CN110362871B - Simulation method of program for controlling tire slip - Google Patents
Simulation method of program for controlling tire slip Download PDFInfo
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- CN110362871B CN110362871B CN201910518726.7A CN201910518726A CN110362871B CN 110362871 B CN110362871 B CN 110362871B CN 201910518726 A CN201910518726 A CN 201910518726A CN 110362871 B CN110362871 B CN 110362871B
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Abstract
The invention discloses a simulation method of a program for controlling tire slip, which comprises the following steps in sequence: (1) Finding a Flange module in the special modules in the cruise modeling interface, dragging the Flange module into a whole vehicle model, and performing hardware connection on an output shaft; (2) Finding a Matlab _ Dll module in the interface in the cruise modeling interface, dragging the Matlab _ Dll module into a whole vehicle model, and using the Matlab _ Dll module as an interface with Matlab software; (3) Establishing three input signals in a Matlab _ Dll module, wherein the three input signals are respectively the load of a front wheel, the longitudinal acceleration of the whole vehicle and the torque output by a differential, and establishing an output signal which is an absorption torque signal of a flange; (4) Establishing a control program in a simulink module of Matlab software, wherein input signals and output signals for control are obtained from the Matlab _ Dll module; (5) Compiling the control program by tool options in the simulink module to generate a Dll file, and putting the generated Dll file into a userdata folder under a finished automobile model folder; (6) And (5) opening a Matlab _ Dll module, and selecting the Dll file generated in the step (5) in the Matlab Library.
Description
The technical field is as follows:
the invention relates to a simulation method of a program for controlling tire slip, and belongs to the technical field of electric automobiles.
Background art:
the dynamic performance is the most basic and important performance in the whole vehicle performance, and is related to parameters such as power torque of an engine, power and torque of a motor, transmission ratio of each gear and the like in the whole vehicle development process. At present, common theoretical formulas for calculating the power performance of the whole vehicle are simple, the workload is large, the difference between the obtained result and an actual value is too large, for example, when the hundred-kilometer acceleration time of a hybrid power model with a P2 structure is calculated, the tire is slipped due to the fact that the engine and the motor output torque at the same time, and the situation is the problem which cannot be solved by the theoretical formulas. The method adopts the special software cruise to carry out modeling and simulation research on the electric automobile and the hybrid electric automobile, can flexibly adjust the design scheme of the power system, reasonably optimize each parameter, reduce the research and development cost, save the research and development time, shorten the development period and enable the simulation result to be closer to the actual condition.
Because the characteristics of the motor determine that the automobile can burst out larger torque when starting, the slip of the tire must be considered in order to make the simulation accurate, however, the task of calculating the slip with the slip is considered in the cruise model, but the slip of the tire in the simulation result still has certain influence on the result, and a program for limiting the slip of the tire is provided for controlling the slip of the tire.
The invention content is as follows:
the invention provides a simulation method for controlling a tire slip program to solve the problems of the prior art, which is characterized in that when the acceleration performance and the climbing performance are simulated, the mass transfer condition needs to be considered, and the tire slips due to the limit value of the maximum adhesive force of the ground, a flight module is added into a simulation model and is respectively added on a power output shaft to absorb redundant torque so as to ensure that the output torque is always maintained at the critical point of the tire slip.
The technical scheme adopted by the invention is as follows: a simulation method for controlling a tire slip program, comprising the sequential steps of:
(1) Finding a Flange module in the special modules in the cruise modeling interface, dragging the Flange module into a whole vehicle model, and performing hardware connection on an output shaft;
(2) Finding a Matlab _ Dll module in the interface in the cruise modeling interface, dragging the Matlab _ Dll module into a whole vehicle model, and using the Matlab _ Dll module as an interface with Matlab software;
(3) Three input signals are established in a Matlab _ Dll module and are respectively a front wheel load, a longitudinal acceleration of the whole vehicle and a torque output by a differential, an output signal is established and is an absorption torque signal of a flange, and the bus connection sequence is 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) Establishing a control program in a simulink module of Matlab software, wherein input signals and output signals for control are obtained from the Matlab _ Dll module;
(5) Compiling the control program in a tool option in a simulink module to generate a Dll file, and putting the generated Dll file into a userdata folder under a finished automobile model folder;
(6) And (5) opening a Matlab _ Dll module, and selecting the Dll file generated in the step (5) in the Matlab Library.
