CN109703550A - A kind of attachment stability distinguishing System and method for of electro-motive vehicle - Google Patents

A kind of attachment stability distinguishing System and method for of electro-motive vehicle Download PDF

Info

Publication number
CN109703550A
CN109703550A CN201910089633.7A CN201910089633A CN109703550A CN 109703550 A CN109703550 A CN 109703550A CN 201910089633 A CN201910089633 A CN 201910089633A CN 109703550 A CN109703550 A CN 109703550A
Authority
CN
China
Prior art keywords
attachment
changing value
torque
output torque
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910089633.7A
Other languages
Chinese (zh)
Inventor
徐国卿
冯伟
杨影
徐坤
骆媛媛
张金岛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201910089633.7A priority Critical patent/CN109703550A/en
Publication of CN109703550A publication Critical patent/CN109703550A/en
Pending legal-status Critical Current

Links

Classifications

    • 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

Landscapes

  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a kind of attachment stability distinguishing System and method for of electro-motive vehicle, system includes sequentially connected data measurement module, data processing module and data analysis module.Method includes: to measure the output torque of vehicular electric machineAnd vehicle wheel rotational speed；Estimation attachment torque, calculate output torque changing value, attachment torque changing value, according to output torque changing value, attachment torque changing valueDifferentiate that automobile tire adheres to stable state；When output torque changing valueWhen being zero, according to the changing value of vehicular electric machine output power derivativeDifferentiate attachment stable state.The present invention need to only measure the output torque that vehicular electric machine transfers to wheelAnd wheel speed, can differentiate that automobile tire adheres to stable state by estimation attachment torque and output power.Process of the present invention is simple, has comprehensively considered the various situations of motor output torque, relatively reliable, in addition, sensor needed for detection method is few, at low cost, high reliablity.

