CN110362871A - A kind of emulation mode controlling tyre slip program - Google Patents
A kind of emulation mode controlling tyre slip program Download PDFInfo
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- CN110362871A CN110362871A CN201910518726.7A CN201910518726A CN110362871A CN 110362871 A CN110362871 A CN 110362871A CN 201910518726 A CN201910518726 A CN 201910518726A CN 110362871 A CN110362871 A CN 110362871A
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Abstract
The invention discloses a kind of emulation modes for controlling tyre slip program, include the steps that following order: (1) finding the Flange module in special modules in cruise Modeling interface, it is dragged in whole vehicle model, hardware connection is carried out on output shaft；(2) the Matlab_Dll module in interface is found in cruise Modeling interface, is dragged in whole vehicle model, as the interface with Matlab software；(3) torque that three input signals are respectively front-wheel weight, vehicle longitudinal acceleration and differential mechanism output is established in Matlab_Dll module, establishes the absorption torque signal that an output signal is flange；(4) control program is established in the simulink module of Matlab software, the input signal and output signal of control are obtained from Matlab_Dll module；(5) the tool option in simulink module is compiled control program, generates Dll file, the Dll file of generation is put into the userdata file under whole vehicle model file；(6) Matlab_Dll module is opened, the Dll file generated in (5) step is selected in Matlab Library.
Description
Technical field:
The present invention relates to a kind of emulation modes for controlling tyre slip program, belong to electric vehicle engineering field.
Background technique:
Power performance is most basic, most important performance in vehicle performance, is related to engine during automobile research
The parameters such as the transmission ratio of the power and torque of power torque and motor and each gear.Vehicle power performance is calculated at present
Common theoretical formula is all relatively simple, heavy workload, and the result obtained differs too big with actual value, such as calculates the mixed of P2 structure
Hundred kilometers of acceleration time of dynamic model are closed, due to engine and motor while output torque will cause tyre slip, this feelings
Condition is the insurmountable problem of theoretical formula.As the development of the present computer technology carries out dynamic property calculating using modeling and simulating
An important means for having become the exploitation of automobile dynamic system type selecting, using professional software cruise to electric car, mixing
Power vehicle carries out modeling and simulation study, can reasonably optimize parameters with flexibly adjustment dynamical system design scheme,
R & D Cost can be reduced, save the research and development time, shorten the development cycle, simulation result is closer to actual conditions.
Since the characteristic of motor determines that automobile can break into biggish torque when starting, in order to make to emulate
It accurately must take into account the sliding of tire, however consider with slip calculating task in cruise model, but emulate knot
The sliding of tire still generates certain influence to result in fruit, proposes that a kind of program for limiting tyre skidding carrys out control wheel here
Tire skids.
Summary of the invention:
The present invention is to provide a kind of imitating for control tyre slip program to solve the above-mentioned problems of the prior art
The case where true method is emulating accelerating ability and when grade climbing performance, mass transfer in need of consideration, due to by ground
Flange module was added in simulation model, is added in power respectively the phenomenon that limit value tire of maximum adhesion power will appear skidding
It is used to absorb the critical point that extra torque makes output torque maintain tyre slip always on output shaft.
The technical solution adopted in the present invention has: a kind of emulation mode controlling tyre slip program, including following order
The step of:
(1) the Flange module in special modules is found in cruise Modeling interface, is dragged in whole vehicle model
In, hardware connection is carried out on output shaft；
(2) the Matlab_Dll module in interface is found in cruise Modeling interface, is dragged in whole vehicle model,
As the interface with Matlab software；
(3) established in Matlab_Dll module three input signals be respectively front-wheel weight, vehicle longitudinal acceleration and
The torque of differential mechanism output, establishes the absorption torque signal that an output signal is flange, the bus order of connection is respectively as follows:
Matlab_Dll → wheel_load → wheel_vehicle:Front Right → wheel_load；
Matlab_Dll→acceleration→cockpit→acceleration longitudinal；
Matlab_Dll→output1_torque→Differential→output Torque1；
Flange-flange1→Torque→Matlab_Dll→flange_torque；
Flange-flange2→Torque→Matlab_Dll→flange_torque；
(4) control program, the input signal and output signal of control are established in the simulink module of Matlab software
It is all to be obtained from Matlab_Dll module；
(5) the tool option in simulink module is compiled control program, Dll file is generated, generation
Dll file is put into the userdata file under whole vehicle model file；
(6) Matlab_Dll module is opened, the Dll file generated in (5) step is selected in Matlab Library.