Further, the control strategy firstly calculates the real-time maximum adhesion force of the ground, then calculates the torque according to the dynamic radius of the tire, calculates the torque for enabling the tire to reach the angular acceleration according to the momentum moment theorem and the moment of inertia of the tire and the real-time angular acceleration, wherein the sum of the two moments is the total torque provided by the output shaft, if the torque output by the differential mechanism is larger than the total torque, the tire slip phenomenon occurs, so a flange is added on the output shaft, the total torque and the output torque of the differential mechanism are monitored in real time, when the output torque of the differential mechanism is larger than the total torque, the flange absorbs the redundant torque, and when the output torque of the differential mechanism is smaller than or equal to the total torque, the flange does not absorb the torque.
The invention has the following beneficial effects: the simulation method for controlling the tire slip program respectively performs simulation of the tire slip program with limitation and simulation without the tire slip program in the same whole vehicle model. It can be seen from table 1 that the limiting program well controls the tire slip, so that the simulation result is closer to the actual result, and if the tire slip is not limited, the maximum climbing gradient can reach 63%.
Description of the drawings:
fig. 1 is a schematic diagram of a simulation method of a program for controlling tire slip.
Fig. 2 is a model diagram of a simulation method of the program for controlling tire slip.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
Pure electric vehicles in new energy vehicles are the most typical, wherein most of the pure electric vehicles adopt a single-speed-ratio gearbox, namely, the pure electric vehicles do not shift gears after twice main reduction and do not shift gears in the driving process of the vehicles, and the tires can slip when accelerating for hundreds of kilometers due to large initial torque of a motor, and flanges are added on two output shafts in a pure electric vehicle model to absorb redundant torque, so that the tires are always at a slip critical point. The torque absorption of the flange is controlled by a control strategy, the maximum adhesive force of the ground is monitored according to the real-time condition of the whole vehicle, the torque of an output shaft is converted, and the absorption torque of the flange is calculated according to the real-time output torque of the motor.
In order to achieve the purpose, the invention adopts the following technical scheme: a simulation method of controlling a tire slip program, the method comprising the sequential steps of:
(1) Finding a Flange module in the special modules in the cruise modeling interface, dragging the Flange module into a whole vehicle model, and carrying out hardware connection on an output shaft.
(2) And finding a Matlab _ Dll module in the interface in the cruise modeling interface, and dragging the Matlab _ Dll module into the whole vehicle model to serve as an interface with Matlab software.
(3) Three input signals are established in the Matlab _ Dll module and are respectively the load of a front wheel, the longitudinal acceleration of the whole vehicle and the torque output by a differential, and one output signal is established and is an absorption torque signal of a flange. The bus connection sequence 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) A control program is established in a simulink module of Matlab software, and input signals and output signals of control are obtained from a Matlab _ Dll module.
(5) And compiling the control program by tool options in the simulink module to generate a Dll file, and putting the generated Dll file into a userdata folder under a finished automobile model folder.
(6) And (5) opening a Matlab _ Dll module, and selecting the Dll file generated in the step (5) in the Matlab Library.
The control strategy firstly calculates the real-time maximum adhesive force of the ground, then calculates the torque according to the dynamic radius of the tire, and calculates the torque for enabling the tire to reach the angular acceleration according to the moment of momentum theorem and the moment of inertia and the real-time angular acceleration of the tire. The sum of the two torques is the total torque provided by the output shaft, if the torque output by the differential mechanism is larger than the total torque, the phenomenon of tire slip can occur, so a flange is added on the output shaft, the total torque and the output torque of the differential mechanism are monitored in real time, when the output torque of the differential mechanism is larger than the total torque, the flange absorbs the redundant torque, and when the output torque of the differential mechanism is smaller than or equal to the total torque, the flange does not absorb the torque.