Description

A kind of attachment stability distinguishing System and method for of electro-motive vehicle
Technical field
The present invention relates to intact stability state inspection fields, and in particular to a kind of attachment of electro-motive vehicle is stable Property judgement system and method.
Background technique
With becoming increasingly conspicuous for energy and environmental problem, electric car has obtained sending out energetically as a kind of new-energy automobile Exhibition.Electric car driving method is divided into centralization driving and distributed driving, centralized driving formula electric car and traditional combustion engine The driving structure arrangement of automobile is similar, and drive form has two rear wheel drives, two front wheels driving or four-wheel drive.
When vehicle is during wet-skid road surface acceleration or emergency braking, automobile is likely to winged turn of wheel speed occur or locking is existing As unstable skidding occurs for vehicle.When vehicle is in unstable slipping state, the safety of car steering can be seriously affected And controllability.The Anti-slip regulation control of centralized driving formula electric car is the key technology of drive control, can be adhered to by differentiating Stability status realizes the adaptive anti-skidding drive control on different road surfaces.
Attachment stable state method of discrimination is mainly the size of more currently practical slip rate and optimal slip rate at present, but Actually distinct road surface corresponds to different optimal slip rates, and optimal slip rate also needs to identify dependent on sensor or other road surfaces Algorithm, it is at high cost and complex.
Summary of the invention
The purpose of the present invention is aiming at the defects existing in the prior art, propose that a kind of attachment stability of electro-motive vehicle is sentenced Other System and method for.Differentiate that vehicle tyre and ground adhere to stability using power transmission factor, by real-time detection stability, certainly It adapts to adjust Anti-slip regulation control, the safety and dynamic property of support vehicles operation.The present invention passes through driving motor armature supply IaWith armature voltage Ua, estimation attachment torque Td, by adhering to torque changing value Δ TdWith the ratio of output torque changing value Δ T Differentiate attachment stability, which need to only detect armature electric current and armature voltage, and the sensor used is few, cost It is low, high reliablity.
In order to achieve the above objectives, the present invention takes following technical scheme:
A kind of attachment stability distinguishing system of electro-motive vehicle, including sequentially connected measurement module, data processing mould Block and stability distinguishing module；
The measurement module, for measuring driving motor armature supply IaWith armature voltage Ua；
The data processing module, for passing through driving motor armature supply IaWith armature voltage UaEstimation attachment torque Td With the attachment torque changing value Δ T for calculating the output torque changing value Δ T measured twice and estimating twiced；
The stability distinguishing module, for according to attachment torque changing value Δ TdWith the output torque changing value Δ T Ratio, that is, power transmission factor differentiate attachment stability and according to attachment stability status decide whether anti-sliding control in real time.
The measurement module includes armature supply measuring unit and armature voltage measuring unit, and the armature supply measurement is single Member is for measuring driving motor armature supply Ia, the armature voltage measuring unit is for measuring armature voltage Ua；The measurement mould Block is by the data transmission of measurement acquisition to data processing module.
The data processing module includes that attachment torque estimating unit and torque change computing unit, and the attachment torque is estimated Unit is calculated to be used to pass through driving motor armature supply IaWith armature voltage UaEstimation attachment torque Td, the torque variation calculates single Attachment torque changing value Δ T of the member for calculating the output torque changing value Δ T measured twice and estimating twiced。
The stability distinguishing module includes attachment stable state judgement unit and attachment control judgement unit, the attachment Stable state judgement unit is used for according to attachment torque changing value Δ TdIt is passed with ratio, that is, power of the output torque changing value Δ T It passs the factor and differentiates attachment stability, the attachment control judgement unit decides whether to prevent in real time according to attachment stability status Slip control system.
