CN109353227A - A kind of Motor torque control method and wheel motor distribution drive system - Google Patents
A kind of Motor torque control method and wheel motor distribution drive system Download PDFInfo
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- CN109353227A CN109353227A CN201811149524.1A CN201811149524A CN109353227A CN 109353227 A CN109353227 A CN 109353227A CN 201811149524 A CN201811149524 A CN 201811149524A CN 109353227 A CN109353227 A CN 109353227A
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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
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- 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
-
- 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)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a kind of Motor torque control method and wheel motor distribution drive system, this method is applied to the full-vehicle control unit in system, system further includes two electric systems, electric system includes motor, this method executes following Motor torque control process: the current rotating speed based on motor in current throttle pedal signal and electric system to each electric system simultaneously, calculates the torque basic value of motor in electric system；The torque basic value of motor is modified, the torque correction value of motor is obtained；It is sent to the Motor torque of another electric system recently using the current vehicle speed and full-vehicle control unit history of vehicle, the torque correction value of motor is limited, obtain the torque limit value of motor；Motor torque is determined from the torque limit value and torque correction value of motor, is input to electric system belonging to the motor, to control the driving wheel on the motor-driven vehicle in electric system response Motor torque control electric system for being driven by electric system.
Description
Technical field
The present invention relates to motor-drive technique fields, more specifically to a kind of Motor torque control method and wheel side
Motor distribution drive system.
Background technique
Automobile driving wheel is the wheel being connected with drive axle, suffered by frictional ground force forward, be vehicle traveling
Driving force is provided.Usually there are two kinds of driving methods in vehicle, it is rear wheel drive that one kind, which is front-wheel drive one kind, and front-wheel drive is position
It is driving wheel in two wheels of headstock, two wheels positioned at the tailstock are non-driving wheel, and rear wheel drive is positioned at the two of headstock
A wheel is non-driving wheel, and two wheels positioned at the tailstock are driving wheel.
Wheel motor distribution drive system is using left driving wheel and right driving wheel independence driving method, though which
So Motor torque can be provided to each driven wheel side motor respectively, respective drive wheel is driven to provide driving force for vehicle driving；
But if, as driven wheel side Motor torque constantly increases, one is always had when the driven wheel side ground attachment of left and right two is variant
Side drive wheel first reaches limit of adhesion and skids, in this way the left and right sides driving force it is unequal and around mass center generate sideway torque, when
Sideway torque is very big and wheel laterally adhere to it is poor in the case where, the problem of vehicle body sideway will occur, influence driving safety
Property.
In view of this, a kind of Motor torque control method and wheel motor distribution drive system how are provided, to reduce
In vehicle travel process the occurrence of vehicle body sideway, improve drive safety.
Summary of the invention
In view of this, the present invention provides a kind of Motor torque control method and wheel motor distribution drive system, to subtract
Improve drive safety the occurrence of lacking vehicle body sideway in vehicle travel process.
Technical solution is as follows:
A kind of Motor torque control method, applied to the full-vehicle control unit in wheel motor distribution drive system, institute
Stating wheel motor distribution drive system further includes two electric systems being connected with the full-vehicle control unit, a department of electrical engineering
System is for driving a driving wheel on vehicle, and the electric system includes motor, and this method includes simultaneously to two electricity
Each of the machine system electric system executes following Motor torque control process:
Based on the current rotating speed of motor in current throttle pedal signal and the electric system, calculate in the electric system
The torque basic value of motor；
Torsion according to the current rotating speed of the driving wheel for being driven by the electric system, to motor in the electric system
Square basic value is modified, and obtains the torque correction value of motor in the electric system；
It is sent to another electric system recently using the current vehicle speed and the full-vehicle control unit history of the vehicle
Motor torque limits the torque correction value of motor in the electric system, obtains the torsion of motor in the electric system
Square limits value；
Motor torque is determined from the torque limit value and torque correction value of motor in the electric system, is input to described
Electric system responds the Motor torque to control the electric system and controls vehicle described in motor driven in the electric system
Driving wheel on for being driven by the electric system.
Preferably, the current rotating speed based on motor in current throttle pedal signal and the electric system calculates institute
State the torque basic value of motor in electric system, comprising:
Obtain the current rotating speed of motor in current throttle pedal signal and the electric system；
Inquire the corresponding relationship of pre-set accelerator pedal signal, motor speed and torque basic value, obtain with it is described
The torque basic value of current throttle pedal signal and the corresponding torque basic value of current rotating speed as motor in the electric system.
Preferably, a plurality of curve is preset, different curves correspond to different accelerator pedal signals, the abscissa of the curve
For motor speed, ordinate is torque basic value,
The corresponding relationship of the pre-set accelerator pedal signal of the inquiry, motor speed and torque basic value, obtain with
The torque base of the current throttle pedal signal and the corresponding torque basic value of current rotating speed as motor in the electric system
Plinth value, comprising:
Aim curve corresponding with current throttle pedal signal is determined from a plurality of curve；
Torque basis when determining that motor speed is the current rotating speed in the aim curve, in the aim curve
Value, and using identified torque basic value as the torque basic value of motor in the electric system.
Preferably, the current rotating speed for the driving wheel that the basis is used to be driven by the electric system, to the department of electrical engineering
The torque basic value of motor is modified in system, obtains the torque correction value of motor in the electric system, comprising:
The slippage rate of the driving wheel is calculated according to the current rotating speed of the driving wheel for being driven by the electric system；
Search the corresponding relationship of pre-set slippage rate and the correction factor that trackslips, the determining slippage rate with the driving wheel
Corresponding trackslip correction factor of the correction factor as the driving wheel that trackslip；
The torque basic value of motor in the electric system is modified using the correction factor that trackslips of the driving wheel,
Obtain the torque correction value of motor in the electric system.
Preferably, the current rotating speed for the driving wheel that the basis is used to be driven by the electric system calculates the driving wheel
Slippage rate, comprising:
It is calculated according to the current rotating speed of the driving wheel for being driven by the electric system and pre-set slippage rate public
Formula calculates the slippage rate of the driving wheel；The slippage rate calculation formula includes:
nwhl≥nbasic, wherein nwhlFor the current rotating speed of driving wheel；nrefJoin for the wheel side of driving wheel
Examine the revolving speed equivalent of speed, nwhlMinimum value is limited to nbasic, nbasicFor the tachometer value greater than zero.
Preferably, described basic to the torque of motor in the electric system using the correction factor that trackslips of the driving wheel
Value is modified, and obtains the torque correction value of motor in the electric system, comprising:
Calculate the torque basic value of motor in the electric system and the driving wheel for being driven by the electric system
It trackslips the product of correction factor, and using result of product as the torque correction value of motor in the electric system.
Preferably, the current vehicle speed and the full-vehicle control unit history using the vehicle is sent to another recently
The Motor torque of electric system limits the torque correction value of motor in the electric system, obtains the electric system
The torque limit value of middle motor, comprising:
The current vehicle speed and described full-vehicle control unit history the last time for obtaining the vehicle are sent to another department of electrical engineering
The Motor torque of system；
Search the corresponding relationship of pre-set vehicle speed, Motor torque and torque deviation limits value, it is determining with it is described
The Motor torque that the current vehicle speed of vehicle and described full-vehicle control unit history the last time are sent to another electric system is corresponding
Torque deviation limits value；
It is limited, is obtained using torque correction value of the identified torque deviation limits value to motor in the electric system
The torque limit value of motor into the electric system.
Preferably, it is described using identified torque deviation limits value to the torque correction value of motor in the electric system
It is limited, obtains the torque limit value of motor in the electric system, comprising:
The sum of the torque correction value of motor in torque deviation limits value determined by calculating and the electric system, and will meter
Calculate torque limit value of the result as motor in the electric system.
Preferably, determine that motor is turned round in the torque limit value and torque correction value from motor in the electric system
Square, comprising:
The torque limit value and torque correction value for comparing motor in the electric system, by the torque limit value and torque
Smaller value in correction value is determined as the Motor torque of motor in the electric system.
A kind of wheel motor distribution drive system, including the full-vehicle control unit, with the full-vehicle control unit phase
Two electric systems even, an electric system are used to drive a driving wheel on vehicle, and the electric system includes motor.
The application provides a kind of Motor torque control method and wheel motor distribution drive system, and this method is based on wheel side
Full-vehicle control unit in motor distribution drive system controls two department of electrical engineering in the wheel side distribution drive system simultaneously
Different driving wheel in system driving vehicle；In electric system driving vehicle during driving wheel, according to electric in electric system
The current rotating speed of machine is realized to for exporting to the determination of the motor speed in electric system, may be implemented to close motor speed
Ring control, avoids wheel from excessively trackslipping；Also, in electric system driving vehicle during driving wheel, using for electric
The current rotating speed of the driving wheel of machine system drive is modified the torque basic value of motor in electric system, can control wheel
In good lateral attachment state, reduce mill tire；And pass through benefit during driving wheel in electric system driving vehicle
The limit to the torque correction value of motor in the electric system is realized with the Motor torque that another electric system history is most recently received
System, can take into account high-speed secure and low-speed dynamic.Based on this, it is horizontal that the application can effectively reduce vehicle body in vehicle travel process
The occurrence of pendulum, improves drive safety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of wheel motor distribution drive system provided by the embodiments of the present application；
Fig. 2 is a kind of Motor torque control method schematic diagram provided by the embodiments of the present application；
Fig. 3 is a kind of implementation method flow chart of Motor torque control process provided by the embodiments of the present application；
Fig. 4 is a kind of accelerator pedal signal, motor speed and torque basic value corresponding relationship provided by the embodiments of the present application
Schematic diagram；
Fig. 5 is the current rotating speed for the driving wheel that a kind of basis provided by the embodiments of the present application is used to be driven by electric system,
The torque basic value of motor in electric system is modified, the method flow of the torque correction value of motor in electric system is obtained
Figure；
Fig. 6 is provided by the embodiments of the present application a kind of sent out recently using the current vehicle speed and full-vehicle control unit history of vehicle
The Motor torque for giving another electric system limits the torque correction value of motor in electric system, obtains electric system
The method flow diagram of the torque limit value of middle motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
The embodiment of the present application provides a kind of Motor torque control method, is to realize simultaneously to drive wheel motor distribution
In system in two electric systems motor moment of torsion control.For the ease of to a kind of Motor torque control provided by the embodiments of the present application
The understanding of method now first describes to a kind of wheel motor distribution drive system provided by the embodiments of the present application in detail.
Fig. 1 is a kind of structural schematic diagram of wheel motor distribution drive system provided by the embodiments of the present application.
As shown in Figure 1, the wheel motor distribution drive system includes: full-vehicle control unit, electric system 1 and department of electrical engineering
System 2；Electric system 1 includes motor 2, motor 1 and motor 2 for driving drive different on vehicle including motor 1, electric system 2
Driving wheel.
It in the embodiment of the present application, can also include motor control unit in electric system 1 other than including motor 1
1；It can also include motor control unit 2 in electric system 2 other than including motor 2；Also, further, electric system
1 and electric system 2 in all can further include deceleration mechanism.
Full-vehicle control unit in wheel motor distribution drive system can receive the current of the motor 1 of the transmission of motor 1
The current rotating speed (2 revolving speed of motor as shown in Figure 1) for the motor 2 that revolving speed (1 revolving speed of motor as shown in Figure 1) and motor 2 are sent；
And the torque (1 torque of motor as shown in Figure 1) and motor 2 of motor 1 are calculated based on 1 revolving speed of motor and 2 revolving speed of motor
Torque (2 torque of motor as shown in Figure 1), and 1 torque of motor is sent to and will be electric simultaneously by motor 1 by full-vehicle control unit
2 torque of machine is sent to motor 2, responds the driving wheel for being used to be driven by motor 1 in 1 torque drive vehicle of motor to control motor 1
(driving wheel for being driven by motor 1 is the driving wheel being connected by deceleration mechanism with motor 1 in Fig. 1), control motor 2 responds
For by driving wheel that motor 2 drives, (driving wheel for being driven by motor 2 to be to pass through in Fig. 2 in 2 torque drive vehicle of motor
The driving wheel that deceleration mechanism is connected with motor 2).
It further, further comprise motor control unit 1, electric system 2 in electric system 1 further comprise electricity
In the case where machine control unit 2, it can be sent to by the current rotating speed (1 revolving speed of motor) that motor control unit 1 acquires motor 1 whole
Vehicle control unit is sent to full-vehicle control unit by the current rotating speed (2 revolving speed of motor) that motor control unit 2 acquires motor 2；And
And full-vehicle control unit is calculating torque (1 torque of motor) and motor 2 to motor 1 based on 1 revolving speed of motor and 2 revolving speed of motor
Torque (2 torque of motor) after, 1 torque of motor can be sent to simultaneously by motor control unit 1 by full-vehicle control unit, will be electric
2 torque of machine is sent to motor control unit 2；In order to which motor 1 responds 1 torque of motor that motor control unit 1 receives, driving
Driving wheel in vehicle for being driven by motor 1, motor 2 respond 2 torque of motor that motor control unit 2 receives, and drive vehicle
Driving wheel in for being driven by motor 2.
Wheel motor distribution drive system as shown in Figure 1 based on above-mentioned offer, the embodiment of the present application also provide one
Kind is applied to the Motor torque control method of the full-vehicle control unit in the wheel motor distribution drive system, is based on the application
The Motor torque control method that embodiment provides can realize simultaneously the torque to motor 1 and motor 2 in order to full-vehicle control unit
Control, in order to which motor 1 and motor 2 respectively drive corresponding driving wheel.
Fig. 2 is a kind of Motor torque control method schematic diagram provided by the embodiments of the present application.
A kind of Motor torque control method as shown in Figure 2 is applied to the full-vehicle control list of motor distribution drive system
Member, the full-vehicle control unit are used for while controlling 2 actuating motor moment of torsion control process of electric system 1 and electric system.In conjunction with Fig. 1
With Fig. 2 it is found that a kind of implementation of Motor torque control method provided by the embodiments of the present application is as follows:
Receive the current throttle pedal signal of the vehicle to be controlled by motor distribution drive system；
Based on the current rotating speed (1 revolving speed of motor) of motor 1 in the current throttle pedal signal and electric system 1 received
Calculate the torque basic value (1 torque basic value of motor) of motor 1；And based on the current throttle pedal signal received and motor
The current rotating speed (2 revolving speed of motor) of motor 2 calculates the torque basic value (2 torque basic value of motor) of motor 2 in system 2；
Using the product of the correction factor that trackslips of motor 1 (motor 1 trackslip correction factor) and 1 torque basic value of motor as electricity
The torque correction value (1 torque correction value of motor) of machine 1；And (motor 2, which trackslips, corrects system by the correction factor that trackslips of motor 2
Number) and 2 torque basic value of motor torque correction value (motor 2 torque correction value) of the product as motor 2；
Using 1 torque correction value of motor and the sum of the torque deviation limit value (limitation of 2 torque deviation of motor) of motor 2 as motor
1 torque limit value (1 torque limit value of motor)；And it is the limitation of the torque deviation of 2 torque correction value of motor and motor 1 is (electric
The limitation of 1 torque deviation of machine) torque limit value (motor 2 torque limit value) of the sum as motor 2；
Motor torque (motor by the smaller value in 1 torque limit value of 1 torque correction value of motor and motor, as motor 1
1 Motor torque)；And the motor by the smaller value in 2 torque limit value of 2 torque correction value of motor and motor, as motor 2
Torque (2 Motor torque of motor)；
1 Motor torque of motor is sent to electric system 1 simultaneously and sends 2 Motor torque of motor to electric system 2；So as to
The motor 1 in 1 Motor torque of motor control electric system 1 is responded in electric system 1 to drive on vehicle for being driven by electric system 1
Dynamic driving wheel；And the motor 2 in 2 Motor torque of motor control electric system 2 is responded convenient for electric system 2 and is driven on vehicle
Driving wheel for being driven by electric system 2.
Wheel motor distribution drive system may include two electric systems, and full-vehicle control unit is simultaneously to two motors
System actuating motor moment of torsion control process, for the ease of to full-vehicle control unit to electric system actuating motor moment of torsion control process
Understanding, now with full-vehicle control unit control in wheel motor distribution drive system an electric system actuating motor turn round
The angle of square control process is described in detail a kind of Motor torque control method provided by the embodiments of the present application, specifically asks
Referring to Fig. 3.
Fig. 3 is a kind of implementation method flow chart of Motor torque control process provided by the embodiments of the present application.Such as Fig. 3 institute
Show, which includes:
S301, the current rotating speed based on motor in current throttle pedal signal and electric system calculate electricity in electric system
The torque basic value of machine；
In the embodiment of the present application, the current rotating speed based on motor in current throttle pedal signal and electric system calculates
The torque basic value of motor in electric system, comprising: motor works as forward in acquisition current throttle pedal signal and electric system
Speed；The corresponding relationship of pre-set pedal signal, motor speed and torque basic value is inquired, obtains and believes with current throttle pedal
Number torque basic value of the torque basic value corresponding with current rotating speed as motor in electric system.
Wherein it is possible to preset a plurality of curve, different curves correspond to different accelerator pedal signals, and the abscissa of curve is
Motor speed, ordinate are torque basic value, are based on this, realization presets accelerator pedal signal, motor speed and torque base
The purpose of the corresponding relationship of plinth value.Correspondingly, inquiring pre-set accelerator pedal signal, motor speed and torque basic value
Corresponding relationship obtains torque basic value corresponding with current throttle pedal signal and current rotating speed as motor in electric system
Torque basic value, comprising: aim curve corresponding with current throttle pedal signal is determined from a plurality of curve；Determine aim curve
When middle motor speed is current rotating speed, torque basic value in aim curve, and using identified torque basic value as motor
The torque basic value of motor in system.
It is referring to fig. 4 the pre-set a plurality of curve of the embodiment of the present application, by taking Fig. 4 as an example, each point in curve 1 is corresponded to
Throttle it is identical (that is, the corresponding accelerator pedal signal of each point is identical in curve 1)；The corresponding throttle of each point in curve 2
Identical (that is, the corresponding accelerator pedal signal of each point is identical in curve 2)；The corresponding throttle of each point in curve 3 is identical
(that is, the corresponding accelerator pedal signal of each point is identical in curve 3)；Curve 1, curve 2 and the corresponding throttle of curve 3 successively rise
It is high.The throttle of the corresponding accelerator pedal signal instruction of each point i.e. in curve 1 is less than the corresponding throttle of each point in curve 2
The throttle of pedal signal instruction, the throttle of the corresponding accelerator pedal signal instruction of each point in curve 2 are less than each in curve 3
The throttle of the corresponding accelerator pedal signal instruction of a point.
Referring to fig. 4, under motor speed, throttle is bigger, and torque basic value is bigger；With under throttle, low motor speed area can
To keep constant torque basic value, guarantee driving capability；Along constant power curve after motor speed raising, motor speed is bigger, turns round
Square basic value is smaller；After motor speed is more than running resistance equalization point, Motor torque quickly reduces.
The current rotating speed of the driving wheel of S302, basis for being driven by electric system, to the torque of motor in electric system
Basic value is modified, and obtains the torque correction value of motor in electric system；
S303, the motor for being sent to another electric system recently using the current vehicle speed and full-vehicle control unit history of vehicle
Torque limits the torque correction value of motor in electric system, obtains the torque limit value of motor in electric system；
S304, Motor torque is determined from the torque limit value and torque correction value of motor in electric system, be input to electricity
Machine system, to control on the motor-driven vehicle in electric system response Motor torque control electric system for by electric system
The driving wheel of driving.
In the embodiment of the present application, determine that motor is turned round from the torque limit value and torque correction value of motor in electric system
Square, comprising: the torque limit value and torque correction value for comparing motor in electric system, it will be in torque limit value and torque correction value
Smaller value be determined as the Motor torque of motor in electric system.
The embodiment of the present application provides a kind of current rotating speed of driving wheel that basis is used to be driven by electric system, to department of electrical engineering
The torque basic value of motor is modified in system, obtains the method flow diagram of the torque correction value of motor in electric system, specifically
Fig. 5 is referred to, as shown in figure 5, this method comprises:
S501, the slippage rate that driving wheel is calculated according to the current rotating speed of the driving wheel for being driven by electric system；
In the embodiment of the present application, driving wheel is calculated according to the current rotating speed of the driving wheel for being driven by electric system
Slippage rate, comprising: calculated according to the current rotating speed of the driving wheel for being driven by electric system and pre-set slippage rate public
Formula calculates the slippage rate of driving wheel；Slippage rate calculation formula includes:
nwhl≥nbasic, wherein nwhlFor the current rotating speed of driving wheel；nrefJoin for the wheel side of driving wheel
Examine the revolving speed equivalent of speed, nwhlMinimum value is limited to nbasic, nbasicFor the tachometer value greater than zero.
