CN115303358B - Distributed drive-by-wire chassis, control method and new energy electric car - Google Patents
Distributed drive-by-wire chassis, control method and new energy electric car Download PDFInfo
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- CN115303358B CN115303358B CN202211052265.7A CN202211052265A CN115303358B CN 115303358 B CN115303358 B CN 115303358B CN 202211052265 A CN202211052265 A CN 202211052265A CN 115303358 B CN115303358 B CN 115303358B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 20
- 238000013461 design Methods 0.000 claims abstract description 11
- 238000005457 optimization Methods 0.000 claims description 17
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- 238000004458 analytical method Methods 0.000 claims description 7
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- 230000005672 electromagnetic field Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 2
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- 230000009286 beneficial effect Effects 0.000 abstract description 4
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- 238000005312 nonlinear dynamic Methods 0.000 description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
- B60G11/27—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs wherein the fluid is a gas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
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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)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a distributed drive-by-wire chassis, a control method and a new energy electric vehicle, wherein the distributed drive-by-wire chassis comprises a chassis framework, a sensor module, a distributed drive-by-wire system, a front and rear axis steering system, a double-shaft cooperative control drive-by-wire system and a chassis domain controller, wherein the chassis domain controller is used for intensively controlling the torque output by each wheel hub motor, each drive-by-wire air suspension, a first motor steering device, a second motor steering device, a first drive-by-wire brake and a second drive-by-wire brake. The novel structure of the distributed drive type chassis can provide additional safety redundancy for the drive-by-wire chassis through the characteristics of overdrivability, differential steering and the like of the distributed drive, realizes separation and modularization design of a vehicle body and the chassis based on a novel structure of the distributed drive, front and rear axis control steering and chassis domain centralized control, is beneficial to optimizing the space in the vehicle, improves the bearing capacity of the whole vehicle, expands the whole vehicle movement mode and improves the safety of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of new energy automobile control systems, in particular to a distributed drive-by-wire chassis, a control method and a new energy electric car.
Background
The existing vehicle chassis adopts a centralized driving mode, so that the problems of complex chassis structure, low transmission efficiency and the like exist, and the real-time performance and the robustness of control are difficult to ensure under the limit working condition. And the traditional drive-by-wire chassis vehicle has the problems of unstable overbending, unstable slipping of a low-attachment road surface, unstable attachment and opposite-attachment road surface running, low control precision of the speed of the ramp road surface, slow response of emergency obstacle avoidance working conditions and the like.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the distributed drive-by-wire chassis, which can improve the stability and smoothness of vehicle operation and the compatibility among components and improve the safety of the drive-by-wire chassis.
The invention further provides a control method of the distributed drive-by-wire chassis.
The invention also provides a new energy electric car comprising the distributed drive-by-wire chassis.
The invention also provides a new energy electric car using the control method of the distributed drive-by-wire chassis.
An embodiment of a distributed drive-by-wire chassis according to the first aspect of the present invention comprises:
a chassis architecture provided with a sensor module;
the distributed drive-by-wire system comprises four drive-by-wire air suspensions and four hub motors, wherein each hub motor is connected with the chassis framework through each drive-by-wire air suspension and is used for independently driving each wheel;
the front-rear axis steering system comprises a first motor steering device and a second motor steering device, wherein the first motor steering device is used for controlling the steering of two wheels on the opposite front side, and the second motor steering device is used for controlling the steering of two wheels on the opposite rear side;
the double-shaft cooperative control line control system comprises a first line control brake and a second line control brake, wherein the first line control brake is used for controlling braking of two wheels on the opposite front side, and the second line control is used for controlling braking of two wheels on the opposite rear side;
the chassis domain controller is arranged on the chassis framework and receives signals of the sensor module;
the chassis domain controller is used for controlling the torque output by each wheel hub motor so as to control yaw moment and longitudinal moment;
the chassis domain controller is used for controlling each wire control air suspension to realize lifting control of the chassis framework height;
the chassis domain controller is used for controlling the first motor steering device and the second motor steering device to realize front-drive steering, rear-drive steering and four-wheel steering;
the chassis domain controller is used for controlling the first brake-by-wire and the second brake-by-wire to respectively control the brake execution of the four wheels.