A kind of attachment Convenient stable criterion of electro-motive vehicle, the specific steps are as follows:
Step S1: measurement driving motor armature supply IaWith armature voltage Ua；
Step S2: estimation attachment torque Td；
Step S3: output torque changing value Δ T and attachment torque changing value Δ T are calculatedd；
Step S4: Δ T is calculatedd/ΔT；
Step S5: according to the attachment torque changing value Δ TdWith the ratio of output torque changing value Δ T, that is, power transmitting because Son differentiates the attachment stable state of automobile tire；
Step S6: anti-sliding control is decided whether according to the automobile tire attachment stable state determined in real time.
The output torque T of the driving motor is obtained by measurement current of electric according to the relationship of electric current and output torque, The output torque T is equal to the product of torque coefficient and armature electric current, i.e. T=kmIa, wherein kmFor torque coefficient.
The attachment torque TdBy attachment torque observational equationIt obtains, wherein wheel speed ω is directly by high-precision Sensor measurement is spent, or observes obtaining by DC motor model equationWherein JωFor wheel inertia, keIt is anti-electronic Gesture coefficient,For the first derivative of wheel speed；Coordinate transform equivalent implementation mould identical with direct current generator is passed through for alternating current generator Type.
The step S5 is according to the attachment torque changing value Δ TdIt is transmitted with ratio, that is, power of output torque changing value Δ T The factor differentiates the attachment stable state of automobile tire, and specific decision rule is as follows:
In Δ T ≠ 0:
WhenAndWhen, determine that vehicle is in and stablizes attachment state；
WhenAndWhen, determine that vehicle is in unstable slipping state；
WhenAndWhen, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
WhenAndWhen, determine that vehicle is in from unstable skid and adheres to switching state to stable；
In Δ T=0:
As Δ TdAnd Δ T (k) > 0d(k-1) > 0 when, determine that vehicle is in and stablize attachment state；
As Δ TdAnd Δ T (k) < 0d(k-1) < 0 when, determine that vehicle is in unstable slipping state；
As Δ TdAnd Δ T (k) < 0d(k-1) > 0 when, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
As Δ TdAnd Δ T (k) > 0d(k-1) < 0 when, determine that vehicle is in from unstable skid and adhere to switching state to stable；
Wherein, Δ TdIt (k) is currently to calculate resulting attachment torque changing value；ΔTd(k-1) gained is calculated for last moment Attachment torque changing value；Δ T (k) is currently to calculate resulting output torque changing value；Δ T (k-1) is last moment calculating Resulting output torque changing value.
The present invention compared with prior art, have following obvious prominent substantive distinguishing features and significant technology into Step:
1. the attachment determination of stability method proposed by the present invention based on power transmission factor is suitable for the electronic of centralized driving Automobile.
2. the attachment torque in the present invention can be observed using electric parameter, required sensor is few, at low cost.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 is flow chart of the method for the present invention；
Fig. 3 is centralized driving vehicle structure schematic diagram；
Fig. 4 is centralized driving Vehicle dynamics；
Fig. 5 is attachment coefficient-slip rate characteristic curve under different road surfaces (main line face, wet road surface and ice and snow road).
Specific embodiment
Detailed description is carried out to the present invention with reference to the accompanying drawing.Being provided only for attached drawing more fully understands the present invention, They should not be interpreted as limitation of the present invention.
As shown in Figure 1, a kind of attachment stability distinguishing system of electro-motive vehicle, including sequentially connected measurement module 1, Data processing module 2 and stability distinguishing module 3；
The measurement module 1, including armature supply measuring unit 11 and armature voltage measuring unit 12, the armature supply Measuring unit 11 is for measuring driving motor armature supply Ia, the armature voltage measuring unit 12 is for measuring armature voltage Ua； The measurement module 1 is by the data transmission of measurement acquisition to data processing module 2.
