CN108215941A - A kind of pure electric city bus wheel hub drive control method and system - Google Patents
A kind of pure electric city bus wheel hub drive control method and system Download PDFInfo
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- CN108215941A CN108215941A CN201810105903.4A CN201810105903A CN108215941A CN 108215941 A CN108215941 A CN 108215941A CN 201810105903 A CN201810105903 A CN 201810105903A CN 108215941 A CN108215941 A CN 108215941A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000005611 electricity Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000002803 fossil fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of pure electric city bus wheel hub drive control methods, faults-tolerant control cannot be carried out during solving the problems, such as four-wheel In-wheel motor driving electric vehicle in the prior art when one or both of which motor breaks down, this pure electric city bus wheel hub drive control method includes step：S1：Judge whether four wheel hub motors work according to preset state；S2：If so, control four wheel hub motors are driven, if it is not, judging the state that four wheel hub motors break down, and the state to break down according to four wheel hub motors, corresponding wheel hub motor is controlled to be driven.Using the present invention, four wheel hub motors can be controlled to work independently by fault-tolerant fuzzy control, so as to allow vehicle that original driving trace is kept to continue to travel, ensure that the safety and stability of vehicle traveling.
Description
Technical field
The present invention relates to drive and control of electric machine field more particularly to a kind of pure electric city bus wheel hub drive control method and
System.
Background technology
Be on the rise with the exhaustion and problem of environmental pollution of the fossil fuels such as oil, research and development energy-saving and environmental protection and
The automobile of safety provides the automobile of power to replace with internal combustion engine, is the only way for realizing sustainable development.Wherein, electronic vapour
Vehicle is praised highly with the remarkable advantage of its high efficiency low emission, obtains accelerated development.Motor driven systems are electric vehicle cores
One of technology, and wheel hub driving is even more the main direction of development of following electric vehicle type of drive.When one of wheel hub motor
Or lead to electric vehicle fluctuation of service during two wheel hub motors failures, threaten personal safety so as to directly arrive.
Therefore it needs to design one kind for for electric vehicle in the process of running, going out one or more wheel hub motor
Fuzzy fault tolerant control method and system during existing failure, to solve the above problems.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of pure electric city bus wheel hub drive control method and system,
It is fault-tolerant when one or both of which wheel hub motor breaks down to realize when four-wheel In-wheel motor driving electric vehicle
Fuzzy controller can keep electric vehicle to continue the function of traveling according to original driving trace.
In order to achieve the above object, the present invention uses following technical scheme：
A kind of method of pure electric city bus wheel hub drive control, including step：
S1：Judge whether four wheel hub motors work according to preset state；
S2：If so, control four wheel hub motors are driven, if it is not, judging that event occur in four wheel hub motors
The state of barrier, and the state to be broken down according to four wheel hub motors control corresponding wheel hub motor to be driven.
Further, four wheel hub motors, including front-wheel hub motor and rear wheel hub motors.
Further, step S2 includes：
S21：Judge in four wheel hub motors front-wheel hub motor and rear wheel hub motors whether and meanwhile break down；
S22：If so, four wheel hub motors of control stop driving, if it is not, judging front-wheel wheel in four wheel hub motors
Whether hub motor breaks down；
S23：If so, control rear wheel hub motors are driven；If it is not, then judge trailing wheel in four wheel hub motors
Whether wheel hub motor breaks down；
S24：If so, control front-wheel hub motor is driven.
A kind of system of pure electric city bus wheel hub drive control, including：
Motor status module is judged, for judging whether four wheel hub motors work according to preset state；
Electrical fault module is judged, described in judging when four wheel hub motors are not worked according to preset state
The state that four wheel hub motors break down；
Drive module is controlled, for the state to break down according to four wheel hub motors, controls corresponding wheel hub motor
It is driven.
Further, including：
Front-wheel hub motor control module, for controlling the wheel hub motor of front side two；
Rear wheel hub motors control module, for controlling two, vehicle rear wheel hub motor.
Further, judge that electrical fault module includes：
First electrical fault judging unit, for judging front-wheel hub motor and rear-wheel hub in four wheel hub motors
Whether motor breaks down simultaneously；
Second electrical fault judging unit, for working as front-wheel hub motor and rear-wheel hub electricity in four wheel hub motors
Machine judges whether front-wheel hub motor breaks down in four wheel hub motors when not breaking down simultaneously；
Third electrical fault judging unit does not break down for working as front-wheel hub motor in four wheel hub motors
When judge whether rear wheel hub motors break down in four wheel hub motors.
Further, the control drive module includes：
Parking module is controlled, for working as whether front-wheel hub motor and rear wheel hub motors in four wheel hub motors go out simultaneously
During existing failure, four wheel hub motors is controlled to stop driving, for stopping；
Front-wheel drive module is controlled, for when rear wheel hub motors are to break down in four wheel hub motors, controlling
Rear wheel hub motors control module processed is driven；
Rear wheel drive module is controlled, for when front-wheel hub motor breaks down in four wheel hub motors, controlling
Rear wheel hub motors control module is driven.
The invention has the advantages that can the driving of front-wheel hub motor, rear-wheel hub be selected by active breakdown judge
Motor drives or four motorized wheels, when realizing front-wheel drive, by controlling motor control signal, turns the motor of front-wheel
Square output increase, makes up the torque of rear-wheel motor, keeps original speed of vehicle traveling and the stability of vehicle.Rear wheel drive
When, by controlling motor control signal, the motor torque of trailing wheel is made to export increase, makes up the torque of front-wheel turbin generator, keeps vehicle
Traveling original track and vehicle stability, increase vehicle traveling safety and stability.
Description of the drawings
Fig. 1 is the pure electric city bus wheel hub drive control method flow diagram one of the present invention；
Fig. 2 is the pure electric city bus wheel hub drive control method flow diagram two of the present invention；
Fig. 3 is the pure electric city bus wheel hub driving control system structure chart one of the present invention；
Fig. 4 is the pure electric city bus wheel hub driving control system structure chart two of the present invention.
Specific embodiment
The following is specific embodiments of the present invention and with reference to attached drawing, technical scheme of the present invention is further described,
But the present invention is not limited to these embodiments.
Embodiment one
Present embodiments provide a kind of pure electric city bus wheel hub drive control method, as shown in Figure 1 to Figure 2, this method
Including：
S1：Judge whether four wheel hub motors work according to preset state；
S2：If so, control four wheel hub motors are driven, if it is not, judging that event occur in four wheel hub motors
The state of barrier, and the state to be broken down according to four wheel hub motors control corresponding wheel hub motor to be driven.
Further, four wheel hub motors, including front-wheel hub motor and rear wheel hub motors.
Further, step S2 includes：
S21：Judge in four wheel hub motors front-wheel hub motor and rear wheel hub motors whether and meanwhile break down；
S22：If so, four wheel hub motors of control stop driving, if it is not, judging front-wheel wheel in four wheel hub motors
Whether hub motor breaks down；
S23：If so, control rear wheel hub motors are driven；If it is not, then judge trailing wheel in four wheel hub motors
Whether wheel hub motor breaks down；
S24：If so, control front-wheel hub motor is driven.
Wherein the specific steps are：
After the specific location for detecting failure wheel hub motor, that is, judge front-wheel hub motor in four wheel hub motors
Whether break down simultaneously with rear wheel hub motors, determine it is wherein the failure of front-wheel hub motor or rear wheel hub motors
It breaks down, the failure wheel hub motor determined is isolated, while automobile is changed into front-wheel drive or trailing wheel by four-wheel drive
Driving, vehicle are travelled by original driving trace, ensure stability and the safety of vehicle traveling.
The torque output of the ratio between torque of four wheel hub motors the ratio between λ and torque λ change rate △ λ controls is Ti, when Ti is defeated
When going out for SS, this wheel hub motor failure is represented, i takes 1,2,3 and 4.
The first step, front-wheel Tfl and Tfr torque are compared, and select minimum torque Tf outputs；
Second step, trailing wheel Trr and Trl torque are compared, and select minimum torque Tr outputs；
Third walks, and rule is controlled by active diagnosing, by square Tr and Tfl and Tfr be compared again by Tf and Trr and Trl by
It is compared, finally judges whether there is electrical fault.If so, controller finds out the specific location of faulty motor and selects front-wheel
Driving or rear wheel drive；If fault-free, by four motorized wheels mean allocation torque, ensure the stability of vehicle traveling.
Assuming that some wheel hub motor failure of trailing wheel, vehicle are changed into front-wheel drive by four motorized wheels.Design one three
The front-wheel drive fuzzy control rule singly exported is inputted,
Tfi fuzzy subsets are divided into two-stage：Failure (RS), normal (RB)；
Tf fuzzy subsets are divided into three-level：Not output torque (TS), normal output torque (TM), increase output torque (TB).
Design three fuzzy control rules, it can be determined that the position for the motor that is out of order, and it is converted into preceding road driving, rule point
Not：
If(Trl is RS)and(Trr is RB)and(Tf is RB)then(Tf is TB)
If(Tfl is RB)and(Tfr is RB)and(Tr is RS)then(Tf is TB)
If(Tfl is RB)and(Tfr is RB)and(Tr is RB)then(Tf is TM)。
Assuming that some electrical fault of front-wheel, vehicle is changed into rear wheel drive by four motorized wheels, designs three Fuzzy Controls
System rule, it can be determined that the position for the motor that is out of order, and it is converted into way of escape driving.
If(Tfl is RS)and(Tfr is RB)and(Tr is RB)then(Tr is TB)
If(Trl is RB)and(Trr is RB)and(Tf is RS)then(Tr is TB)
If(Trl is RB)and(Trr is RB)and(Tf is RB)then(Tr is TM)。
Pure electric city bus wheel hub drive control method provided in this embodiment, can be detected by active fault diagnosis
The specific location of faulty motor, the use of termination failure motor carry out a degree of protection, convenient for the later stage pair to faulty motor
The repair of faulty motor provides convenient.And pass through active fault diagnosis, controller selection front-wheel drive, rear wheel drive or four
The independent driving of wheel.During front-wheel drive, by controlling motor control signal, the motor torque of front-wheel is made to export increase, makes up trailing wheel
The torque of motor keeps original speed of vehicle traveling and the stability of vehicle.During rear wheel drive, by controlling motor control letter
Number, the motor torque of trailing wheel is made to export increase, makes up the torque of front-wheel turbin generator, keeps original track and the vehicle of vehicle traveling
Stability.
Embodiment two
Present embodiments provide a kind of pure electric city bus wheel hub driving control system, as shown in Figure 3 to Figure 4, this system
Including：
Motor status module is judged, for judging whether four wheel hub motors work according to preset state；
Electrical fault module is judged, described in judging when four wheel hub motors are not worked according to preset state
The state that four wheel hub motors break down；
Drive module is controlled, for the state to break down according to four wheel hub motors, controls corresponding wheel hub motor
It is driven.
Further, including：
Front-wheel hub motor control module, for controlling the wheel hub motor of front side two；
Rear wheel hub motors control module, for controlling two, vehicle rear wheel hub motor.
Further, judge that electrical fault module includes：
First electrical fault judging unit, for judging front-wheel hub motor and rear-wheel hub in four wheel hub motors
Whether motor breaks down simultaneously；
Second electrical fault judging unit, for working as front-wheel hub motor and rear-wheel hub electricity in four wheel hub motors
Machine judges whether front-wheel hub motor breaks down in four wheel hub motors when not breaking down simultaneously；
Third electrical fault judging unit does not break down for working as front-wheel hub motor in four wheel hub motors
When judge whether rear wheel hub motors break down in four wheel hub motors.
Further, the control drive module includes：
Parking module is controlled, for working as whether front-wheel hub motor and rear wheel hub motors in four wheel hub motors go out simultaneously
During existing failure, four wheel hub motors is controlled to stop driving, for stopping.
Front-wheel drive module is controlled, for when rear wheel hub motors are to break down in four wheel hub motors, controlling
Rear wheel hub motors control module processed is driven.
Rear wheel drive module is controlled, for when front-wheel hub motor breaks down in four wheel hub motors, controlling
Rear wheel hub motors control module is driven.
It can be compared using this system when sensor detects that the torque of wheel hub motor is exported with ideal torque
Compared with.If the ratio between the ratio between torque λ and torque change rate △ λ are in the reasonable scope, control strategy mainly maintains vehicle to travel at this time
Stability.If the ratio between the ratio between torque λ and torque change rate △ λ exceed zone of reasonableness, failure wheel hub motor is judged,
Automobile is switched to ensure the stability of vehicle traveling by front-wheel drive or rear wheel drive according to the position of failure wheel hub motor again
And safety.
Wherein fault-tolerant fuzzy control rule is：
When λ is (VB), and △ λ are NS, the output torque of wheel hub motor persistently reduces, and illustrates that event occurs in this wheel hub motor
Barrier.The output of quickly reduction faulty motor is needed at this time, prevents from further damaging motor, while the torque for increasing homonymy motor is defeated
Go out, ensure that vehicle is pressed former track and travelled.
When λ is (ZE), and △ λ are ZE, the output torque of wheel hub motor keeps stablizing, and illustrates that motor is normal at this time.Due to
There are problems that some transfer efficiencies prevent motor to allow certain error from exporting ideal torque, controller completely and keep electricity
Machine normal operation.
When λ is VS, and △ λ are PS, the output torque of wheel hub motor is more much smaller than desired torque, but the output torque of motor
It is increasing rapidly, as a result, quick increase at this time is taken turns caused by occurring the influence of uncertain factor in the process of running due to motor
The output torque of hub motor ensures the stability of vehicle traveling.
It using this system, can be realized by fault-tolerant fuzzy control when there is wheel hub motor failure, say that four-wheel drives
It is dynamic to become front-wheel drive or rear wheel drive, it ensure that vehicle stability in the process of moving and safety.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can do various modifications or additions to described specific embodiment or replace in a similar way
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (7)
- A kind of 1. method of pure electric city bus wheel hub drive control, which is characterized in that including step：S1：Judge whether four wheel hub motors work according to preset state；S2：If so, control four wheel hub motors are driven, if it is not, judging what four wheel hub motors broke down State, and the state to be broken down according to four wheel hub motors control corresponding wheel hub motor to be driven.
- 2. a kind of method of pure electric city bus wheel hub drive control according to claim 1, which is characterized in thatFour wheel hub motors, including front-wheel hub motor and rear wheel hub motors.
- A kind of 3. method of pure electric city bus wheel hub drive control according to claim 2, which is characterized in that step S2 Including：S21：Judge in four wheel hub motors front-wheel hub motor and rear wheel hub motors whether and meanwhile break down；S22：If so, four wheel hub motors of control stop driving, if it is not, judging front-wheel hub electricity in four wheel hub motors Whether machine breaks down；S23：If so, control rear wheel hub motors are driven；If it is not, then judge rear-wheel hub in four wheel hub motors Whether motor breaks down；S24：If so, control front-wheel hub motor is driven.
- 4. a kind of system of pure electric city bus wheel hub drive control, which is characterized in that including：Motor status module is judged, for judging whether four wheel hub motors work according to preset state；Electrical fault module is judged, for judging described four when four wheel hub motors are not worked according to preset state The state that wheel hub motor breaks down；Drive module is controlled, for the state to be broken down according to four wheel hub motors, corresponding wheel hub motor is controlled to carry out Driving.
- 5. a kind of system of pure electric city bus wheel hub drive control according to claim 4, which is characterized in that including：Front-wheel hub motor control module, for controlling the wheel hub motor of front side two；Rear wheel hub motors control module, for controlling two, vehicle rear wheel hub motor.
- 6. the system of a kind of pure electric city bus wheel hub drive control according to claim 5, which is characterized in that judge electricity Machine malfunctioning module includes：First electrical fault judging unit, for judging front-wheel hub motor and rear wheel hub motors in four wheel hub motors Whether break down simultaneously；Second electrical fault judging unit does not have for working as front-wheel hub motor and rear wheel hub motors in four wheel hub motors Have while judge whether front-wheel hub motor breaks down in four wheel hub motors when breaking down；Third electrical fault judging unit, for sentencing when front-wheel hub motor does not break down in four wheel hub motors Whether rear wheel hub motors break down in disconnected four wheel hub motors.
- A kind of 7. system of pure electric city bus wheel hub drive control according to claim 5, which is characterized in that the control Drive module processed includes：Parking module is controlled, for whether occurring event simultaneously when front-wheel hub motor in four wheel hub motors and rear wheel hub motors During barrier, four wheel hub motors is controlled to stop driving, for stopping；Control front-wheel drive module, for when in four wheel hub motors rear wheel hub motors be break down when, after control Wheel hub motor control module is driven；Rear wheel drive module is controlled, for when front-wheel hub motor breaks down in four wheel hub motors, controlling trailing wheel Hub motor control module is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810105903.4A CN108215941B (en) | 2018-02-02 | 2018-02-02 | Hub driving control method and system for pure electric city bus |
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|---|---|---|---|
| CN201810105903.4A CN108215941B (en) | 2018-02-02 | 2018-02-02 | Hub driving control method and system for pure electric city bus |
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| CN108215941B CN108215941B (en) | 2024-01-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111376736A (en) * | 2018-12-29 | 2020-07-07 | 观致汽车有限公司 | Method, apparatus and computer storage medium for controlling power output of electric vehicle |
| CN111746304A (en) * | 2020-07-10 | 2020-10-09 | 上海工程技术大学 | Distributed driving electric vehicle driving system control method based on failure state |
| CN112140868A (en) * | 2020-10-13 | 2020-12-29 | 武汉鲸鱼座机器人技术有限公司 | Chassis architecture meeting automatic driving redundancy requirement and control method |
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| Publication number | Publication date |
|---|---|
| CN108215941B (en) | 2024-01-30 |
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