The distributed drive-by-wire chassis according to the embodiment of the first aspect of the present invention has at least the following advantages: the novel structure of the distributed drive type chassis can provide additional safety redundancy for the drive-by-wire chassis through the characteristics of overdrivability, differential steering and the like of the distributed drive, realizes separation and modularization design of a vehicle body and the chassis based on a novel structure of the distributed drive, front and rear axis control steering and chassis domain centralized control, is beneficial to optimizing the space in the vehicle, improves the bearing capacity of the whole vehicle, expands the whole vehicle movement mode and improves the safety of the whole vehicle.
According to an embodiment of the first aspect of the present invention, the drive-by-wire air suspension includes four double-wishbone guide mechanisms, four air spring assemblies, a distribution valve, an air tank and a compressor, the air tank is connected with the compressor, the distribution valve is used for distributing air to the air spring assemblies, the double-wishbone guide mechanisms are arranged between the chassis frame and the wheels, the air spring assemblies are respectively arranged on the double-wishbone guide mechanisms, a vehicle body attitude signal is obtained based on the sensor module, and the chassis domain controller controls inflation and deflation of the air spring assemblies through the distribution valve to realize lifting control of the chassis frame.
According to the distributed drive-by-wire chassis of the embodiment of the first aspect of the present invention, the front-rear axis steering system further comprises a dual-source-powered mechanical and electrical dual-redundancy design architecture, and a first chip, a second chip, a first angle sensor and a second angle sensor which are integrally arranged on the dual-source-powered mechanical and electrical dual-redundancy design architecture, wherein the first motor steering device and the second motor steering device are respectively six-phase motor steering devices, the first chip, the first angle sensor and the first motor steering devices are respectively connected, the second chip, the second angle sensor and the second motor steering devices are respectively connected, and the chassis domain controller respectively controls each six-phase motor steering device through the first chip and the second chip based on signals of the first angle sensor and the second angle sensor;
when one phase has a problem, the six-phase motor steering gear is changed into a three-phase motor to work, and the three-phase and six-phase work of the six-phase motor steering gear can meet the normal steering requirement of the vehicle;
when the front six-phase motor steering gear and the rear six-phase motor steering gear are invalid, differential steering is realized through the four hub motors.
According to the distributed drive-by-wire chassis of the embodiment of the first aspect of the invention, the two-shaft cooperative control brake-by-wire system is set as an electronic hydraulic brake system, and the brake actuating systems of four wheels are respectively controlled in an X-shaped pipeline arrangement mode according to the control of the brake pressure of the whole vehicle by the first brake-by-wire system and the second brake-by-wire system;
and when the first wire control brake and the second wire control brake are invalid, four wheel hub motors realize redundant brake control.
According to a second aspect of the invention, a control method of a distributed drive-by-wire chassis includes the steps of:
the intelligent vehicle body domain, the intelligent driving domain and the intelligent cabin domain send information to a chassis domain controller for centralized processing;
the chassis domain controller comprises a signal processing module, a target state module, a control strategy decision module and a redundancy module, wherein the signal processing module receives information and performs parameter identification, and simultaneously refers to the target state module to perform target state identification, then the information is transmitted to the control strategy decision module, and a control instruction is sent out through the control strategy decision module, wherein the redundancy module is used for ensuring the normal work of the signal processing module, the target state module and the control strategy decision module;
the drive-by-wire chassis receives the output control instruction, and controls at least one of a drive-by-wire steering system, a drive-by-wire system, a suspension-by-wire system and a drive-by-wire system, thereby realizing control of the control vehicle.
According to the control method of the distributed drive-by-wire chassis, which is provided by the embodiment of the second aspect of the invention, the control method of the distributed drive-by-wire chassis further comprises the steps of carrying out various dynamic performance analyses, active control, function realization and parameter optimization of the vehicle based on a vehicle dynamics model;
the vehicle dynamics model realizes longitudinal-transverse-vertical coupling control by observing global dynamics states and modeling fifteen degrees of freedom dynamics, wherein the fifteen degrees of freedom are longitudinal, transverse, vertical, pitching, yaw, rolling and wheel steering respectively, four wheels independently rotate, and four wheels vertically and independently jump.
According to the control method of the distributed drive-by-wire chassis, which is disclosed by the embodiment of the second aspect of the invention, a drive-by-wire system comprises an in-wheel motor, wherein the low-torque fluctuation control method of the in-wheel motor comprises the steps of quantitatively analyzing the harmonic components and the content of a coupled magnetic field by utilizing a multidimensional electromagnetic field, combining a circuit control model established by applying permanent magnet motor control logic, taking the minimum torque fluctuation as a solving target, taking at least one of an air gap magnetic field harmonic and a switching frequency factor as an optimization parameter, and researching in-wheel motor torque control under the vector control condition through multi-target optimization.