The data processing module 2 includes that attachment torque estimating unit 21 and torque change computing unit 22, the attachment Torque estimating unit 21 is used to pass through driving motor armature supply IaWith armature voltage UaEstimation attachment torque Td, the torque change Change the attachment torque changing value Δ that computing unit 22 is used to calculate the output torque changing value Δ T measured twice and estimate twice Td。
The stability distinguishing module 3 includes attachment stable state judgement unit 31 and attachment control judgement unit 32, institute Attachment stable state judgement unit 31 is stated to be used for according to attachment torque changing value Δ TdWith the ratio of the output torque changing value Δ T Value is that power transmission factor differentiates attachment stability, and the attachment control judgement unit 32 determines in real time according to attachment stability status Whether anti-sliding control is implemented.
As described in Figure 2, a kind of attachment Convenient stable criterion of electro-motive vehicle, specific steps include:
Step S1: measurement driving motor armature supply IaWith armature voltage Ua, surveyed by current sensor and voltage sensor It measures.
Step S2: estimation attachment torque Td, can be by attachment torque observational equationIt obtains, wherein wheel speed ω It can directly be measured by high-precision sensor, can also observe obtaining by DC motor model equationWherein JωIt is used for wheel Amount, keFor back EMF coefficient,For the first derivative of wheel speed.For alternating current generator can by coordinate transform equivalent implementation with The identical model of direct current generator.Concrete principle is as follows:
It is primarily based on the observational equation that auto model is derived by attachment torque:
In actual application, revolving speed need to be measured by high-precision rotating speed measuring sensor, but will increase cost and The complexity of electrical connection, therefore consider that tach signal is by the observation method based on motor model according to DC motor model equation It obtains:
Wherein,It is led for the single order of armature voltage,It is led for the single order of armature supply, R is armature resistance, Tl=L/R is The electromagnetic time constant of armature circuit.
Assuming that motor work is in ideal closed-loop current control state, the single order of electric current is ledIt is led with second orderTransient state is approximate It is zero, can obtains:
Therefore the novel observational equation of available attachment torque, i.e.,
Two measurement parameters of electric moter voltage and electric current are only utilized in novel observational equation.
Step S3: output torque changing value Δ T and attachment torque changing value Δ T are calculatedd, wherein the driving motor Output torque T is obtained by measurement current of electric according to the relationship of electric current and output torque, and the output torque T is equal to torque The product of coefficient and armature electric current, output torque changing value Δ T and attachment torque changing value Δ TdRespectively indicate motor transmitting Output torque T and wheel to wheel adhere to torque TdThe deviation of calculated result twice in succession, i.e. Δ T=T (k)-T (k-1), ΔTd=Td(k)-Td(k-1)。
Step S4: Δ T is calculatedd/ Δ T can calculate Δ T as Δ T ≠ 0d/ΔT。
Step S5: according to the attachment torque changing value Δ TdWith the ratio of output torque changing value Δ T, that is, power transmitting because Son differentiates the attachment stable state of automobile tire, comprising:
In Δ T ≠ 0:
WhenAndWhen, determine that vehicle is in and stablizes attachment state；
WhenAndWhen, determine that vehicle is in unstable slipping state；
WhenAndWhen, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
WhenAndWhen, determine that vehicle is in from unstable skid and adheres to switching state to stable；
In Δ T=0:
As Δ TdAnd Δ T (k) > 0d(k-1) > 0 when, determine that vehicle is in and stablize attachment state；
As Δ TdAnd Δ T (k) < 0d(k-1) < 0 when, determine that vehicle is in unstable slipping state；
As Δ TdAnd Δ T (k) < 0d(k-1) > 0 when, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
As Δ TdAnd Δ T (k) > 0d(k-1) < 0 when, determine that vehicle is in from unstable skid and adhere to switching state to stable；
Wherein, Δ TdIt (k) is currently to calculate resulting attachment torque changing value；ΔTd(k-1) gained is calculated for last moment Attachment torque changing value；Δ T (k) is currently to calculate resulting output torque changing value；Δ T (k-1) is last moment calculating Resulting output torque changing value.