Further, above-mentioned control strategy calculates the real-time maximum adhesion power on ground first, then according to tire dynamic half
Diameter calculates torque, and according to the moment of momentum theorem, being calculated by the rotary inertia and real-time angular acceleration of tire makes tire reach this
The torque of a angular acceleration, the sum of the two torques are exactly total torque provided by output shaft, if the torque of differential mechanism output
It just will appear tyre slip phenomenon greater than this total torque, so flange is added on output shaft, real-time monitoring total torque and difference
The output torque of fast device, when differential mechanism output torque is greater than total torque, flange absorbs excessive torque, when differential mechanism output torque
Flange does not absorb torque when less than or equal to total torque.
The invention has the following beneficial effects: the emulation modes of present invention control tyre slip program, in the same vehicle
In model, the emulation of restricted tyre slip program and the emulation without this program are carried out respectively.It limits as can be seen from Table 1
Program has controlled the sliding of tire well, and simulation result is made to be closer to reality, if unlimited tyre skidding processed is maximum
Climbable gradient can reach 63%.
Detailed description of the invention:
Fig. 1 is the schematic diagram for controlling the emulation mode of tyre slip program.
Fig. 2 is the illustraton of model for controlling the emulation mode of tyre slip program.
Specific embodiment:
The present invention will be further described below with reference to the drawings.
Pure electric automobile is the most typical in new-energy automobile, wherein most of pure electric automobiles are all to compare speed change using single speed
Case, that is, subtract by master twice, it does not shift gears in vehicle travel process, since motor initial torque is big, will cause hundred kilometers
Flange is added on two in pure electric automobile model output shaft here and absorbs excessive torque for tyre skidding when acceleration,
Tire is set to be in skidding critical point always.Wherein there is control strategy to carry out the torque absorption of control flange, according to the real-time feelings of vehicle
Condition monitors the maximum adhesion power on ground, the torque of output shaft is converted to, further according to the real-time output torque of motor, to calculate
The absorption torque of flange.
To achieve the above object, the invention adopts the following technical scheme: it is a kind of control tyre slip program emulation mode,
This method includes the steps that following order:
(1) the Flange module in special modules is found in cruise Modeling interface, is dragged in whole vehicle model
In, hardware connection is carried out on output shaft.
(2) the Matlab_Dll module in interface is found in cruise Modeling interface, is dragged in whole vehicle model,
As the interface with Matlab software.
(3) established in Matlab_Dll module three input signals be respectively front-wheel weight, vehicle longitudinal acceleration and
The torque of differential mechanism output, establishes the absorption torque signal that an output signal is flange.The bus order of connection is respectively as follows:
Matlab_Dll → wheel_load → wheel_vehicle:Front Right → wheel_load；
Matlab_Dll→acceleration→cockpit→acceleration longitudinal；
Matlab_Dll→output1_torque→Differential→output Torque1；
Flange-flange1→Torque→Matlab_Dll→flange_torque；
Flange-flange2→Torque→Matlab_Dll→flange_torque；
(4) control program, the input signal and output signal of control are established in the simulink module of Matlab software
It is all to be obtained from Matlab_Dll module.
(5) the tool option in simulink module is compiled control program, Dll file is generated, generation
Dll file is put into the userdata file under whole vehicle model file.
(6) Matlab_Dll module is opened, the Dll file generated in (5) step is selected in Matlab Library.
Above-mentioned control strategy calculates the real-time maximum adhesion power on ground first, then calculates torsion according to tire Dynamic Radius
Square, according to the moment of momentum theorem, being calculated by the rotary inertia and real-time angular acceleration of tire makes tire reach this angular acceleration
Torque.The sum of the two torques are exactly total torque provided by output shaft, if the torque of differential mechanism output is greater than this always
Torque just will appear tyre slip phenomenon, so flange is added on output shaft, the output of real-time monitoring total torque and differential mechanism
Torque, when differential mechanism output torque is greater than total torque, flange absorbs excessive torque, when differential mechanism output torque is less than or equal to always
Flange does not absorb torque when torque.
The present invention controls the emulation mode of tyre slip program, and this method includes following order step: (1) establishing pure electric vehicle
Whole vehicle model, the hardware module including vehicle: vehicle module, motor module, battery module, tire module, brake module, deceleration
Device module and differential module, software module: cab module, monitor module, motor brake control module and Matlab_
Dll module.The components parameter according to used in automobile in practice is filled in, while signal connection is carried out in bus, will
Front-wheel weight wheel_load, vehicle longitudinal acceleration acceleration_longitudinal and differential mechanism output torque
Output_torque signal is linked into Matlab_Dll module.(2) anti-sliding control is built in Matlab/Simulink module
Policy model controls the flange of two output shafts.(3) flange in vehicle simulation model absorbs torque from Matlab_
Dll interface receive, establish hundred kilometers of accelerations artificial tasks and max. climb slope artificial tasks, calculate hundred kilometers of acceleration time with
Max. climb slope.
Below in conjunction with Fig. 1 and Fig. 2, the present invention is described further.
Vehicle simulation model is built using cruise software, concrete model is as shown in Figure 2.On two output shafts of differential mechanism
Respectively it is used to carry out managing output torque plus flange module, the parameter setting that each components are used according to real vehicles,
Meanwhile the connection of signal is carried out in bus, the load signal of front-wheel, vehicle longitudinal acceleration signal and differential mechanism are exported and turned round
Square is linked into Matlab_Dll interface module, builds control as shown in Figure 1 in the simulink module of Matlab software and patrols
Volume, the torque of output flange.
The angular acceleration of tire is obtained according to the radius of gyration of vehicle longitudinal acceleration and tire first, the angle of tire accelerates
Degree obtains the moment of momentum of tire multiplied by the rotary inertia of tire itself；Further according to tire real-time load multiplied by ground friction system
Number show that ground maximum adhesion power, maximum adhesion power obtain torque, the moment of momentum and maximum of tire multiplied by the radius of gyration of tire
The sum of torque of adhesive force as differential mechanism output end peak torque and be named as tire bear peak torque.When differential mechanism is defeated
Torque output torque1 and output torque2 (two moment of torsion etc., the not poor torsion of differential) out is greater than tire and bears most
When large torque, the absorption torque of flange is the difference that output torque1 and tire bear peak torque.When differential mechanism output
When torque is less than tire receiving peak torque, the absorption torque of flange is zero, and output torque is not above most in this state
Big limitation torque, tire will not generate slipping phenomenon, and there is no need to carry out torque management for flange.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as of the invention
Protection scope.
Claims (2)
1. a kind of emulation mode for controlling tyre slip program, it is characterised in that: include the steps that following order:
(1) the Flange module in special modules is found in cruise Modeling interface, is dragged in whole vehicle model,
Hardware connection is carried out on output shaft；
(2) the Matlab_Dll module in interface is found in cruise Modeling interface, is dragged in whole vehicle model, as
With the interface of Matlab software；
(3) it is respectively front-wheel weight, vehicle longitudinal acceleration and differential that three input signals are established in Matlab_Dll module
The torque of device output, establishes the absorption torque signal that an output signal is flange, the bus order of connection is respectively as follows:
Matlab_Dll → wheel_load → wheel_vehicle:Front Right → wheel_load；
Matlab_Dll→acceleration→cockpit→acceleration longitudinal；
Matlab_Dll→output1_torque→Differential→output Torque1；
Flange-flange1→Torque→Matlab_Dll→flange_torque；
Flange-flange2→Torque→Matlab_Dll→flange_torque；
(4) control program is established in the simulink module of Matlab software, the input signal and output signal of control are all
It is obtained from Matlab_Dll module；
(5) the tool option in simulink module is compiled control program, generates Dll file, the Dll text of generation
Part is put into the userdata file under whole vehicle model file；
(6) Matlab_Dll module is opened, the Dll file generated in (5) step is selected in Matlab Library.
2. the emulation mode of control tyre slip program as described in claim 1, it is characterised in that: above-mentioned control strategy is first
The real-time maximum adhesion power for calculating ground, then calculates torque according to tire Dynamic Radius, according to the moment of momentum theorem, by tire
Rotary inertia and real-time angular acceleration calculate the torque for making tire reach this angular acceleration, the sum of the two torques are exactly
Total torque provided by output shaft will appear tyre slip phenomenon if the torque of differential mechanism output is greater than this total torque,
So flange is added on output shaft, the output torque of real-time monitoring total torque and differential mechanism, when differential mechanism output torque is greater than
Flange absorbs excessive torque when total torque, and when differential mechanism output torque is less than or equal to total torque, flange does not absorb torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910518726.7A CN110362871B (en) | 2019-06-15 | 2019-06-15 | Simulation method of program for controlling tire slip |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910518726.7A CN110362871B (en) | 2019-06-15 | 2019-06-15 | Simulation method of program for controlling tire slip |
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| CN110362871A true CN110362871A (en) | 2019-10-22 |
| CN110362871B CN110362871B (en) | 2023-04-18 |
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| CN201910518726.7A Active CN110362871B (en) | 2019-06-15 | 2019-06-15 | Simulation method of program for controlling tire slip |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401232A (en) * | 2014-12-21 | 2015-03-11 | 吉林大学 | Electric vehicle torque optimization method based on data driven predictive control |
| CN107117150A (en) * | 2016-02-25 | 2017-09-01 | 南京理工大学 | Vehicle limited slip control system and anti-skid control method based on data fusion |
-
2019
- 2019-06-15 CN CN201910518726.7A patent/CN110362871B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104401232A (en) * | 2014-12-21 | 2015-03-11 | 吉林大学 | Electric vehicle torque optimization method based on data driven predictive control |
| CN107117150A (en) * | 2016-02-25 | 2017-09-01 | 南京理工大学 | Vehicle limited slip control system and anti-skid control method based on data fusion |
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