioCalculate described revolver and the described right output torque of taking turns, wherein, the output torque of described revolver equals the load pressure of described revolverThe ratio that accounts for described load pressure sum is multiplied by corresponding axle output torque, and the described right output torque of taking turns equals described right wheelThe ratio that load pressure accounts for described load pressure sum is multiplied by corresponding axle output torque.
The present invention also provides a kind of control method of multiaxis independence Electric Motor Wheel vehicle, and described multiaxis independence Electric Motor Wheel vehicle comprisesMultiaxis independence Electric Motor Wheel, wherein, each axle of described multiaxis independence Electric Motor Wheel comprises revolver and right wheel, described revolver and instituteState right wheel and comprise respectively wheel hub motor, the output torque of described wheel hub motor has determined the moment of described Electric Motor Wheel,
It is characterized in that, described control method comprises:
Receive the first induced signal that represents described steering wheel for vehicle corner;
Receive the second induced signal of the measured value that represents described Vehicular yaw angular speed;
Receive multiple the 3rd induced signals of the load pressure that represents described multiaxis independence Electric Motor Wheel;
Determine the desired value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed;
Calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal;
Calculate the distance between each axle and the described axle load barycenter of described multiaxis independence Electric Motor Wheel,
The measured value of more described yaw velocity and desired value, according to many described in the result of described comparison and described distance adjustmentThe required target output torque of each axle of axle;
Calculate respectively respective shaft according to the required target output torque of described each axle and the load pressure of described each wheelRevolver and right target torque of taking turns;
Produce multiple Electric Motor Wheel control signals according to described target torque, to control respectively each in described multiaxis independence Electric Motor WheelThe output torque of individual wheel hub motor, wherein, it is required that the output torque of the wheel hub motor of described each axle equals corresponding Electric Motor WheelDescribed target moment;
In the time that the described measured value of described yaw velocity is less than described desired value, increase in described multiaxis independence Electric Motor Wheel firstThe output torque of axle, and reduce the output torque of the second axle in described multiaxis independence Electric Motor Wheel, wherein, described the first axle and instituteThe distance of stating between axle load barycenter is greater than the distance between described the second axle and described axle load barycenter; And
In the time that described measured value is greater than described desired value, reduces the output torque of described the first axle, and increase described the second axleOutput torque.
In one embodiment, the step of described adjusting the first axle and the second axle output torque also comprises:
The total driving torque of target of average described vehicle, turns with the target drives of each axle of obtaining described multiaxis independence Electric Motor WheelSquare;
In the time that described yaw velocity measured value is less than described desired value, described motor driving force controller makes described the first axleOutput torque on the basis of described target drive torque, increase k doubly, and make the output torque of described the second axle describedOn the basis of target drive torque, reduce k doubly, wherein, described k is constant; And
In the time that described measured value is greater than described desired value, described motor driving force controller makes the output torque of described the first axleOn the basis of described target drive torque, reduce m doubly, and make the output torque of described the second axle in described target drivesOn the basis of torque, increase m doubly; Wherein, described m is constant.
In one embodiment, described control method also comprises:
If the wheel hub motor in described the first axle Electric Motor Wheel reaches specified maximum output torque, and when described yaw velocity surveyWhen value is less than described desired value, described motor driving force controller makes the output of the 3rd axle in described multiaxis independence Electric Motor WheelTorque increases n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant, the described the 3rdDistance between axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.
In one embodiment, the step of the revolver of described calculating respective shaft and right target torque of taking turns also comprises:
Calculate respectively each axle revolver in described multiple axle and right load pressure of taking turns and described revolver and described right wheelRatio between load pressure sum, and calculate respectively described revolver and the described right output torque of taking turns according to described ratio, itsIn, the ratio that the load pressure that the output torque of described revolver equals described revolver accounts for described load pressure sum is multiplied by correspondingAxle output torque, the described right output torque of taking turns equals the ratio that described right load pressure of taking turns accounts for described load pressure sum and takes advantage ofWith corresponding axle output torque.
Compared with prior art, driving force coordinated control system and the control method thereof of multiaxis independence Electric Motor Wheel vehicle of the present inventionCan coordinate to control according to the position of axle for vehicle load-carrying barycenter the torque of each wheel, to compensate in time the yaw of vehicleDifference between desired value and the measured value of angular speed, thus make vehicle stable in the process of turning, improve peaceQuan Xing.
Brief description of the drawings
Figure 1 shows that the structure of the driving force coordinated control system of multiaxis independence Electric Motor Wheel vehicle according to an embodiment of the inventionSchematic diagram.
Fig. 2 A and Fig. 2 B are the schematic diagram of multiaxis independence Electric Motor Wheel according to an embodiment of the invention.
Figure 3 shows that the flow process of the driving force control method for coordinating of multiaxis independence Electric Motor Wheel vehicle according to an embodiment of the inventionFigure.
Detailed description of the invention
To embodiments of the invention be provided to detailed explanation below. Although the present invention carries out in connection with some detailed description of the inventionSet forth and explanation, but it should be noted that the present invention is not merely confined to these embodiments. On the contrary, the present invention is enteredRow amendment or be equal to replacement, all should be encompassed in the middle of claim scope of the present invention.
In addition, for better explanation the present invention, in detailed description of the invention below, provided numerous details. ThisThose skilled in the art will understand, and there is no these details, and the present invention can implement equally. In other example, rightMethod, flow process, element and the circuit known in everybody are not described in detail, so that highlight purport of the present invention.
Figure 1 shows that the driving force coordinated control system 100 of multiaxis independence Electric Motor Wheel vehicle according to an embodiment of the inventionStructural representation. Driving force coordinated control system 100 comprises multiaxis independence Electric Motor Wheel 101_1～105_2. At the embodiment of Fig. 1In, multiaxis independence Electric Motor Wheel vehicle comprises five axles, wherein, each axle comprises revolver and right wheel. For example: the first axleComprise revolver 101_1 and the right 101_2 of wheel; The second axle comprises revolver 102_1 and the right 102_2 of wheel; The 3rd axle comprises revolver 103_1With the right 103_2 that takes turns; The 4th axle comprises revolver 104_1 and the right 104_2 of wheel; The 5th axle comprises revolver 105_1 and the right 105_2 of wheel.What deserves to be explained is, multiaxis independence Electric Motor Wheel vehicle can also comprise other be more than or equal to three the number of axle (for example: four axles orSix axles), and be not limited to five axles shown in Fig. 1. In one embodiment, the independent Electric Motor Wheel in each axle includesWheel hub motor, for driving respectively corresponding independent Electric Motor Wheel. Wherein, the output torque of wheel hub motor has determined corresponding electronicThe moment of wheel, has also just determined angular speed and the linear velocity of corresponding Electric Motor Wheel.
In one embodiment, driving force coordinated control system 100 also comprises pedal sensor 112, steering wheel angle sensingDevice 114, yaw-rate sensor 120, multiple LOAD CELLS 122 and motor driving force coordinating control module 118. Step onPlate sensor 112 is arranged on the universal driving shaft of multiaxis independence Electric Motor Wheel vehicle gas pedal below, and for perception, driver steps on oilThe stroke of door. Pedal sensor 112 produces the throttle induced signal 130 that represents throttle operation displacement. Steering wheel angle sensingDevice 114 is installed on the axle of multiaxis independence Electric Motor Wheel vehicle steering wheel below. Steering wheel angle sensor 114 is many for responding toThe steering wheel angle of axle independence Electric Motor Wheel vehicle, and produce the first induced signal 132 that represents this corner. Yaw velocity passesSensor 120 is arranged on the vehicle chassis below multiaxis independence Electric Motor Wheel vehicle driver's cabin armrest box. Yaw-rate sensor120 detect the yaw velocity of multiaxis independence Electric Motor Wheel vehicle, and produce the second sense of the measured value that represents this yaw velocityInduction signal 134. Multiple LOAD CELLSs 122 are installed on respectively on each Electric Motor Wheel shaft coupling of multiaxis independence Electric Motor Wheel vehicle.LOAD CELLS 122 detects respectively the load pressure of corresponding wheel, and produces respectively multiple the 3rd senses that represent this load pressureInduction signal 136. Motor driving force controller 118 and steering wheel angle sensor 114, yaw-rate sensor 120 andLOAD CELLS 122 is connected. Motor driving force controller 118 receive throttle induced signal 130, the first induced signal 132,The second induced signal 134 and the 3rd induced signal 136, and produce multiple Electric Motor Wheel control signals according to these induced signals140, to control respectively the output torque of each wheel hub motor in multiaxis independence Electric Motor Wheel.
More particularly, motor driving force controller 118 calculates multiaxis independence Electric Motor Wheel vehicle according to throttle induced signal 130Required target moment, and control the output torque of each wheel hub motor by multiple Electric Motor Wheel control signals 140, thus makeThe thrust forward that obtains multiaxis independence Electric Motor Wheel vehicle equals this target moment, and multiaxis independence Electric Motor Wheel vehicle is according to driverOperation move forward.
Below the method that motor driving force controller 118 is calculated to target moment is illustrated.
For example, for the independent electronic wd vehicle of five axles shown in Fig. 1, driver's demand drive power square can be expressed as:
Wherein, vehicle maximum drive momentCan be expressed as:
Wherein,Represent single wheel hub motor maximum output torque. Suc as formula 1) shown in, driving according to driver's operation customMember gives and drives pedal pressing force and gross pressure stroke percentage KaccWhile being 0% to 5%, general objective driving torque demand is 0; WhenKaccWhile being greater than 5%, total driving power demand and pedal pressing force are proportionate relationship.
In turning, motor driving force controller 118 determines that according to the first induced signal 132 and current vehicle speed multiaxis is onlyThe desired value of the yaw velocity of vertical Electric Motor Wheel vehicle. What deserves to be explained is, the yaw velocity in the present invention refers to that multiaxis is onlyVertical Electric Motor Wheel vehicle is around the deflection speed of vertical axis. In the process of normal turning driving, ground is in the face of multiaxis independence Electric Motor WheelProduce the thrust of different sizes, thereby multiaxis independence Electric Motor Wheel vehicle can be turned smoothly. The desired value of yaw velocityBe defined as the size of can the steady trun required yaw velocity of multiaxis independence Electric Motor Wheel vehicle. If independent Electric Motor Wheel vehicleActual yaw velocity be less than its desired value, the independent Electric Motor Wheel vehicle rightabout lateral deviation of can turning. If solelyThe actual yaw velocity of vertical Electric Motor Wheel vehicle is greater than its desired value, and the side of turn direction can occur independent Electric Motor Wheel vehiclePartially. Below either way may affect the stability in turn inside diameter process.
Advantage is, motor driving force controller 118 can be according to the desired value of yaw velocity, the second induced signal 134With the torque of the each Electric Motor Wheel of the 3rd induced signal 136 real time coordination, thereby make actual yaw velocity equal its targetValue, to keep independent electric wheel truck stable.
More particularly, motor driving force controller 118 calculates the axle load barycenter institute of vehicle according to the 3rd induced signal 136In position, and calculate the distance between each axle and the axle load barycenter of multiaxis independence Electric Motor Wheel. Then, motor driving forceRelatively measured value (for example: the second induced signal) and the desired value of yaw velocity of controller 118. The control of motor driving forceDevice 118 is defeated according to the required target of each axle of distance adjustment between result and each axle and axle load barycenter relativelyGo out torque, and calculate respectively respective shaft according to the load pressure of the output torque of the required target of each axle and each wheelRevolver and right target moment of taking turns, and the output torque of wheel hub motor by Electric Motor Wheel control signal control respective shaft equals rightThe target moment of answering.
Wherein, multiaxis independence Electric Motor Wheel comprises the first axle, the second axle and the 3rd axle. The first axle, the second axle and the 3rd axle and axleThe distance difference of load-carrying barycenter. If the distance of setting between the first axle and axle load barycenter is greater than the second axle and axle load barycenterBetween distance,, in the time that the measured value of yaw velocity is less than desired value, motor driving force controller 118 increases by the first axleOutput torque, and reduce the output torque of the second axle; In the time that measured value is greater than desired value, motor driving force controller 118Reduce the output torque of the first axle, and increase the output torque of the second axle.
In one embodiment, the adjusting of above-mentioned the first axle and the second axle can be to increase and reduce identical multiple. That is to say,The total driving torque of target of motor driving force controller 118 average independent Electric Motor Wheel vehicles, to obtain in multiaxis independence Electric Motor WheelThe target drive torque of each axle. In the time that measured value is less than desired value, motor driving force controller 118 makes the first axleOutput torque increases k doubly, and makes the output torque of the second axle reduce k doubly; In the time that measured value is greater than desired value, motor drivesPower controller 118 makes the output torque of the first axle reduce m doubly, and makes the output torque of the second axle increase m doubly;Wherein, k and m are constant.