Step S6: anti-sliding control is decided whether according to the automobile tire attachment stable state determined in real time, specifically It include: that anti-sliding control then is implemented to the vehicle traction motor, works as judgement when determining vehicle and being in unstable slipping state Vehicle does not then implement anti-sliding control to the vehicle traction motor in when stablizing attachment state out.
The principle of the attachment stability distinguishing of the centralized driving automobile of the embodiment of the present invention is described in detail below.
Centralized driving vehicle structure schematic diagram (by taking front-wheel drive as an example) as shown in Figure 3, by motor, retarder and differential Device etc. is constituted, and differential mechanism is mainly made of left and right axle shaft gear, two planetary gears and tooth rest.When straight-line travelling, electronic vapour Vehicle power motor output torque T0, being transmitted to its revolving speed on differential casing by retarder is ω0, then power from shell It is transmitted on two axle shaft gears in left and right and drives vehicle wheel rotation, velocity of rotation is respectively ω1And ω2, when both sides, resistance wheel is identical When, planetary gear follows shell to revolve while will not generate rotation, and two planetary gears are engaged two axle shaft gears with identical turn Speed rotation, such automobile can straight-line travelling.
Assuming that left side drive wheel operating range is short when vehicle is turned to the left, bigger resistance comparatively will be generated.? In the case that rotating speed of transmission shaft is constant, therefore left hand side half shaft can be more laborious, and at this moment two planetary gears will generate rotation, more Torque be transmitted in right axle so that right side wheels speedup, such right wheel will turn fastly than revolver, to realize vehicle Smooth turning.
Similarly two-wheeled traveling in left and right also will appear resistance difference, the different situation of revolving speed when on different road surfaces.
Centralized driving Vehicle dynamics as shown in Figure 4 whether no matter steering, according to kinematics analysis, can all obtain:
ω1+ω2=2 ω0
Obviously when side, semiaxis does not turn, other side semiaxis is rotated with twice of differential casing angular speed；Work as differential mechanism When shell does not turn, left and right semiaxis reversely rotates constant speed.It can be obtained according to equalising torque:
T1+T2=T0
T1-T2=Tr
TrFor the inner friction torque of differential mechanism, T1For the output torque of left half axle, T2For the output torque of right axle shaft.Usually Differential mechanism characterizes the ratio between the torque of the shell receiving of inner friction torque and differential mechanism with locking coefficient k, is determined by following formula:
K=Tr/T0
Therefore equilibrium equation is combined, can be obtained:
T1=T0(1-k)/2
T2=T0(1+k)/2
Common bevel differential tightly locks coefficient and is generally 0.05~0.15, this illustrates the torque difference of two and half wheel of left and right Less, therefore it can consider that the torque for distributing to two semiaxis is roughly equal, i.e. the torque principle of equipartition of gear differential mechanism.
(1) structural principle is divided equally according to differential mechanism torque, the equal i.e. T of torque of left and right wheels can be distributed to1=T2=1/2T0。
(2) in vehicle operation, tire and road surface interact, and road surface can only be by tire to the anti-work of two semiaxis Adhering to torque with torque is respectively Td1And Td2, i.e. driving force, size depends on the attachment coefficient μ between road surface and tire (λ), vertical load N and radius of wheel r, formula are as follows:
Td=μ (λ) Nr
Wherein λ is slip rate, and the non-linear relation of μ and λ are as shown in Figure 5.
(3) the power transmission factor for defining single wheel model isIt can derive
Power transmission factor time-domain expression:
Wherein, τvFor auto model time constant,That is μ-λ slope of a curve, M are single-wheel quality.
When vehicle stable region run when, a > 0, τv> 0,Therefore power transmission factor θ is greater than zero, and final It tends towards stability；When vehicle is in irregular operation, a < 0, τv< 0,Therefore power transmission factor θ is negative value.
(4) differentiation centralization driving electric car stabilizing determination factor θ is set(t), can be obtained
When instability attachment occurs for vehicle single-wheel or two-wheel, so that θ(t)< 0, judgement centralization drives vehicle accordingly Have skidded phenomenon.
Above-mentioned each embodiment is merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft are It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude Except protection scope of the present invention.