The simulation method of a program for controlling tire slip according to the present invention comprises the following sequential steps: (1) Establishing a pure electric whole vehicle model, which comprises a hardware module of a whole vehicle: whole car module, motor module, battery module, tire module, brake module, reduction gear module and differential mechanism module, the software module: the device comprises a cab module, a monitor module, a motor brake control module and a Matlab _ Dll module. Filling according to the parameters of parts used by an automobile in practice, simultaneously performing signal connection on a bus, and accessing front wheel load, longitudinal acceleration and differential output torque signals to a Matlab _ Dll module. (2) And (4) building an anti-skid control strategy model in the Matlab/Simulink module, and controlling the flanges of the two output shafts. (3) And receiving the flange absorption torque in the finished automobile simulation model from a Matlab _ Dll interface, establishing a hundred-kilometer acceleration simulation task and a maximum climbing gradient simulation task, and calculating the hundred-kilometer acceleration time and the maximum climbing gradient.
The invention is further described below with reference to fig. 1 and 2.
And (3) building a finished automobile simulation model by using cruise software, wherein the concrete model is shown in figure 2. A flange module is added on each of two output shafts of the differential for output torque management, each part is set according to parameters used by a real vehicle, meanwhile, signal connection is carried out on a bus, a load signal of a front wheel, a longitudinal acceleration signal of the whole vehicle and the output torque of the differential are connected to a Matlab _ Dll interface module, a control logic as shown in figure 1 is built in a simulink module of Matlab software, and the torque of the flange is output.
Firstly, obtaining the angular acceleration of a tire according to the longitudinal acceleration of the whole vehicle and the rotation radius of the tire, and multiplying the angular acceleration of the tire by the rotation inertia of the tire to obtain the moment of momentum of the tire; and then multiplying the real-time load of the tire by the friction coefficient of the ground to obtain the maximum ground adhesion, multiplying the maximum adhesion by the rotation radius of the tire to obtain torque, and taking the sum of the momentum moment of the tire and the torque of the maximum adhesion as the maximum torque of the output end of the differential and naming the maximum torque borne by the tire. When the torques output by the differential mechanism (two torques are equal, and the differential speed is not different) are larger than the maximum torque borne by the tire, the absorption torque of the flange is the difference between the torque output 1 and the maximum torque borne by the tire. When the torque output by the differential is smaller than the maximum torque borne by the tire, the absorption torque of the flange is zero, the output torque does not exceed the maximum limit torque in the state, the tire cannot slip, and the flange does not need to carry out torque management.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (1)
1. A simulation method of a program for controlling tire slip, characterized by: comprising the following steps in the following order:
(1) Finding a Flange module in the special modules in the cruise modeling interface, dragging the Flange module into a whole vehicle model, and performing hardware connection on an output shaft;
(2) Finding a Matlab _ Dll module in the interface in the cruise modeling interface, dragging the Matlab _ Dll module into a whole vehicle model, and using the Matlab _ Dll module as an interface with Matlab software;
(3) Three input signals are established in a Matlab _ Dll module and are respectively a front wheel load, a longitudinal acceleration of the whole vehicle and a torque output by a differential, an output signal is established and is an absorption torque signal of a flange, and the bus connection sequence 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) Establishing a control program in a simulink module of Matlab software, wherein input signals and output signals for control are obtained from a Matlab _ Dll module;
(5) Compiling the control program by tool options in the simulink module to generate a Dll file, and putting the generated Dll file into a userdata folder under a finished automobile model folder;
(6) Opening a Matlab _ Dll module, and selecting the Dll file generated in the step (5) from the Matlab Library;
the control strategy firstly calculates the real-time maximum adhesive force of the ground, then calculates the torque according to the dynamic radius of the tire, calculates the torque for enabling the tire to reach the angular acceleration according to the momentum moment theorem and the moment of inertia and the real-time angular acceleration of the tire, wherein the sum of the two torques is the total torque provided by an output shaft, if the torque output by the differential mechanism is larger than the total torque, the tire slipping phenomenon occurs, so a flange is added on the output shaft, the total torque and the output torque of the differential mechanism are monitored in real time, when the output torque of the differential mechanism is larger than the total torque, the flange absorbs the redundant torque, and when the output torque of the differential mechanism is smaller than or equal to the total torque, the flange does not absorb the torque.
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| CN201910518726.7A 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 |
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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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