Based on known to above-mentioned slippage rate calculation formula:, can be by the driving wheel when calculating the slippage rate of a driving wheel
Current rotating speed is as n in slippage rate calculation formulawhlParameter value, by the driving wheel wheel side reference speed revolving speed equivalent make
For n in slippage rate calculation formularefParameter value, obtain the slippage rate of the driving wheel.
In the embodiment of the present application, when calculating the slippage rate of a wheel, the current rotating speed of the driving wheel can also be made
For n in slippage rate calculation formulawhlParameter value, using the current rotating speed of the ipsilateral non-driving wheel of the driving wheel as slippage rate meter
Calculate n in formularefParameter value, obtain the slippage rate of the driving wheel.
It is above only the preferred embodiment provided by the embodiments of the present application for calculating slippage rate, the specific calculating in relation to slippage rate
Process invention people can be configured according to their own needs, it is not limited here.
S502, the corresponding relationship for searching pre-set slippage rate and the correction factor that trackslips, determination are trackslipped with driving wheel
Corresponding trackslip correction factor of the correction factor as driving wheel that trackslip of rate；
In the embodiment of the present application, the slippage rate of trackslip correction factor and the driving wheel of driving wheel looks into negative correlation, driving wheel
Slippage rate it is bigger, the correction factor that trackslips of the driving wheel is smaller；Conversely, the slippage rate of driving wheel is smaller, the cunning of the driving wheel
It is bigger to turn correction factor.
The corresponding relationship that slippage rate and the correction factor that trackslips can be preset is looked into after determining the slippage rate of driving wheel
The corresponding relationship for asking pre-set slippage rate and the correction factor that trackslips, obtains trackslip corresponding with the slippage rate of the driving wheel and repairs
Positive coefficient, and this obtained is trackslipped into correction factor as the correction factor that trackslips of the driving wheel.
S503, the torque basic value of motor in electric system is modified using the correction factor that trackslips of driving wheel, is obtained
The torque correction value of motor into electric system.
In the embodiment of the present application, using the correction factor that trackslips of driving wheel to the torque basic value of motor in electric system
Be modified, obtain the torque correction value of motor in electric system, comprising: calculate electric system in motor torque basic value and
The product of the correction factor that trackslips of driving wheel for being driven by electric system, and using result of product as motor in electric system
Torque correction value.
The embodiment of the present application provides a kind of current vehicle speed using vehicle and full-vehicle control unit history is sent to separately recently
The Motor torque of one electric system limits the torque correction value of motor in electric system, obtains motor in electric system
Torque limit value method flow diagram, specifically refer to Fig. 6, as shown in fig. 6, this method comprises:
S601, the current vehicle speed for obtaining vehicle and full-vehicle control unit history the last time are sent to another electric system
Motor torque；
In the embodiment of the present application, full-vehicle control unit is simultaneously to two motors in wheel motor distribution drive system
Each electric system actuating motor moment of torsion control process in system, also, at the same time to wheel motor distribution drive system
During each electric system actuating motor moment of torsion control in two electric systems, determining each electric system respectively
It is to send corresponding Motor torque respectively to two electric systems simultaneously after Motor torque；Therefore, full-vehicle control unit
This simultaneously to each electric system actuating motor moment of torsion control in two electric systems during, last full-vehicle control
Unit simultaneously to each electric system actuating motor moment of torsion control in two electric systems during, full-vehicle control unit is to motor
Motor torque transmitted by system is the Motor torque sent to the electric system full-vehicle control unit history the last time.
S602, the corresponding relationship for searching pre-set vehicle speed, Motor torque and torque deviation limits value, determine with
The current vehicle speed of vehicle and full-vehicle control unit history the last time are sent to the corresponding torsion of Motor torque of another electric system
Square deviation limits value；
In the embodiment of the present application, the corresponding of vehicle speed, Motor torque and torque deviation limits value is previously provided with to close
The corresponding relationship of pre-set vehicle speed, Motor torque and torque deviation limits value is searched by system, determining to be in vehicle speed
The current vehicle speed of vehicle, Motor torque are the Motor torque for full-vehicle control unit history the last time being sent to another electric system
When torque deviation limits value, and using the torque deviation limits value as the current vehicle speed and full-vehicle control unit history with vehicle
The last time is sent to the corresponding torque deviation limits value of Motor torque of another electric system.
S603, it is limited using torque correction value of the identified torque deviation limits value to motor in electric system,
Obtain the torque limit value of motor in electric system.
In the embodiment of the present application, it is corrected using torque of the identified torque deviation limits value to motor in electric system
Value is limited, and the torque limit value of motor in electric system is obtained, comprising: torque deviation limits value determined by calculating and electricity
The sum of the torque correction value of motor in machine system, and using calculated result as the torque limit value of motor in electric system.
Further, the embodiment of the present application also provides a kind of wheel motor distribution drive system, wheel motor distribution
Formula drive system includes the full-vehicle control unit as involved in above-described embodiment and two electricity being connected with full-vehicle control unit
Machine system, an electric system are used to drive a driving wheel on vehicle, and electric system includes motor.
The application provides a kind of Motor torque control method and wheel motor distribution drive system, and this method is based on wheel side
Full-vehicle control unit in motor distribution drive system controls two department of electrical engineering in the wheel side distribution drive system simultaneously
Different driving wheel in system driving vehicle；In electric system driving vehicle during driving wheel, according to electric in electric system
The current rotating speed of machine is realized to for exporting to the determination of the motor speed in electric system, may be implemented to close motor speed
Ring control, avoids wheel from excessively trackslipping；Also, in electric system driving vehicle during driving wheel, using for electric
The current rotating speed of the driving wheel of machine system drive is modified the torque basic value of motor in electric system, can control wheel
In good lateral attachment state, reduce mill tire；And pass through benefit during driving wheel in electric system driving vehicle
The limit to the torque correction value of motor in the electric system is realized with the Motor torque that another electric system history is most recently received
System, can take into account high-speed secure and low-speed dynamic.Based on this, it is horizontal that the application can effectively reduce vehicle body in vehicle travel process
The occurrence of pendulum, improves drive safety.
A kind of Motor torque control method provided by the present invention and wheel motor distribution drive system are carried out above
It is discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, and to sum up, the content of the present specification is not
It is interpreted as limitation of the present invention.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For the device disclosed in the embodiment, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, phase
Place is closed referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the element that the process, method, article or equipment including a series of elements is intrinsic,
It further include either the element intrinsic for these process, method, article or equipments.In the absence of more restrictions,
The element limited by sentence "including a ...", it is not excluded that in the process, method, article or equipment for including element also
There are other identical elements.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of Motor torque control method, which is characterized in that applied to the vehicle control in wheel motor distribution drive system
Unit processed, the wheel motor distribution drive system further include two electric systems being connected with the full-vehicle control unit,
One electric system is used to drive a driving wheel on vehicle, and the electric system includes motor, and this method includes right simultaneously
Each of two electric systems electric system executes following Motor torque control process:
Based on the current rotating speed of motor in current throttle pedal signal and the electric system, motor in the electric system is calculated
Torque basic value；
According to the current rotating speed of the driving wheel for being driven by the electric system, to the torque base of motor in the electric system
Plinth value is modified, and obtains the torque correction value of motor in the electric system；
It is sent to the motor of another electric system recently using the current vehicle speed and the full-vehicle control unit history of the vehicle
Torque limits the torque correction value of motor in the electric system, obtains the torque limit of motor in the electric system
Value processed；
Motor torque is determined from the torque limit value and torque correction value of motor in the electric system, is input to the motor
System responds the Motor torque to control the electric system and controls on vehicle described in motor driven in the electric system
Driving wheel for being driven by the electric system.
2. the method according to claim 1, wherein described be based on current throttle pedal signal and the department of electrical engineering
The current rotating speed of motor in system calculates the torque basic value of motor in the electric system, comprising:
Obtain the current rotating speed of motor in current throttle pedal signal and the electric system；
The corresponding relationship of pre-set accelerator pedal signal, motor speed and torque basic value is inquired, is obtained and described current
The torque basic value of accelerator pedal signal and the corresponding torque basic value of current rotating speed as motor in the electric system.
3. according to the method described in claim 2, different curves correspond to different oil it is characterized in that, presetting a plurality of curve
Door pedal signal, the abscissa of the curve are motor speed, and ordinate is torque basic value,
The corresponding relationship of the pre-set accelerator pedal signal of the inquiry, motor speed and torque basic value, obtain with it is described
The torque basic value of current throttle pedal signal and the corresponding torque basic value of current rotating speed as motor in the electric system,
Include:
Aim curve corresponding with current throttle pedal signal is determined from a plurality of curve；
When determining in the aim curve that motor speed is the current rotating speed, torque basic value in the aim curve, and
Using identified torque basic value as the torque basic value of motor in the electric system.
4. the method according to claim 1, wherein the basis is used for the driving driven by the electric system
The current rotating speed of wheel is modified the torque basic value of motor in the electric system, obtains motor in the electric system
Torque correction value, comprising:
The slippage rate of the driving wheel is calculated according to the current rotating speed of the driving wheel for being driven by the electric system；
The corresponding relationship of pre-set slippage rate and the correction factor that trackslips is searched, determination is corresponding with the slippage rate of the driving wheel
Trackslip correction factor of the correction factor as the driving wheel that trackslip；
The torque basic value of motor in the electric system is modified using the correction factor that trackslips of the driving wheel, is obtained
The torque correction value of motor in the electric system.
5. according to the method described in claim 4, it is characterized in that, the basis is used for the driving driven by the electric system
The current rotating speed of wheel calculates the slippage rate of the driving wheel, comprising:
According to the current rotating speed of the driving wheel for being driven by the electric system and pre-set slippage rate calculation formula, meter
Calculate the slippage rate of the driving wheel；The slippage rate calculation formula includes:
Wherein, nwhlFor the current rotating speed of driving wheel；nrefVehicle is referred to for the wheel side of driving wheel
The revolving speed equivalent of speed, nwhlMinimum value is limited to nbasic, nbasicFor the tachometer value greater than zero.
6. according to the method described in claim 4, it is characterized in that, the correction factor that trackslips using the driving wheel is to institute
The torque basic value for stating motor in electric system is modified, and obtains the torque correction value of motor in the electric system, comprising:
Calculate trackslipping for the torque basic value of motor in the electric system and the driving wheel for being driven by the electric system
The product of correction factor, and using result of product as the torque correction value of motor in the electric system.
7. the method according to claim 1, wherein the current vehicle speed using the vehicle and the vehicle
Control unit history is sent to the Motor torque of another electric system recently, to the torque correction value of motor in the electric system
It is limited, obtains the torque limit value of motor in the electric system, comprising:
The current vehicle speed and described full-vehicle control unit history the last time for obtaining the vehicle are sent to another electric system
Motor torque；
Search the corresponding relationship of pre-set vehicle speed, Motor torque and torque deviation limits value, the determining and vehicle
Current vehicle speed and described full-vehicle control unit history the last time be sent to the corresponding torsion of Motor torque of another electric system
Square deviation limits value；
It is limited using torque correction value of the identified torque deviation limits value to motor in the electric system, obtains institute
State the torque limit value of motor in electric system.
8. the method according to the description of claim 7 is characterized in that described utilize identified torque deviation limits value to described
The torque correction value of motor is limited in electric system, obtains the torque limit value of motor in the electric system, comprising:
The sum of the torque correction value of motor in torque deviation limits value determined by calculating and the electric system, and tied calculating
Torque limit value of the fruit as motor in the electric system.
9. the method according to claim 1, wherein the torque limit value of the motor from the electric system
With Motor torque determining in torque correction value, comprising:
The torque limit value and torque correction value for comparing motor in the electric system correct the torque limit value and torque
Smaller value in value is determined as the Motor torque of motor in the electric system.
10. a kind of wheel motor distribution drive system, which is characterized in that including such as the claims 1-9 any one institute
The full-vehicle control unit stated, two electric systems being connected with the full-vehicle control unit, an electric system is for driving vehicle
A driving wheel on, the electric system includes motor.
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| CN201811149524.1A CN109353227B (en) | 2018-09-29 | 2018-09-29 | Motor torque control method and wheel-side motor distributed driving system |
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| CN201811149524.1A CN109353227B (en) | 2018-09-29 | 2018-09-29 | Motor torque control method and wheel-side motor distributed driving system |
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| CN115402120A (en) * | 2022-10-31 | 2022-11-29 | 北京京深深向科技有限公司 | Method and device for correcting torque error of driving system of distributed driving vehicle |
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