According to the control method of the distributed drive-by-wire chassis, which is an embodiment of the second aspect of the present invention, the control method of the distributed drive-by-wire chassis further includes using a sensor module, where the sensor module obtains information of a drive-by-wire chassis executing mechanism and a vehicle and feeds back the information to the chassis domain controller to form a negative feedback adjustment system.
According to a third aspect of the present invention, a new energy electric vehicle includes: a distributed drive-by-wire chassis according to an embodiment of the first aspect of the invention.
According to a fourth aspect of the present invention, a new energy electric vehicle includes: a control method of a distributed drive-by-wire chassis according to an embodiment of the second aspect of the invention is used.
It will be appreciated that the control method of the distributed drive-by-wire chassis in the second embodiment of the present invention and the new energy electric vehicle in the third embodiment of the present invention and the fourth embodiment of the present invention all have the technical effects of the distributed drive-by-wire chassis in the first embodiment as described above, and thus are not described in detail.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic diagram of an embodiment of the present invention;
fig. 2 is a control schematic diagram of an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a number means one or more, a number means at least two, and more than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The existing vehicle chassis adopts a centralized driving mode, so that the problems of complex chassis structure, low transmission efficiency and the like exist, and the real-time performance and the robustness of control are difficult to ensure under the limit working condition. The problems that a traditional drive-by-wire chassis vehicle is unstable in over-bending, unstable in slip of a low-attachment road surface, unstable in attachment and butt joint and split road surface running, low in ramp road surface speed control precision, low in emergency obstacle avoidance working condition response and the like are solved.
Referring to fig. 1 to 2, the distributed drive-by-wire chassis according to the embodiment of the first aspect of the present invention is applied to a new energy electric vehicle, where the distributed drive-by-wire chassis includes a chassis architecture 100, a distributed drive-by-wire system 200, a front-rear axis steering system 300, a dual-axis cooperative control system 400, and a chassis domain controller, and is a new configuration of the distributed drive, front-rear axis steering, and chassis domain centralized control.
The chassis architecture 100 is a drive-by-wire chassis, and the drive-by-wire chassis is used for carrying a distributed drive-by-wire system 200, a front-and-rear axis steering system 300, a dual-axis cooperative control drive-by-wire system 400, a chassis domain controller and a configured sensor module 110, so that compared with the traditional centralized driving, the distributed driving has many advantages in the aspects of dynamics control, whole vehicle structure, energy efficiency and other performances, and the distributed drive-by-wire chassis can realize the quick response, accurate control and high safety of the whole vehicle, thereby meeting the requirements of high-level automatic driving commercial vehicles.
The distributed drive-by-wire system 200 comprises four air-by-wire suspensions 210 and four hub motors 220, wherein each hub motor 220 is connected with the chassis framework 100 through each air-by-wire suspension 210, and each hub motor 220 is used for independently driving each wheel; the front-rear axis steering system 300 includes a first motor steering gear 310 for controlling steering of two wheels on opposite front sides and a second motor steering gear 320 for controlling steering of two wheels on opposite rear sides; the dual-axis, co-controlled brake-by-wire system 400 includes a first brake-by-wire 410 for controlling braking of two wheels on opposite front sides and a second brake-by-wire 420 for controlling braking of two wheels on opposite rear sides.
The novel drive-by-wire chassis based on distributed driving, front and rear axle steering and chassis domain centralized control has the possibility of faster landing, simultaneously proposes a front and rear axle steering scheme based on the existing EPS technology, and simultaneously develops a high-performance and high-safety drive-by-wire system based on the existing eboster technology, so that the response time and control precision of the drive-by-wire chassis can be greatly improved, the safety of the drive-by-wire chassis is ensured, and the industrialization application of the technology is realized faster.
The chassis domain controller is arranged on the chassis framework 100, receives signals of the sensor module 110, and is used for controlling torque output by each wheel hub motor 220 so as to control yaw moment and longitudinal moment, controlling each wire control air suspension 210 so as to control lifting of the height of the chassis framework 100, controlling the first motor steering device 310 and the second motor steering device 320 so as to realize front-drive steering, rear-drive steering and four-wheel steering, and controlling the first wire control brake 410 and the second wire control brake 420 so as to control braking execution of four wheels respectively. The chassis domain centralized control is that the drive-by-wire chassis meets the high-level automatic driving core technology.