Claims (8)

1. a kind of attachment stability distinguishing system of electro-motive vehicle, which is characterized in that including sequentially connected measurement module (1), data processing module (2) and stability distinguishing module (3)；
The measurement module (1), for measuring driving motor armature supply IaWith armature voltage Ua；
The data processing module (2), for passing through driving motor armature supply IaWith armature voltage UaEstimation attachment torque TdWith Calculate the output torque changing value Δ T measured twice the and attachment torque changing value Δ T estimated twiced；
The stability distinguishing module (3), for according to attachment torque changing value Δ TdWith the output torque changing value Δ T's Ratio, that is, power transmission factor differentiates attachment stability and decides whether anti-sliding control in real time according to attachment stability status.
2. a kind of attachment stability distinguishing system of electro-motive vehicle according to claim 1, which is characterized in that the survey It measures module (1), including armature supply measuring unit (11) and armature voltage measuring unit (12), the armature supply measuring unit (11) for measuring driving motor armature supply Ia, the armature voltage measuring unit (12) is for measuring armature voltage Ua；It is described Measurement module (1) is by the data transmission of measurement acquisition to data processing module (2).
3. a kind of attachment stability distinguishing system of electro-motive vehicle according to claim 1, which is characterized in that the number It include attachment torque estimating unit (21) and torque variation computing unit (22), the attachment torque estimating according to processing module (2) Unit (21) is used to pass through driving motor armature supply IaWith armature voltage UaEstimation attachment torque Td, the torque variation calculating Unit (22) is used for the attachment torque changing value Δ T for calculating the output torque changing value Δ T measured twice and estimating twiced。
4. a kind of attachment stability distinguishing system of electro-motive vehicle according to claim 1, which is characterized in that described steady Qualitative discrimination module (3) includes attachment stable state judgement unit (31) and attachment control judgement unit (32), and the attachment is steady Condition discrimination unit (31) are determined for according to attachment torque changing value Δ TdWith ratio, that is, power of the output torque changing value Δ T Transmission factor differentiates attachment stability, and attachment control judgement unit (32) decides whether in real time according to attachment stability status Implement anti-sliding control.
5. a kind of attachment Convenient stable criterion of electro-motive vehicle, which is characterized in that specific step is as follows:
Step S1: measurement driving motor armature supply IaWith armature voltage Ua；
Step S2: estimation attachment torque Td；
Step S3: output torque changing value Δ T and attachment torque changing value Δ T are calculatedd；
Step S4: Δ T is calculatedd/ΔT；
Step S5: according to the attachment torque changing value Δ TdDifferentiate with ratio, that is, power transmission factor of output torque changing value Δ T The attachment stable state of automobile tire；
Step S6: anti-sliding control is decided whether according to the automobile tire attachment stable state determined in real time.
6. a kind of attachment Convenient stable criterion of electro-motive vehicle according to claim 5, which is characterized in that the drive The output torque T of dynamic motor is obtained, the output torque T by measurement current of electric according to the relationship of electric current and output torque Equal to the product of torque coefficient and armature electric current, i.e. T=kmIa, wherein kmFor torque coefficient.
7. a kind of attachment Convenient stable criterion of electro-motive vehicle according to claim 5, which is characterized in that described attached Torque TdBy attachment torque observational equationIt obtains, wherein wheel speed ω is directly measured by high-precision sensor, Or it observes obtaining by DC motor model equationWherein JωFor wheel inertia, keFor back EMF coefficient,For wheel The first derivative of speed；Coordinate transform equivalent implementation model identical with direct current generator is passed through for alternating current generator.
8. a kind of attachment Convenient stable criterion of electro-motive vehicle according to claim 5, which is characterized in that the step Rapid S5 is according to the attachment torque changing value Δ TdAutomotive wheels are differentiated with ratio, that is, power transmission factor of output torque changing value Δ T The attachment stable state of tire, specific decision rule are as follows:
In Δ T ≠ 0:
WhenAndWhen, determine that vehicle is in and stablizes attachment state；
WhenAndWhen, determine that vehicle is in unstable slipping state；
WhenAndWhen, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
WhenAndWhen, determine that vehicle is in from unstable skid and adheres to switching state to stable；
In Δ T=0:
As Δ TdAnd Δ T (k) > 0d(k-1) > 0 when, determine that vehicle is in and stablize attachment state；
As Δ TdAnd Δ T (k) < 0d(k-1) < 0 when, determine that vehicle is in unstable slipping state；
As Δ TdAnd Δ T (k) < 0d(k-1) > 0 when, determine that vehicle is in from stablizing attachment to unstable skidding switching state；
As Δ TdAnd Δ T (k) > 0d(k-1) < 0 when, determine that vehicle is in from unstable skid and adhere to switching state to stable；
Wherein, Δ TdIt (k) is currently to calculate resulting attachment torque changing value；ΔTd(k-1) it is calculated for last moment resulting attached Torque changing value；Δ T (k) is currently to calculate resulting output torque changing value；Δ T (k-1) is last moment to calculate gained Output torque changing value.
CN201910089633.7A 2019-01-30 2019-01-30 A kind of attachment stability distinguishing System and method for of electro-motive vehicle Pending CN109703550A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910089633.7A CN109703550A (en) 2019-01-30 2019-01-30 A kind of attachment stability distinguishing System and method for of electro-motive vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910089633.7A CN109703550A (en) 2019-01-30 2019-01-30 A kind of attachment stability distinguishing System and method for of electro-motive vehicle

