CN104002699A - Control method of distributed driving electric vehicle - Google Patents
Control method of distributed driving electric vehicle Download PDFInfo
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- CN104002699A CN104002699A CN201410225570.0A CN201410225570A CN104002699A CN 104002699 A CN104002699 A CN 104002699A CN 201410225570 A CN201410225570 A CN 201410225570A CN 104002699 A CN104002699 A CN 104002699A
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- electronlmobil
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Abstract
The invention relates to the field of electric vehicle control and discloses a control method of a distributed driving electric vehicle for avoiding the driving instability of electric vehicles on bisectional roads. The control method comprises that a vehicle control unit collects the speed v of the electric vehicle and the rotating speed omega of four wheels to compute out the slippage rates lambda of the four wheels; when the wheel Wi of the four wheels slips and the slippage rate lambda i of the slipping wheel Wi is larger than a slippage controlled target value lambda 0, the vehicle control unit adjusts the driving torque of the slipping wheel Wi through PID (proportion-integration-differentiation) loop control to enable the slippage rate lambda i of the slipping wheel Wi to approach the slippage controlled target value lambda 0 and to enable the rotating speed omega' of a coaxial wheel Wi' to be identical to the rotating speed omega i of the slipping wheel Wi; when the slippage rates lambda of the four wheels are not larger than the slippage controlled target value lambda 0, the vehicle control unit controls the electric vehicle through a corresponding control mode according to the driving requirements of a driver. By controlling the electric vehicle on the bisectional roads through the control method of the distributed driving electric vehicle, the driving stability of the electric vehicle can be improved.
Description
Technical field
The present invention relates to the control field of electronlmobil, relate in particular to the control method to distributed-driving electric automobile.
Background technology
In the face of increasingly serious Energy situation and environmental protection pressure in global range, in recent years, electronlmobil rises and becomes a megatrend of development of automobile gradually.
As shown in Figure 1, its electrokinetic cell 1 is connected with four wheel hub motors 4 that are arranged on four wheels 3 by four inverters 2 drive system of distributed-driving electric automobile, and provides electric power for wheel hub motor 4 drives wheel 3 to rotate.In distributed electric automobile driving process, entire car controller 5 sends control command by inverter 2 to wheel hub motor 4 according to the vehicle-state detecting, and applies driving torque by wheel hub motor 4 to wheel 3, and wheel 3 is rotated.Owing to not assembling traditional mechanical drive assemblies such as power-transfer clutch, change-speed box, transmission shaft, between centers Limited slip differential and inter-wheel differential on distributed-driving electric automobile, between wheel, be not also rigidly connected, and four wheels rely on entire car controller directly to wheel hub motor distribution of torque and individual drive, therefore when this distributed-driving electric automobile is being split while giving it the gun on road surface, once this adhesion value of a dypass face of splitting road surface is too low, this electronlmobil is positioned at this low wheel adhering on road surface and easily trackslips.As shown in Figure 2, in the time that the slippage rate of wheel is greater than 20%, electronlmobil enters the unstable region of trackslipping, cause adhesion value between wheel and road surface to reduce, especially the lateral adhesion coefficient between wheel and road surface sharply declines, and then cause electronlmobil generation yaw, the riding stability of electronlmobil is destroyed.
Summary of the invention
For avoiding electronlmobil in the time splitting that road surface is up sails, because the too low wheel that causes electronlmobil of a side coefficient of road adhesion of splitting road surface trackslips, electronlmobil generation yaw and unstable, the present invention proposes a kind of control method of distributed-driving electric automobile, the entire car controller of described electronlmobil gathers the speed of a motor vehicle v of described electronlmobil, the rotational speed omega of four wheels, and calculates respectively the slippage rate λ of described four wheels;
When having wheel W in described four wheels
itrackslip, and this wheel W that trackslips
islippage rate λ
ibe greater than Slip control expected value λ
0time, described entire car controller adopts PID closed loop control to the described wheel W that trackslips
idriving torque regulate, wheel W trackslips described in making
islippage rate λ
islip control expected value λ described in convergence
0, and to this wheel W that trackslips
icoaxial wheel W
i' rotational speed omega
i' regulate, make this coaxial wheel W
i' rotational speed omega
i' with described in the wheel W that trackslips
irotational speed omega
iequate;
When the slippage rate λ of described four wheels is all not more than described Slip control expected value λ
0time, described entire car controller requires to adopt corresponding master mode to control described electronlmobil according to the driving of chaufeur.