In addition, if the wheel hub motor in the first axle Electric Motor Wheel reaches specified maximum output torque, and when yaw velocity measurementWhen value is less than desired value, motor driving force controller 118 makes the output torque of the 3rd axle increase n doubly, and makes the second axleOutput torque reduce n doubly; Wherein, n is constant.
Finally, the output torque of the each Electric Motor Wheel of torque control after motor driving force controller 118 regulates according to each axle,Can realize the adjusting of the yaw velocity of independent electric wheel truck, thereby make the measured value of yaw velocity equal its targetValue.
Further describe motor driving force controller 118 and coordinate the torque of each Electric Motor Wheel below with reference to Fig. 2 A and Fig. 2 BOperation principle.
Fig. 2 A and Fig. 2 B are the schematic diagram of multiaxis independence Electric Motor Wheel according to an embodiment of the invention. At Fig. 2 A and Fig. 2 BEmbodiment in, multiaxis independence Electric Motor Wheel comprises five axles, these five axles can be represented respectively by the form of (revolver, right wheel)For (101_1,101_2), (102_1,102_2), (103_1,103_2), (104_1,104_2) and (105_1,105_2). In Fig. 2 A, the axle load barycenter G1 of multiaxis independence electric automobile is positioned at axle (102_1,102_2) and axleBetween (103_1,103_2). In Fig. 2 B, the axle load barycenter G2 of multiaxis independence electric automobile be positioned at axle (103_1,103_2) and between axle (104_1,104_2). When Fig. 2 A and Fig. 2 B show the right-hand rotation of multiaxis independence electric wheel truckSituation.
Below by the computing formula of derivation yaw velocity. In the time of multiaxis independence electric vehicle motion, its yaw resultant moment
∑MziCan be by formula 3) represent:
∑Mzi=(Fxl1cosδl1-Fxr1cosδr1+Fxl2cosδl2-Fxr2cosδr2+Fxl3cosδl3-Fxr3cosδr3
+Fxl4cosδl4-Fxr4cosδr4+Fxl5cosδl5-Fxr5cosδr5)Bf
+(Fyr1sinδr1-Fyl1sinδl1+Fyr2sinδr2-Fyl2sinδl2+Fyr3sinδr3-Fyl3sinδl3+Fyr4sinδr4-Fyl4sinδl4+Fyr5sinδr5-Fyl5sinδl5)Br
+(Fyl1cosδl1+Fyr1cosδr1+Fxl1sinδl1+Fxfr1sinδr1)L1
+(Fyl2cosδl2+Fyr2cosδr2+Fxl2sinδl2+Fxr2sinδr2)L2
+(Fyl3cosδl3+Fyr3cosδr3+Fxl3sinδl3+Fxr3sinδr3)L3
+(Fyl4cosδl4+Fyr4cosδr4+Fxl4sinδl4+Fxr4sinδr4)L4
+(Fyl5cosδl5+Fyr5cosδr5+Fxl5sinδl5+Fxr5sinδr5)L53）
Wherein, Fxl1And Fxr1Represent respectively axle (101_1,101_2) revolver and right longitudinal force of taking turns;
Fyl1、Fyr1Represent the right cross force of taking turns of the 1st axle revolver;
Fxl2、Fxr2Represent the right longitudinal force of taking turns of the 2nd axle revolver;
Fyl2、Fyr2Represent the right cross force of taking turns of the 2nd axle revolver;
Fxl3、Fxr3Represent the right longitudinal force of taking turns of the 3rd axle revolver;
Fyl3、Fyr3Represent the right cross force of taking turns of the 3rd axle revolver;
Fxl4、Fxr4Represent the right longitudinal force of taking turns of the 4th axle revolver;
Fyl4、Fyr4Represent the right cross force of taking turns of the 4th axle revolver;
Fxl5、Fxr5Represent the right longitudinal force of taking turns of the 5th axle revolver;
Fyl5、Fyr5Represent the right cross force of taking turns of the 5th axle revolver;
δl1、δr1、δl2、δr2、δl3、δr3、δl4、δr4、δl5And δr5Represent respectively the corner of revolver 101_1, right wheelThe corner of 101_2 corner, revolver 102_1 corner, the right 102_2 of wheel corner, revolver 103_1, right take turns 103_2 corner,The corner of revolver 104_1 corner, the right 104_2 of wheel corner, revolver 105_1 and the right 105_2 corner of taking turns; Bf、BrRespectivelyRepresent distance and the right distance of taking turns limit and barycenter of revolver limit and barycenter; L1、L2、L3、L4And L5Represent each axle and barycenterDistance.
The yaw velocity of multiaxis independence electric automobile can be by formula 4) represent:
Wherein, IzRepresent the rotary inertia of rolling motion in vehicle, IxzExpression spring carried mass is long-pending around x axle and z axle rotary inertia,Represent the yaw angle acceleration of independent electric wheel truck,Represent vehicle spring carried mass roll angle acceleration.
Convolution 3) and formula 4) can find out that Vehicular yaw angular acceleration is determined by yaw resultant moment. Independent electric wheel truckYaw velocity determined by Vehicular yaw angular acceleration. By formula 3) can find out Vehicular yaw resultant moment and each wheel drivePower and correspondence are respectively taken turns to the position of barycenter relevant. Therefore, in Fig. 2 A, if the measured value of yaw velocity is less than targetValue, is ensureing under the constant prerequisite of current total driving torque, increase from barycenter away from axle (for example: axle (101_1,101_2))Target drive torque, for example reduce, from the target drive torque of barycenter more paraxial (: axle (102_1,102_2)) simultaneously,Can improve Vehicular yaw torque, to increase yaw angle acceleration, thereby increase actual yaw velocity, be i.e. yaw velocityMeasured value. In like manner, if the measured value of yaw velocity is greater than desired value, for the prerequisite that ensures that total driving torque is constant, subtractLittle from barycenter away from the target drive torque of axle (for example: axle (101_1,101_2)), increase from the more paraxial (example of barycenter simultaneouslyAs axle (102_1,102_2)) target drive torque, can reduce Vehicular yaw torque, reducing yaw angle acceleration,Thereby reduce actual yaw velocity. The situation of Fig. 2 B can regulate by similar method.
Each axle left and right Electric Motor Wheel In-wheel motor driving moment coordinated allocation is according to this axle left and right wheels load-bearing pressure distribution left and right wheel hubMotor target torque. Multiple-axle vehicle is in the time of straight-line travelling, and each axle left and right wheels load-bearing pressure changes less, each axle left and right wheel hub electricityIt is less that machine target drive torque changes fluctuation, and in the time of the recessed road surface of wheel of vehicle process, this is taken turns load-bearing pressure and will increase; Work as wheelDuring through convex surface, this is taken turns load-bearing pressure and will reduce. Change and adjust left and right wheel hub according to each axle left and right wheels pressure proportion of weighingMotor output torque, the each axle left and right wheels of Real-Time Monitoring load-bearing pressure, adjusts left and right wheel hub motor driving torque, can make vehicle existRoughness pavement driving stability; Multiple-axle vehicle is in the time turning to, and each axle left and right wheels load-bearing pressure changes greatly, turns to the interior load-bearing of taking turnsPressure reduces, turn to foreign steamer load-bearing pressure increase, according to each axle left and right wheels weigh pressure proportion change, coordinated allocation is eachAxle left and right wheels driving moment, can further improve multiple-axle vehicle steering stability.
That is to say, left and right wheel hub motor target drive torque calculates according to following formula:
TLn=FLn/(FLn+FRn)*Tn
TRn=FRn/(FLn+FRn)*Tn
TLn、TRnRepresent respectively n axle revolver and right wheel drive moment;
FLn、FRnRepresent respectively n axle left and right wheels load-bearing pressure;
TnRepresent n axle target drive torque;
Advantage is, the driving force coordinated control system 100 of multiaxis independence Electric Motor Wheel vehicle can be according to axle for vehicle load-carrying barycenterPosition coordinate to control the torque of each wheel, compensate in time the desired value of yaw velocity of vehicle and measured value itBetween difference, thereby make vehicle turn process in stable, improved safety in operation.
Figure 3 shows that the driving force control method for coordinating 300 of multiaxis independence Electric Motor Wheel vehicle according to an embodiment of the inventionFlow chart.
In step 302, receive the first induced signal that represents described steering wheel for vehicle corner. In step 304, receiveRepresent the second induced signal of the measured value of described Vehicular yaw angular speed. In step 306, receive and represent that described multiaxis is onlyMultiple the 3rd induced signals of the load pressure of vertical Electric Motor Wheel. In step 308, according to described the first induced signal and currentThe speed of a motor vehicle determines the desired value of the yaw velocity of described vehicle. In step 310, calculate institute according to described the 3rd induced signalState the axle load barycenter position of vehicle. In step 312, calculate each axle and the institute of described multiaxis independence Electric Motor WheelState the distance between axle load barycenter.
In step 314, the measured value of more described yaw velocity and desired value, according to the result of described comparison and described inThe required target output torque of each axle of multiaxis described in distance adjustment.
Multiple axles of described vehicle comprise the first axle, the second axle and the 3rd axle. Wherein, described the first axle and described axle load matterDistance between the heart is greater than the distance between described the second axle and described axle load barycenter. Described the 3rd axle and described axle load matterDistance between the heart is greater than the distance between described the second axle and described axle load barycenter. When the described survey of described yaw velocityWhen value is less than described desired value, increases the output torque of the first axle in described multiaxis independence Electric Motor Wheel, and reduce described multiaxisThe output torque of the second axle in independent Electric Motor Wheel; In the time that described measured value is greater than described desired value, reduce the defeated of described the first axleGo out torque, and increase the output torque of described the second axle.
In one embodiment, the total driving torque of the target of average described vehicle, to obtain the each of described multiaxis independence Electric Motor WheelThe target drive torque of axle. In the time that described yaw velocity measured value is less than described desired value, described motor driving force controllerMake the output torque of described the first axle on the basis of described target drive torque, to increase k doubly, and make described the second axleOutput torque reduces k doubly on the basis of described target drive torque, and wherein, described k is constant. When described measured value largeIn the time of described desired value, described motor driving force controller makes the output torque of described the first axle at described target drive torqueBasis on reduce m doubly, and make the output torque of described the second axle increase m on the basis of described target drive torqueDoubly; Wherein, described m is constant.
In one embodiment, if the wheel hub motor in described the first axle Electric Motor Wheel reaches specified maximum output torque, and work asWhen described yaw velocity measured value is less than described desired value, described motor driving force controller makes described multiaxis independent electronicIn wheel, the output torque of the 3rd axle increases n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described nFor constant, the distance between described the 3rd axle and described axle load barycenter is greater than between described the second axle and described axle load barycenterDistance.
In step 316, divide according to the required target output torque of described each axle and the load pressure of described each wheelDo not calculate revolver and the right target torque of taking turns of respective shaft.
In step 318, produce multiple Electric Motor Wheel control signals according to described target torque, only to control respectively described multiaxisThe output torque of each wheel hub motor in vertical Electric Motor Wheel, wherein, the output torque of the wheel hub motor of described each axle equalsThe required described target moment of corresponding Electric Motor Wheel.
Above detailed description of the invention and accompanying drawing are only the present invention's conventional embodiment. Obviously, do not departing from claims institute circleUnder fixed the present invention's spirit and the prerequisite of invention scope, can there be various supplements, amendment and replacement. Those skilled in the art shouldUnderstand, the present invention in actual applications can according to concrete environment and job requirement under the prerequisite that does not deviate from invention criterion shapeFormula, structure, layout, ratio, material, element, assembly and other side change to some extent. Therefore, in the enforcement of this disclosureExample is only illustrative rather than definitive thereof, and the present invention's scope is defined by appended claim and legal equivalents thereof, and is not limited to thisFront description.
Claims (8)
1. a control system for multiaxis independence Electric Motor Wheel vehicle, described control system comprises:
Multiaxis independence Electric Motor Wheel, each axle of multiaxis independence Electric Motor Wheel comprises revolver and right wheel, and revolver and right wheel comprise respectively wheel hub motor, and the output torque of wheel hub motor has determined the moment of Electric Motor Wheel;
It is characterized in that, control system also comprises:
Steering wheel angle sensor, for the corner of the steering wheel of sense vehicle, and produces the first induced signal that represents corner;
Yaw-rate sensor, for detection of the yaw velocity of vehicle, and generation represents the second induced signal of the measured value of yaw velocity;
Multiple LOAD CELLSs, multiple LOAD CELLSs are assemblied in respectively each wheel of multiaxis independence Electric Motor Wheel, and multiple LOAD CELLSs detect respectively the load pressure of corresponding wheel, and produce multiple the 3rd induced signals that represent load pressure respectively; And
The motor driving force controller being connected with steering wheel angle sensor, yaw-rate sensor and LOAD CELLS, be used for receiving the first induced signal, the second induced signal and the 3rd induced signal, and produce multiple Electric Motor Wheel control signals, to control respectively the output torque of each wheel hub motor in multiaxis independence Electric Motor Wheel
Wherein, motor driving force controller determines the desired value of the yaw velocity of vehicle according to the first induced signal and current vehicle speed, calculate the axle load barycenter position of vehicle according to the 3rd induced signal, and reference axis load-carrying barycenter is to the distance of each axle of multiaxis independence Electric Motor Wheel
Motor driving force controller is measured value and the desired value of yaw velocity relatively, the target output torque required according to each axle of result relatively and distance adjustment multiaxis, calculate respectively revolver and the right target moment of taking turns of respective shaft according to the load pressure of the required target output torque of each axle and each wheel, and the output torque of wheel hub motor by Electric Motor Wheel control signal control respective shaft equals corresponding target moment
Wherein, multiaxis independence Electric Motor Wheel comprises the first axle, the second axle and the 3rd axle, distance between the first axle and axle load barycenter is greater than the distance between the second axle and axle load barycenter, and the distance between the 3rd axle and axle load barycenter is greater than the distance between the second axle and axle load barycenter; In the time that the measured value of yaw velocity is less than desired value, motor driving force controller increases the output torque of the first axle, and reduces the output torque of the second axle; In the time that measured value is greater than desired value, motor driving force controller reduces the output torque of the first axle, and increases the output torque of the second axle.
2. the control system of multiaxis independence Electric Motor Wheel vehicle according to claim 1, is characterized in that, the total driving torque of target of the average vehicle of motor driving force controller, to obtain the target drive torque of multiaxis independence Electric Motor Wheel axis; In the time that yaw velocity measured value is less than desired value, motor driving force controller makes the output torque of the first axle on the basis of target drive torque, increase k doubly, and makes the output torque of the second axle on the basis of target drive torque, reduce k doubly; In the time that measured value is greater than desired value, motor driving force controller makes the output torque of the first axle on the basis of target drive torque, reduce m doubly, and makes the output torque of the second axle on the basis of target drive torque, increase m doubly; Wherein, k and m are constant.
3. the control system of multiaxis independence Electric Motor Wheel vehicle according to claim 1 and 2, it is characterized in that, if the wheel hub motor in the first axle Electric Motor Wheel reaches specified maximum output torque, and in the time that yaw velocity measured value is less than desired value, motor driving force controller makes the output torque of the 3rd axle increase n doubly, and makes the output torque of the second axle reduce n doubly; Wherein, n is constant.
4. the control system of multiaxis independence Electric Motor Wheel vehicle according to claim 1, it is characterized in that, motor driving force controller calculates respectively the ratio between each axle revolver and right load pressure of taking turns and revolver and the right load pressure sum of taking turns in multiple axles, and calculate respectively revolver and the right output torque of taking turns according to ratio, wherein, the ratio that the load pressure that the output torque of revolver equals revolver accounts for load pressure sum is multiplied by corresponding axle output torque, the right output torque of taking turns equals the ratio that right load pressure of taking turns accounts for load pressure sum and is multiplied by corresponding axle output torque.
5. the control method of a multiaxis independence Electric Motor Wheel vehicle, multiaxis independence Electric Motor Wheel vehicle comprises multiaxis independence Electric Motor Wheel, wherein, each axle of multiaxis independence Electric Motor Wheel comprises revolver and right wheel, revolver and right wheel comprise respectively wheel hub motor, the output torque of wheel hub motor has determined the moment of Electric Motor Wheel
It is characterized in that, control method comprises:
Receive the first induced signal that represents steering wheel for vehicle corner;
Receive the second induced signal of the measured value that represents Vehicular yaw angular speed;
Receive multiple the 3rd induced signals of the load pressure that represents multiaxis independence Electric Motor Wheel;
According to the desired value of the yaw velocity of the first induced signal and current vehicle speed decision vehicle;
Calculate the axle load barycenter position of vehicle according to the 3rd induced signal;
Distance between each axle and the axle load barycenter of calculating multiaxis independence Electric Motor Wheel,
Relatively measured value and the desired value of yaw velocity, the target output torque required according to each axle of result relatively and distance adjustment multiaxis;
Calculate respectively revolver and the right target torque of taking turns of respective shaft according to the load pressure of the required target output torque of each axle and each wheel;
Produce multiple Electric Motor Wheel control signals according to target torque, to control respectively the output torque of each wheel hub motor in multiaxis independence Electric Motor Wheel, wherein, the output torque of the wheel hub motor of each axle equals the required target moment of corresponding Electric Motor Wheel; In the time that the measured value of yaw velocity is less than desired value, increase the output torque of the first axle in multiaxis independence Electric Motor Wheel, and reduce the output torque of the second axle in multiaxis independence Electric Motor Wheel, wherein, the distance between the first axle and axle load barycenter is greater than the distance between the second axle and axle load barycenter; And
In the time that measured value is greater than desired value, reduces the output torque of the first axle, and increase the output torque of the second axle.
6. the control method of multiaxis independence Electric Motor Wheel vehicle according to claim 5, is characterized in that, the step of controlling the output torque of each wheel hub motor in multiaxis independence Electric Motor Wheel also comprises:
The total driving torque of target of average vehicle, to obtain the target drive torque of each axle of multiaxis independence Electric Motor Wheel;
In the time that yaw velocity measured value is less than desired value, motor driving force controller makes the output torque of the first axle on the basis of target drive torque, increase k doubly, and the output torque that makes the second axle reduces k doubly on the basis of target drive torque, wherein, k is constant; And
In the time that measured value is greater than desired value, motor driving force controller makes the output torque of the first axle on the basis of target drive torque, reduce m doubly, and makes the output torque of the second axle on the basis of target drive torque, increase m doubly; Wherein, m is constant.
7. according to the control method of the multiaxis independence Electric Motor Wheel vehicle described in claim 5 or 6, it is characterized in that, also comprise:
If the wheel hub motor in the first axle Electric Motor Wheel reaches specified maximum output torque, and in the time that yaw velocity measured value is less than desired value, motor driving force controller makes the output torque of the 3rd axle in multiaxis independence Electric Motor Wheel increase n doubly, and makes the output torque of the second axle reduce n doubly; Wherein, n is constant, and the distance between the 3rd axle and axle load barycenter is greater than the distance between the second axle and axle load barycenter.
8. the control method of multiaxis independence Electric Motor Wheel vehicle according to claim 5, is characterized in that, calculates the revolver of respective shaft and the step of right target torque of taking turns and also comprises:
Calculate respectively the ratio between each axle revolver and right load pressure of taking turns and revolver and the right load pressure sum of taking turns in multiple axles, and calculate respectively revolver and the right output torque of taking turns according to ratio, wherein, the ratio that the load pressure that the output torque of revolver equals revolver accounts for load pressure sum is multiplied by corresponding axle output torque, and the right output torque of taking turns equals the ratio that right load pressure of taking turns accounts for load pressure sum and is multiplied by corresponding axle output torque.
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| CN105539202B (en) * | 2015-12-28 | 2018-04-03 | 航天重型工程装备有限公司 | A kind of multiaxis mine car torque distribution method and device |
| CN107600171B (en) * | 2017-08-08 | 2020-12-01 | 清华大学 | Steering method of wheel edge/hub driven multi-shaft vehicle |
| CN107521377B (en) * | 2017-08-25 | 2020-06-16 | 英华达（上海）科技有限公司 | Automatic guided vehicle power driving system and method and automatic guided vehicle system |
| CN112238896B (en) * | 2019-07-18 | 2021-10-22 | 上海燧方智能科技有限公司 | Vehicle steering method, system, steering method of running mechanism and running mechanism |
| CN110962626B (en) * | 2019-12-27 | 2022-07-22 | 吉林大学 | Self-adaptive electronic differential control method for multi-shaft hub motor driven vehicle |
| CN111572531B (en) * | 2020-05-01 | 2021-09-14 | 东风汽车集团有限公司 | Self-learning method for torque deviation of full transmission part of hybrid vehicle |
| CN112319602B (en) * | 2020-11-16 | 2023-10-31 | 吉林大学 | 6X4 electric automobile chassis system capable of realizing all-wheel steering and steering control method |
| CN113715852B (en) * | 2021-11-01 | 2022-02-15 | 中铁工程服务有限公司 | Power dispersion type electric locomotive device |
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| CN101189149A (en) * | 2005-06-01 | 2008-05-28 | 丰田自动车株式会社 | Vehicle braking/driving force control apparatus |
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