Publications (1)

Publication Number Publication Date
CN109703550A true CN109703550A (en) 2019-05-03

Family

ID=66262083

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910089633.7A Pending CN109703550A (en) 2019-01-30 2019-01-30 A kind of attachment stability distinguishing System and method for of electro-motive vehicle

Country Status (1)

Country Link
CN (1) CN109703550A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110509780A (en) * 2019-08-05 2019-11-29 上海大学 A kind of control of electric car road surface mutation stability and maximum drive/braking moment optimization system and method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6016042A (en) * 1996-06-10 2000-01-18 Mitsubishi Denki Kabushiki Kaisha Method of detecting the angle of rotation and load torque of a DC motor, and apparatus of detecting the angle of rotation and load torque of a DC motor
CN101134441A (en) * 2006-08-31 2008-03-05 株式会社日立制作所 Control apparatus for vehicle
WO2014073031A1 (en) * 2012-11-06 2014-05-15 パイオニア株式会社 Motor control device and motor control method
CN109159787A (en) * 2018-08-31 2019-01-08 上海大学 A kind of electric car tire attachment stable state real-time detecting system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6016042A (en) * 1996-06-10 2000-01-18 Mitsubishi Denki Kabushiki Kaisha Method of detecting the angle of rotation and load torque of a DC motor, and apparatus of detecting the angle of rotation and load torque of a DC motor
CN101134441A (en) * 2006-08-31 2008-03-05 株式会社日立制作所 Control apparatus for vehicle
WO2014073031A1 (en) * 2012-11-06 2014-05-15 パイオニア株式会社 Motor control device and motor control method
CN109159787A (en) * 2018-08-31 2019-01-08 上海大学 A kind of electric car tire attachment stable state real-time detecting system and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
梅晓榕、兰朴森、柏桂珍: "《自动控制元件及线路》", 哈尔滨工业大学出版社, pages: 16 - 36 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110509780A (en) * 2019-08-05 2019-11-29 上海大学 A kind of control of electric car road surface mutation stability and maximum drive/braking moment optimization system and method
CN110509780B (en) * 2019-08-05 2023-02-17 上海大学 System and method for controlling road surface sudden change stability and optimizing maximum driving/braking torque of electric automobile

Similar Documents

Publication Publication Date Title
CN108216240B (en) Method and apparatus for controlling front and rear wheel torque distribution for four-wheel drive vehicle
JP5035418B2 (en) Road surface friction coefficient estimation device and road surface friction coefficient estimation method
CN103879307B (en) A kind of trailing wheel individual drive control system for electronlmobil and method
CN103612634B (en) The evaluation method of distributing In-wheel motor driving electronlmobil coefficient of road adhesion
US10052957B2 (en) Control of regenerative braking in an electric or hybrid vehicle
JP5339121B2 (en) Slip rate estimation device and method, and slip rate control device and method
CN105377622A (en) Slip control device for electric vehicle
US20130325232A1 (en) Motor vehicle with all-wheel drive
CN105946826B (en) Vehicle limited slip control method, control system and vehicle without wheel speed information
CN107139924B (en) A kind of electronic limited slip differential device and its control method
US11648933B2 (en) Method for controlling wheel slip of vehicle
Yin et al. Active approach to electronic stability control for front-wheel drive in-wheel motor electric vehicles
CN110304070A (en) A kind of distribution independent driving automobile longitudinal direction vehicle speed estimation method
CN105263745A (en) Slip control device for electric vehicle
US20050246087A1 (en) Device, method, and car for estimating variation of state of road surface
CN107117150A (en) Vehicle limited slip control system and anti-skid control method based on data fusion
US8631681B2 (en) Apparatus and method of calculating a wheel speed by using a tire force sensor and chassis control system using the same
CN109703550A (en) A kind of attachment stability distinguishing System and method for of electro-motive vehicle
CN106740859B (en) Distributed road surface conductivity of electric driven automobile attachment coefficient algorithm for estimating based on left inverse system
CN109941248A (en) A kind of electric vehicle driving/braking antiskid control system and method based on Electrified Transmission
CN109159787A (en) A kind of electric car tire attachment stable state real-time detecting system and method
Yin et al. A new approach to traction control of EV based on maximum effective torque estimation
US11912136B2 (en) Control method for electric vehicle and control device for electric vehicle
CN103303317B (en) The speed predictor method of vehicle
CN104709115A (en) Torque wheel inter-wheel distribution method for turning energy conservation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination