CN106740264B - Limping control method and its system based on electric car distribution drive system - Google Patents
Limping control method and its system based on electric car distribution drive system Download PDFInfo
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- CN106740264B CN106740264B CN201710014098.XA CN201710014098A CN106740264B CN 106740264 B CN106740264 B CN 106740264B CN 201710014098 A CN201710014098 A CN 201710014098A CN 106740264 B CN106740264 B CN 106740264B
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Classifications
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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
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of limping control method and system based on electric car distribution drive system, the present invention is based on the limping control methods of electric car distribution drive system and system when single driving motor therein breaks down, differential speed system and the sensor of outfit necessary to being run based on wheel hub (wheel side) driving, control the output power of driving motor, guarantee the operation stability of vehicle, limping function may be implemented, vehicle can be travelled in time to nearest maintenance station, road during reducing failure occupies and roadside assistance, trailer expense, while guaranteeing vehicle safety, more reduce unnecessary trouble.
Description
Technical field
The present invention relates to electric vehicle engineering field, especially a kind of limping based on electric car distribution drive system
Control method and its system.
Background technique
Using the electric car of distributed drive system, the power drive system and machine of orthodox car are eliminated in structure
Tool differential design turns to differential, energy-saving, manipulation stability and active safety to realize, it is necessary to In-wheel-motor driving
Automobile carries out Electronic differential control.Distributed drive system directly carries out wheel driving, have controllability is good, transmission loss is low,
Interior of body space layout is flexible, is easy to many advantages such as modularized production.However for distributed drive system, if
It stops in electric car operational process because of drive system failure, is easy to impact urban road, and big for car etc.
Type pure electric vehicle, is also unfavorable for car inspection and repair.
The limping travel control method for disclosing a kind of pure electric automobile application No. is 2014105227558 and control system
System power battery low battery can occur in pure electric automobile by the system or temperature is lower, power system components temperature
When the failure that excessively high or some other influence vehicle normally drives safely, limits power battery output power and driving motor is defeated
Torque out controls vehicle driving speed within certain safe range, enables a driver in the regular hour or apart from interior,
Make corresponding treatment measures.However when there is catastrophe failure for driving motor, limping function cannot achieve.
Summary of the invention
The purpose of the present invention is to provide a kind of limping control method based on electric car distribution drive system and its
System, when single driving motor therein breaks down, electronic differential system necessary to being run based on wheel hub (wheel side) driving
System and the sensor being equipped with, control the output power of driving motor, guarantee the operation stability of vehicle.
The technical solution for realizing the aim of the invention is as follows:
A kind of limping control method based on electric car distribution drive system, which comprises the following steps:
Step (1): in electric car operational process, entire car controller is sentenced in real time according to the operating status of electric car
Power machine drive system whether there is failure, and when breaking down, entire car controller carries out severity etc. according to fault type
Grade divides, severity ranking score are as follows: downrating, single motor are walked lamely and vehicle is shut down；
Step (2): when meeting the activation condition of single motor limping mode, then entire car controller starts single motor limping mould
Formula；Entire car controller gives motor driven systems firm power first to start electric car, whole after electric car starts successfully
Vehicle controller is run by controlling the speed that motor driven systems are kept constant；
Step (3): in electric car constant speed operation, whether entire car controller is stable according to body gesture, to sentence
It is disconnected whether to be turned to；If body gesture is unstable, entire car controller judges whether to be turned to；If no
It needs to turn to, then starts car speed adjustment modes, execute step (4)；If necessary to turn to, then starts and turn to limping mode
(5)；If body gesture is stablized, directly execution step (6)；
Step (4): when starting car speed adjustment modes, entire car controller is according to speed adjust automatically motor driven system
The output power of system, so that the speed operation that electric car is kept constant, executes step (3)；
Step (5): when starting turns to limping mode, entire car controller is according to the letter of steering wheel angle and body gesture
Number, entire car controller realizes the control to the front wheel angle of electric car by electric boosting steering system, until making vehicle body appearance
State is stablized, and after turning to, starts car speed adjustment modes, executes step (4)；
Step (6): entire car controller judges whether to arrive at the destination, if do not arrived at the destination, thens follow the steps
(3)；If arrived at the destination, single motor limping mode is exited.
Preferably, fault type is divided into entirely ineffective unit failure, component, motor failure, high pressure storage in the step (1)
Energy failure of apparatus, bi-motor failure and single motor are normal；Entire car controller first determines whether motor driven systems are component event
Barrier, if not unit failure then vehicle operate normally, if unit failure then continue to determine whether for component it is entirely ineffective；If no
It is that component is entirely ineffective, then judges whether to drop power, if then downrating, if it is not, then vehicle is shut down；If component is complete
Full failure, then judge whether it is motor failure, if not motor failure then shut down by high-voltage energy storage failure of apparatus, vehicle；If electric
Machine failure then judges whether it is bi-motor failure；If bi-motor fails, then vehicle is shut down；If not bi-motor fails, then sentence
Disconnected whether single motor is normal, if then entering single motor limping mode.
Preferably, entire car controller is believed according to body gesture sensor and steering wheel angle sensor in the step (2)
Number control the speed operation that motor driven systems keep constant.
Preferably, it is adjusted automatically in the step (5) when electric boosting steering system can not link with entire car controller
Turn over to when, centrifugal force caused by being driven by single motor can manually adjust steering wheel by driver and offset, to maintain vehicle
Motion state so that body gesture stablize.
A kind of limping control system based on electric car distribution drive system, which is characterized in that the system comprises
Entire car controller, vehicle speed sensor, steering wheel angle sensor, body gesture sensor, first motor drive system, the second electricity
Machine drive system, high-voltage board, power-supply management system and high-voltage energy storage device；The entire car controller respectively with vehicle speed sensor,
Steering wheel angle sensor, body gesture sensor, first motor drive system, the second motor driven systems, power management system
System is connected, and the output end of the high-voltage energy storage device is connected with the input terminal of power-supply management system, power-supply management system
Output end is connected with the input terminal of high-voltage board, and the output end of high-voltage board drives with first motor drive system, the second motor respectively
Dynamic system is connected；
It is collected that the entire car controller receives vehicle speed sensor, steering wheel angle sensor, body gesture sensor
Signal, for entire car controller according to the operating status of electric car, real-time judge motor driven systems whether there is failure, and go out
When existing failure, entire car controller carries out severity grade classification according to fault type, and according to vehicle speed sensor, steering wheel angle
Sensor, body gesture sensor signal collected, adjust the constant speed and stability of vehicle；
The real-time speed signal of the vehicle speed sensor acquisition vehicle, steering wheel angle sensor acquire turning in real time for vehicle
Angle signal, body gesture sensor acquire the real-time body gesture signal of vehicle；The first motor drive system, the second motor
Drive system is used to driving motor, controls the driving moment of driving motor；
The high-voltage energy storage device provides power supply for power-supply management system, and power-supply management system provides electricity for entire car controller
Source, power-supply management system are stored up by high pressure and provide power supply for first motor drive system, the second motor driven systems.
Preferably, the first motor drive system and the second motor driven systems include driving motor and driving motor
Controller.
Compared with prior art, the present invention its remarkable advantage:
The present invention is based on the limping control method of electric car distribution drive system and systems, when single driving therein
When motor breaks down, differential speed system and the sensor of outfit necessary to being run based on wheel hub (wheel side) driving, control
The output power of driving motor guarantees the operation stability of vehicle, and limping function may be implemented, and can travel in time vehicle to most
Close maintenance station, the road during reducing failure occupies and roadside assistance, trailer expense, is guaranteeing the same of vehicle safety
When, more reduce unnecessary trouble.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural schematic diagrams of the limping control system of electric car distribution drive system.
Fig. 2 is that the present invention is based on fault control method processes in the limping control method of electric car distribution drive system
Figure.
Fig. 3 is that the present invention is based on limping control method processes in the limping control method of electric car distribution drive system
Figure.
Fig. 4 is that the present invention is based on the structures that the limping control system adjust automatically of electric car distribution drive system turns to
Schematic diagram.
Fig. 5 is that the present invention is based on the structures that the limping control system of electric car distribution drive system manually adjusts steering
Schematic diagram.
Specific embodiment
Embodiment 1:
A kind of limping control method based on electric car distribution drive system, which comprises the following steps:
Step (1): as shown in Fig. 2, in electric car operational process, entire car controller is according to the operation shape of electric car
State, real-time judge motor driven systems whether there is failure, and when breaking down, entire car controller is carried out according to fault type
Severity grade classification, severity ranking score are as follows: downrating, single motor are walked lamely and vehicle is shut down；The fault type point
For unit failure, component is entirely ineffective, motor failure, high-voltage energy storage failure of apparatus, bi-motor fails and single motor is normal；Vehicle
Controller first determines whether motor driven systems are unit failure, if not then vehicle operates normally unit failure, if portion
Part failure then continue to determine whether for component it is entirely ineffective；If not component is entirely ineffective, then judge whether to drop power, if then
Downrating, if it is not, then vehicle is shut down；If component is entirely ineffective, then motor failure is judged whether it is, if not motor
Then high-voltage energy storage failure of apparatus, vehicle are shut down for failure；If motor failure, then bi-motor failure is judged whether it is；If double electricity
Machine failure, then vehicle is shut down；If not bi-motor fails, then judge whether that single motor is normal, walks lamely if then entering single motor
Mode；
Step (2): as shown in figure 3, when meeting the activation condition of single motor limping mode, then entire car controller starting is single
Motor limping mode；Entire car controller gives motor driven systems firm power first to start electric car, and electric car opens
After moving successfully, entire car controller controls motor driven systems according to body gesture sensor and steering wheel angle sensor signal
The speed operation kept constant；
Step (3): in electric car constant speed operation, whether entire car controller is stable according to body gesture, to sentence
It is disconnected whether to be turned to；If body gesture is unstable, entire car controller judges whether to be turned to；If no
It needs to turn to, then starts car speed adjustment modes, execute step (4)；If necessary to turn to, then starts and turn to limping mode
(5)；If body gesture is stablized, directly execution step (6)；
Step (4): when starting car speed adjustment modes, entire car controller is according to speed adjust automatically motor driven system
The output power of system, so that the speed operation that electric car is kept constant, executes step (3)；
Step (5): as shown in Figure 4 and Figure 5, when starting turns to limping mode, entire car controller is according to steering wheel angle
With the signal of body gesture, entire car controller realizes the control to the front wheel angle of electric car by electric boosting steering system
System after turning to, starts car speed adjustment modes until stablizing body gesture；When electric boosting steering system cannot
It is enough with entire car controller linkage and adjust automatically can be adjusted manually by the caused centrifugal force of single motor driving by driver when turning to
Whole steering wheel is offset, and to maintain the motion state of vehicle, so that body gesture is stablized, is executed step (4)；
Step (6): entire car controller judges whether to arrive at the destination, if do not arrived at the destination, thens follow the steps
(3)；If arrived at the destination, single motor limping mode is exited.
As shown in Figure 1, a kind of limping control system based on electric car distribution drive system, the system comprises whole
Vehicle controller, vehicle speed sensor, steering wheel angle sensor, body gesture sensor, first motor drive system, the second motor
Drive system, high-voltage board, power-supply management system and high-voltage energy storage device；The entire car controller respectively with vehicle speed sensor, side
To disk rotary angle transmitter, body gesture sensor, first motor drive system, the second motor driven systems, power-supply management system
Be connected, the output end of the high-voltage energy storage device is connected with the input terminal of power-supply management system, power-supply management system it is defeated
Outlet is connected with the input terminal of high-voltage board, the output end of high-voltage board respectively with first motor drive system, the second motor driven
System is connected；
It is collected that the entire car controller receives vehicle speed sensor, steering wheel angle sensor, body gesture sensor
Signal, for entire car controller according to the operating status of electric car, real-time judge motor driven systems whether there is failure, and go out
When existing failure, entire car controller carries out severity grade classification according to fault type, and according to vehicle speed sensor, steering wheel angle
Sensor, body gesture sensor signal collected, adjust the constant speed and stability of vehicle；
The real-time speed signal of the vehicle speed sensor acquisition vehicle, steering wheel angle sensor acquire turning in real time for vehicle
Angle signal, body gesture sensor acquire the real-time body gesture signal of vehicle；The first motor drive system, the second motor
Drive system is used to driving motor, controls the driving moment of driving motor, the first motor drive system and the second motor
Drive system includes driving motor and drive motor controller.
The high-voltage energy storage device provides power supply for power-supply management system, and power-supply management system provides electricity for entire car controller
Source, power-supply management system are stored up by high pressure and provide power supply for first motor drive system, the second motor driven systems.
The present invention is based on the limping control method of electric car distribution drive system and its working principles of system:
As shown in Fig. 2, entire car controller is according to fault type progress severity grade classification, severity ranking score first
Are as follows: downrating, single motor are walked lamely and vehicle is shut down；When meeting the activation condition of single motor limping mode, then vehicle control
Device processed starts single motor limping mode, provides the energy of driving vehicle consumption by high-voltage energy storage device.
As shown in figure 3, entire car controller gives firm power first to start electronic vapour under single motor limping mode
Vehicle；After starting successfully, according to the data of automobile body attitude transducer, the output power of adjust automatically motor realizes that vehicle is permanent
Speed operation.Meanwhile entire car controller applies the stability for turning to adjustment torque to guarantee vehicle to electronic power assist steering system.When
When detecting angular signal, starting turns to limping mode.
As shown in figure 4, entire car controller is according to information such as speed, steering wheel angle, body gestures, according to preset control
Algorithm calculates suitable turn to and adjusts torque, motor driving moment, realizes the constant speed stable operation of control vehicle.
As shown in figure 5, when electric boosting steering system cannot link with entire car controller and when adjust automatically, can be by driving
The person of sailing manually adjusts steering wheel to control the operating status of vehicle, is allowed to route desirably.
In conclusion the present invention is based on the limping control method of electric car distribution drive system and systems, when wherein
Single driving motor when breaking down, differential speed system and the biography of outfit necessary to being run based on wheel hub (wheel side) driving
Sensor controls the output power of driving motor, guarantees the operation stability of vehicle, and limping function may be implemented, can by vehicle and
When travel road during reducing failure to nearest maintenance station occupy with roadside assistance, trailer expense, guaranteeing vehicle peace
While full property, more reduce unnecessary trouble.
Claims (6)
1. a kind of limping control method based on electric car distribution drive system, which comprises the following steps:
Step (1): in electric car operational process, operating status of the entire car controller according to electric car, real-time judge electricity
Machine drive system whether there is failure, and when breaking down, and entire car controller carries out severity grade according to fault type and draws
Point, severity ranking score are as follows: downrating, single motor are walked lamely and vehicle is shut down；
Step (2): when meeting the activation condition of single motor limping mode, then entire car controller starts single motor limping mode；
Entire car controller gives motor driven systems firm power first to start electric car, after electric car starts successfully, vehicle
Controller is run by controlling the speed that motor driven systems are kept constant；
Step (3): in electric car constant speed operation, whether entire car controller is stable according to body gesture, to judge to be
It is no to be turned to；If body gesture is unstable, entire car controller judges whether to be turned to；If you do not need to
It turns to, then starts car speed adjustment modes, execute step (4)；If necessary to turn to, then starts and turn to limping mode (5)；Such as
Fruit body gesture is stablized, then directly executes step (6)；
Step (4): when starting car speed adjustment modes, entire car controller is according to speed adjust automatically motor driven systems
Output power, so that the speed operation that electric car is kept constant, executes step (3)；
Step (5): when starting turns to limping mode, entire car controller is whole according to the signal of steering wheel angle and body gesture
Vehicle controller realizes the control to the front wheel angle of electric car by electric boosting steering system, until keeping body gesture steady
It is fixed, after turning to, start car speed adjustment modes, executes step (4)；
Step (6): entire car controller judges whether to arrive at the destination, if do not arrived at the destination, thens follow the steps (3)；Such as
Fruit arrives at the destination, then exits single motor limping mode.
2. the limping control method according to claim 1 based on electric car distribution drive system, which is characterized in that
Fault type is divided into entirely ineffective unit failure, component, motor failure, high-voltage energy storage failure of apparatus, double electricity in the step (1)
Machine failure and single motor are normal；Entire car controller first determines whether motor driven systems are unit failure, if not component event
Barrier then vehicle operate normally, if unit failure then continue to determine whether for component it is entirely ineffective；If not component is entirely ineffective,
Then judge whether to drop power, if then downrating, if it is not, then vehicle is shut down；If component is entirely ineffective, then judgement is
No is motor failure, if not motor failure then shut down by high-voltage energy storage failure of apparatus, vehicle；If motor failure, then judgement is
It is no to fail for bi-motor；If bi-motor fails, then vehicle is shut down；If not bi-motor fails, then judging whether single motor just
Often, if then entering single motor limping mode.
3. the limping control method according to claim 1 based on electric car distribution drive system, which is characterized in that
Entire car controller controls motor driven according to body gesture sensor and steering wheel angle sensor signal in the step (2)
The speed operation that system is kept constant.
4. the limping control method according to claim 1 based on electric car distribution drive system, which is characterized in that
In the step (5) when electric boosting steering system can not link with entire car controller and adjust automatically turns to, You Dan electricity
Centrifugal force caused by machine drives can manually adjust steering wheel by driver to offset, to maintain the motion state of vehicle, so that
Body gesture is stablized.
5. a kind of realize described in claim 1-4 any one based on electric car distribution drive system limping control method
Control system, which is characterized in that the system comprises entire car controller, vehicle speed sensor, steering wheel angle sensor, vehicle body appearances
State sensor, first motor drive system, the second motor driven systems, high-voltage board, power-supply management system and high-voltage energy storage device；
The entire car controller drives with vehicle speed sensor, steering wheel angle sensor, body gesture sensor, first motor respectively
System, the second motor driven systems, power-supply management system are connected, the output end and power-supply management system of the high-voltage energy storage device
Input terminal be connected, the output end of power-supply management system is connected with the input terminal of high-voltage board, the output end of high-voltage board difference
It is connected with first motor drive system, the second motor driven systems；
The entire car controller receives vehicle speed sensor, steering wheel angle sensor, body gesture sensor signal collected,
For entire car controller according to the operating status of electric car, real-time judge motor driven systems whether there is failure, and event is occurring
When barrier, entire car controller carries out severity grade classification according to fault type, and is sensed according to vehicle speed sensor, steering wheel angle
Device, body gesture sensor signal collected, adjust the constant speed and stability of vehicle；
The real-time speed signal of the vehicle speed sensor acquisition vehicle, steering wheel angle sensor acquire the real-time corner letter of vehicle
Number, body gesture sensor acquires the real-time body gesture signal of vehicle；The first motor drive system, the second motor driven
System is used to driving motor, controls the driving moment of driving motor；
The high-voltage energy storage device provides power supply for power-supply management system, and power-supply management system provides power supply for entire car controller,
Power-supply management system by high-voltage energy storage device is first motor drive system, the second motor driven systems provide power supply.
6. the control system according to claim 5 based on electric car distribution drive system limping control method,
It is characterized in that, the first motor drive system and the second motor driven systems include driving motor and driving motor control
Device.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108312894B (en) * | 2017-01-17 | 2020-10-02 | 郑州宇通客车股份有限公司 | Distributed driving urban bus multi-motor fault control method |
| CN107901904B (en) * | 2017-10-13 | 2019-07-30 | 潍柴动力股份有限公司 | The control method and hybrid vehicle of hybrid vehicle limp-home |
| JP7048353B2 (en) * | 2018-02-28 | 2022-04-05 | 本田技研工業株式会社 | Driving control device, driving control method and program |
| CN108909456B (en) * | 2018-07-02 | 2020-07-24 | 北京现代汽车有限公司 | Control method and device for electric vehicle, storage medium and electric vehicle |
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| DE102015006074A1 (en) * | 2015-05-09 | 2016-02-18 | Daimler Ag | Vehicle and method and apparatus for operating a drive train of a vehicle |
| CA2956561C (en) * | 2016-04-07 | 2019-06-18 | Komatsu Ltd. | Travel vehicle and method for controlling travel vehicle |
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