Adopt control method of the present invention to travelling in the time splitting electronlmobil on road surface and carry out stability control, make slippage rate convergence and the Slip control expected value of the wheel that electronlmobil may trackslip by PID closed loop control, avoid wheel to occur seriously to trackslip, reduce the free energy consumption of electronlmobil, the wearing and tearing of wheel tyre are alleviated, avoid electronlmobil excessive sideslip and/or sideslip phenomenon to occur because of the yaw moment producing, thereby improved electronlmobil in the riding stability of splitting on road surface.
Preferably, described PID closed loop control is with described Slip control expected value λ
0with the described wheel W that trackslips
islippage rate λ
ibetween deviation as the input of PID controller, and using the output of this PID controller as the wheel W that trackslips described in driving
ithe motor load of wheel hub motor to the wheel W that trackslips described in driving
ithe motor torque T rotating
iregulate.
Preferably, the span of described Slip control expected value is 0.15～0.2.Further, described Slip control expected value is 0.2.Like this, can make the slippage rate of electronlmobil in stable region, avoid electronlmobil to cause riding stability to reduce because Slip control expected value is too high.
Preferably, to the described wheel W that trackslips
icoaxial wheel W
i' rotational speed omega
i' while regulating, described entire car controller carries out Real-time Collection to four of described electronlmobil rotational speed omega of wheel and the speed of a motor vehicle v of described electronlmobil, and calculates in real time the slippage rate λ of four wheels of described electronlmobil.
Preferably, described entire car controller gathers the rotational speed omega of four wheels of described electronlmobil by wheel speed sensor, and gathers the speed of a motor vehicle v of described electronlmobil by GPS.Like this, the data precision that entire car controller collects is higher, and then improves its control accuracy to electronlmobil.
Brief description of the drawings
Fig. 1 is the drive system schematic diagram of existing distributed electric automobile;
Fig. 2 is the schematic diagram that is related between adhesion value and slip rate;
Fig. 3 is the diagram of circuit of control method of the present invention;
Fig. 4 is the schematic diagram that PID controller regulates the single slippage rate that trackslips wheel;
The simulation result that Fig. 5 is electronlmobil in the time splitting that road surface is up sails and do not adopt control method of the present invention to control it, wherein, the change curve of the slippage rate of the wheel trackslipping that Fig. 5 (a) is electronlmobil; The curve that longitudinal speed of a motor vehicle of Fig. 5 (b) electronlmobil changes; The change curve of the yaw moment that Fig. 5 (c) is electronlmobil;
The simulation result that Fig. 6 is electronlmobil in the time splitting that road surface is up sails and adopt control method of the present invention to control it, wherein, the change curve of the slippage rate of the wheel trackslipping that Fig. 6 (a) shows for Fig. 5 (a); The curve that longitudinal speed of a motor vehicle that Fig. 6 (b) is electronlmobil changes; Fig. 6 (
c) be the change curve of the yaw moment of electronlmobil.
Detailed description of the invention
Control method below in conjunction with Fig. 3 and 4 pairs of distributed-driving electric automobiles of the present invention (being designated hereinafter simply as electronlmobil) is elaborated.
First, gathered the rotational speed omega of four wheels of the speed of a motor vehicle v of this electronlmobil in the time splitting that road surface is up sails, electronlmobil by the entire car controller on electronlmobil, and four wheels that calculate respectively electronlmobil according to formula (1) slippage rate λ in the process of moving
Wherein, the vehicle wheel roll radius that r is electronlmobil.
Preferably, entire car controller gathers the real-time speed of a motor vehicle v of electronlmobil by GPS (Global Positioning System is global positioning system), gathers respectively the real-time rotate speed ω of four wheels of electronlmobil by wheel speed sensor.
When having wheel W in four wheels of electronlmobil
itrackslip, and this wheel W that trackslips
islippage rate λ
ibe greater than Slip control expected value λ
0time, for avoiding electronlmobil because producing the violent yaw of yaw torque, cause electric automobile during traveling unstable, employing PID closed loop control is as shown in Figure 4 to driving the wheel W that trackslips
ithe output torque of wheel hub motor regulate, to reduce the rotational speed omega of the wheel that trackslips
i.Wherein, PID controls and is ratio, integration, differential control, is called again PID and regulates, and its control law is suc as formula shown in (2),
Wherein,
E (t) is the input of PID controller, is the to be regulated wheel W that trackslips
islippage rate λ
iwith Slip control expected value λ
0between deviation,
U (t) is the output of PID controller,
K
pfor the proportionality coefficient of PID controller,
K
ifor the integral coefficient of PID controller,
K
dfor the differential coefficient of PID controller.
Utilizing PID closed loop control to driving the wheel W that trackslips
ithe motor torque T rotating
idrive the wheel W that trackslips
iwhen the output torque of the wheel hub motor rotating regulates, PID controller is with the wheel W that trackslips
islippage rate λ
iwith Slip control expected value λ
0between deviation e (t) as input, and with the output u (t) of PID controller to driving the wheel W that trackslips
ithe output torque of wheel hub motor of rotating regulates, so to the output torque by this wheel hub motor to the wheel W that trackslips
irotational speed omega
iregulate, thereby reduce this wheel W that trackslips
irotational speed omega
i.To the wheel W that trackslips
irotational speed omega
iwhen adjusting, entire car controller pair with trackslip wheel W
icoaxial coaxial wheel W
i' rotational speed omega
i' regulate, until the two is consistent, even if the propulsive effort of the left and right wheels of electronlmobil equates, and then make the yaw moment under operating mode that electronlmobil inputs at bearing circle zero level off to zero, thereby avoid electronlmobil to swing in the process of moving, make electronlmobil keep in the process of moving stable.
When the slippage rate λ of four wheels of electronlmobil is all less than or equal to Slip control expected value λ
0time, entire car controller requires to adopt corresponding car load master mode to control electronlmobil according to the driving of chaufeur.
Known according to the relation of the adhesion value shown in Fig. 2 and slip rate, in the time of slip rate λ≤0.2 of electronlmobil, longitudinal adhesion value of this electronlmobil increases along with the increase of slip rate λ, and approach 1.0 in slip rate λ=0.2 o'clock, the lateral adhesion coefficient of this electronlmobil reduces gradually, but in slip rate λ=0.2 o'clock, this electronlmobil lateral adhesion coefficient is still in 0.55 left and right, therefore this electronlmobil is in stable region; In the time of the slip rate λ of electronlmobil > 0.2, longitudinal adhesion value of this electronlmobil slowly reduces along with the increase of slip rate λ, the lateral adhesion coefficient of this electronlmobil is along with the increase of slip rate λ reduces fast, and when slip rate λ increase to 0.4 time, this electronlmobil lateral adhesion coefficient is to be reduced to below 0.4, in electric automobile during traveling process, easily produce violent yaw, therefore this electronlmobil is in unstable region.For ensureing the riding stability of electronlmobil, the present invention sets Slip control expected value λ
0span be 0.15～0.2, preferably 0.2.
Owing to being distributed in, the motor of the electronlmobil left and right sides is identical, and is symmetrical set, thus adopt ADAMS/view software to set up 1/2nd models of electronlmobil, and carry out emulation for electronlmobil in the stability control of splitting under condition of road surface.In the time setting up 1/2nd model of electronlmobil, the parameter using is as shown in table 1.
Table 1
In the time carrying out emulation experiment, the peak adhesion coefficient of setting the high attachment side of splitting road surface is 0.8, and the peak adhesion coefficient of low attachment side is 0.2.
When electronlmobil does not adopt control method of the present invention in the process of moving, electronlmobil is controlled, and when the left side wheel of electronlmobil is positioned at the low attachment side of splitting road surface, simulation result is as follows: the slippage rate of off front wheel, off hind wheel and the near front wheel of this electronlmobil is all less than 0.2, the slippage rate of left rear wheel changes as shown in Fig. 5 (a), hence one can see that, electronlmobil is in the time that this splits that road surface is up sails, its left rear wheel has not only occurred to trackslip, and because its slippage rate is up to 0.78 left and right, trackslip serious.The electronlmobil speed of a motor vehicle changes as shown in Fig. 5 (b), and hence one can see that, and electronlmobil splits at this that road surface is up sails, and when 15s is accelerated in starting, its longitudinal speed of a motor vehicle reaches 20m/s.The unexpected yaw moment that electronlmobil produces is as shown in Fig. 5 (c), in the time of emulation 5s left and right, the unexpected yaw moment maximum that electronlmobil produces can reach 950Nm, will greatly increase electronlmobil and occur in the process of moving the possibility of sideslip and sideslip.As fully visible, in the time that electronlmobil is splitting that road surface is up sails, if it is not implemented to stability control, it is positioned at the wheel of splitting the low attachment side on road surface and easily trackslips, and when trackslipping when serious, the propulsive effort of the output of the wheel that trackslips is had a greatly reduced quality, cause electronlmobil to produce larger yaw moment, and then causing electronlmobil that the phenomenon of sideslip and/or sideslip occurs in the process of moving, stability is low.
Adopt control method of the present invention to control above-mentioned electronlmobil, and set the proportionality coefficient k of PID controller
pbe 50, integral coefficient k
ibe 1, differential coefficient k
dbe 1, simulation result is as follows: the slippage rate of off front wheel, off hind wheel and the near front wheel of this electronlmobil changes little, is still less than 0.2, and the slippage rate of left rear wheel changes as shown in Fig. 6 (a), hence one can see that, and the maxim of the slippage rate of the left rear wheel of electronlmobil is controlled in 0.2 left and right.The electronlmobil speed of a motor vehicle changes as shown in Fig. 6 (b), and electronlmobil is in the time that this splits that road surface is up sails, and when 15s is accelerated in starting, its longitudinal speed of a motor vehicle reaches 19m/s.The unexpected yaw moment that electronlmobil produces is as shown in Fig. 6 (c), and the unexpected yaw moment that electronlmobil produces remains on 200Nm left and right.
The simulation result that adopts control method of the present invention and the simulation result that does not adopt control method of the present invention are compared known, adopting after control method of the present invention, the phenomenon of trackslipping of the left rear wheel of electronlmobil is being greater than 0.2 rear suppressedly, and is controlled at 0.2 left and right; Longitudinally the speed of a motor vehicle drops to 19m/s by 20m/s in the time starting 15s; Yaw moment is controlled in 200Nm left and right, and compared to 950Nm, 700Nm left and right has declined.As can be seen here, in the time using control method of the present invention splitting electronlmobil on road surface to travelling to carry out stability control, can avoid electronlmobil to be positioned at splitting the wheel of low attachment side on road surface to occur seriously to trackslip, thereby reduce the free energy consumption of electronlmobil, alleviate the wearing and tearing of wheel tyre, avoid yaw moment excessive occur sideslip and/or the sideslip phenomenon of electronlmobil because producing, improve electronlmobil in the riding stability of splitting on road surface, and longitudinal speed of a motor vehicle of electronlmobil only has decline slightly, on the not significantly impact of longitudinal speed of a motor vehicle.
Claims (6)
1. a control method for distributed-driving electric automobile, is characterized in that, the entire car controller of described electronlmobil gathers the rotational speed omega of the speed of a motor vehicle v of described electronlmobil, four wheels, and calculates respectively the slippage rate λ of described four wheels;
When having wheel W in described four wheels
itrackslip, and this wheel W that trackslips
islippage rate λ
ibe greater than Slip control expected value λ
0time, described entire car controller adopts PID closed loop control to the described wheel W that trackslips
idriving torque regulate, wheel W trackslips described in making
islippage rate λ
islip control expected value λ described in convergence
0, and to this wheel W that trackslips
icoaxial wheel W
i' rotational speed omega
i' regulate, make this coaxial wheel W
i' rotational speed omega
i' with described in the wheel W that trackslips
irotational speed omega
iequate;
When the slippage rate λ of described four wheels is all not more than described Slip control expected value λ
0time, described entire car controller requires to adopt corresponding master mode to control described electronlmobil according to the driving of chaufeur.
2. the control method of distributed-driving electric automobile according to claim 1, is characterized in that, described PID closed loop control is with described Slip control expected value λ
0with the described wheel W that trackslips
islippage rate λ
ibetween deviation as the input of PID controller, and using the output of this PID controller as the wheel W that trackslips described in driving
ithe motor load of wheel hub motor to the wheel W that trackslips described in driving
ithe motor torque T rotating
iregulate.
3. the control method of distributed-driving electric automobile according to claim 1 and 2, is characterized in that, described Slip control expected value λ
0span be 0.15～0.2.
4. the control method of distributed-driving electric automobile according to claim 3, is characterized in that, described Slip control expected value λ
0value is 0.2.
5. the control method of distributed-driving electric automobile according to claim 3, is characterized in that, to the described wheel W that trackslips
icoaxial wheel W
i' rotational speed omega
i' while regulating, described entire car controller carries out Real-time Collection to four of described electronlmobil rotational speed omega of wheel and the speed of a motor vehicle v of described electronlmobil, and calculates in real time the slippage rate λ of four wheels of described electronlmobil.
6. the control method of distributed-driving electric automobile according to claim 5, it is characterized in that, described entire car controller gathers the rotational speed omega of four wheels of described electronlmobil by wheel speed sensor, and gathers the speed of a motor vehicle v of described electronlmobil by GPS.
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| CN106985703A (en) * | 2017-03-08 | 2017-07-28 | 同济大学 | A kind of distributed-driving electric automobile pavement self-adaptive antiskid control system and method |
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| US11273833B2 (en) | 2016-12-29 | 2022-03-15 | Byd Company Limited | Acceleration slip regulation method and device for four-wheel drive electric vehicle |
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Application publication date: 20140827 |