The novel structure of the drive-by-wire chassis can provide additional safety redundancy for the drive-by-wire chassis through the characteristics of overdrive property, differential steering and the like of the distributed drive, realizes the separation of a vehicle body and the chassis and the modularized design based on the novel structure of the distributed drive, the front and rear axis steering and the centralized control of the chassis domain, can improve the control stability, the smoothness and the compatibility among components of the vehicle, is beneficial to the optimization of the space in the vehicle, improves the bearing capacity of the whole vehicle, expands the movement mode of the whole vehicle and improves the safety of the whole vehicle.
It can be appreciated that the chassis architecture 100 adopts four-wheel independent driving of the hub motor 220 on each wheel, and the chassis domain controller directly controls torque in terms of driving stability, so that control over yaw moment and longitudinal moment is easier to realize, and the steering stability and driving safety of the whole vehicle are improved. The invention adopts the pure electric 4WID design and the modularized integrated control, which is beneficial to improving the flexibility, the transverse, longitudinal and vertical force coupling collaborative optimization.
In some embodiments of the present invention, the air suspension 210 includes four double-wishbone guiding mechanisms, four air spring assemblies, a distribution valve 211, an air tank 212 and a compressor 213, the air tank 212 is connected to the compressor 213, the distribution valve 211 is used for distributing air to each air spring assembly, each double-wishbone guiding mechanism is disposed between the chassis frame 100 and each wheel, each air spring assembly is disposed on each double-wishbone guiding mechanism, a vehicle body posture signal is obtained based on the sensor module 110, and the chassis domain controller controls inflation and deflation of each air spring assembly through the distribution valve 211 to realize lifting control of the chassis frame 100.
The height of the whole vehicle is adjustable based on the wire-controlled air suspension 210, the smoothness index of the whole vehicle is analyzed, secondary performance indexes such as an air spring, a damper and the like are determined, a three-dimensional model of the suspension is established by using CATIA, and the analysis of rigidity, strength, fatigue and the like is performed. And (3) establishing a two-degree-of-freedom dynamics model of the suspension system, constructing a mechanical, electrical and pneumatic model by using MATLAB/Simulink, and performing simulation test to realize the improvement and balance of the running smoothness, the operation stability and the trafficability of the whole vehicle. The vehicle body attitude signal is obtained through the sensor module 110, filtering processing is carried out on the signal, the problem of continuous suspension adjustment is solved, lifting control of a vehicle body chassis can be achieved through inflation and deflation of an air spring, the fault tolerance of a suspension system is improved through a chassis domain controller cooperative control strategy of a drive-by-wire chassis, and the safety and the comfort of a vehicle are improved.
In some embodiments of the present invention, front-to-back steering is employed based on existing EPS systems to achieve steering performance improvement and safety redundancy. Further, the front-rear axis steering system 300 further includes a dual-source power-supplied mechanical and electrical dual-redundancy design architecture, and a first chip, a second chip, a first angle sensor and a second angle sensor integrally disposed on the dual-source power-supplied mechanical and electrical dual-redundancy design architecture, where the first motor steering device 310 and the second motor steering device 320 are all six-phase motor steering devices, the first chip, the first angle sensor and the first motor steering device 310 are respectively connected, the second chip, the second angle sensor and the second motor steering device 320 are respectively connected, and the chassis domain controller respectively controls each six-phase motor steering device through the first chip and the second chip based on signals of the first angle sensor and the second angle sensor.
When one phase of the six-phase motor steering gears is out of order, the six-phase motor steering gears are changed into three-phase motor operation, the three-phase and six-phase operation of the six-phase motor steering gears can meet the normal steering requirement of the vehicle, the three-phase and six-phase operation can meet the normal steering requirement of the vehicle, and when the front and rear six-phase motor steering gears are out of order, the differential steering is realized through the four hub motors 220, so that the safety is ensured.
The turning radius of front and back steering is smaller, the trafficability is better, the steering is flexible, and the redundancy of the steering system can be realized. Four-wheel steering technology is an effective means of improving the safety and steering stability of a vehicle. The front and rear wheels of the four-wheel steering vehicle participate in steering, and the rotation angle of the rear wheels can be adjusted according to the requirements of the vehicle. When the vehicle passes through a narrow road surface at a low speed, the front wheel and the rear wheel reversely rotate, so that the turning radius of the vehicle is reduced, and the trafficability of the vehicle is improved. When the vehicle turns at a high speed, the front and rear wheels are rotated in the same direction in order to prevent the vehicle from turning over and improve the steering stability of the vehicle.
In some embodiments of the invention, a dual eboster scheme is employed to achieve fast response and safe redundancy of braking based on existing ebosters. The dual-shaft cooperative control brake-by-wire system 400 is configured as an electro-hydraulic brake system, and performs control of brake pressure of the whole vehicle according to the first brake-by-wire 410 and the second brake-by-wire 420, and respectively controls brake execution systems of four wheels in an X-type pipeline arrangement manner, and when both the first brake-by-wire 410 and the second brake-by-wire 420 fail, the four wheel hub motors 220 implement redundant brake control.
The system is designed to be based on a high-redundancy line control braking system architecture with double-shaft cooperative control, accurate braking pressure control of the system is achieved, the control of the braking pressure of the whole vehicle is carried out based on double eBooster, the total oil output of a single eBooster system is halved, the response time of the system is greatly shortened, higher-precision braking pressure control is achieved, and deep energy recovery can be carried out by matching with a driving shaft. Redundant brake control may also be achieved through a body stability control system (ESC), an electronic park brake system (EPB), four in-wheel motors 220 when both eBooster fail.
Referring to fig. 1 to 2, a control method of a distributed drive-by-wire chassis according to a second aspect of the present invention may be the control method of the distributed drive-by-wire chassis according to the first aspect of the present invention, and the control method of the distributed drive-by-wire chassis includes the steps of:
the intelligent vehicle body domain, the intelligent driving domain and the intelligent cabin domain send information to a chassis domain controller for centralized processing;
the chassis domain controller comprises a signal processing module, a target state module, a control strategy decision module and a redundancy module, wherein the signal processing module receives information and performs parameter identification, and simultaneously refers to the target state module to perform target state identification, then transmits the information to the control strategy decision module, and sends out a control instruction through the control strategy decision module, wherein the redundancy module is used for ensuring the normal work of the signal processing module, the target state module and the control strategy decision module;
the drive-by-wire chassis receives the output control instruction, and controls at least one of a drive-by-wire steering system, a drive-by-wire system, a suspension-by-wire system and a drive-by-wire system, thereby realizing control of the control vehicle.
Based on chassis domain centralized control hardware, the rapid response and accurate control of the vehicle system are realized based on a dynamics model. The existing vehicle chassis integrated control architecture adopts a distributed and layered control architecture. The distributed architecture is based on vehicle-mounted communication to carry out chassis sensing signal sharing and joint control, and is characterized by being simple and reliable, but cannot be suitable for the conditions of multiple chassis parts and high complexity.
The hierarchical architecture performs target set optimization and chassis decoupling control and distribution through a global optimization layer, and an execution control layer controls an actuator to act based on a global optimization layer instruction.
The centralized control architecture provided by the invention has the advantages that the chassis domain controller receives and processes all sensor signals, and uniformly optimizes and controls each chassis execution system, so that the integration level is high, and the global optimization of the vehicle is ensured. Along with the solution of the control failure redundancy control mechanism of the drive-by-wire chassis, the reliability and flexibility of the centralized control architecture can be obviously improved.
In some embodiments of the present invention, the control method of the distributed drive-by-wire chassis further includes performing various dynamic performance analyses, active control, function implementation and parameter optimization of the vehicle based on a vehicle dynamics model, where the vehicle dynamics model is configured to implement longitudinal-lateral-vertical coupling control by performing global dynamics state observation and fifteen degrees of freedom dynamics modeling, where the fifteen degrees of freedom are longitudinal, lateral, vertical, pitch, yaw, roll, and wheel steering, four wheels are independently rotated, and four wheels are vertically independently jumped.
On the basis of analyzing complex nonlinear dynamic behavior characteristics of multisystem coupling of the drive-by-wire chassis vehicle, a strong nonlinear dynamic model reflecting longitudinal, transverse and vertical motion characteristics of the drive-by-wire chassis vehicle is provided, the nonlinear dynamic behavior characteristics of the complex system of an actual drive-by-wire chassis vehicle can be accurately simulated, mathematical theory analysis, simulation modeling and real vehicle verification of the longitudinal-transverse-vertical dynamic nonlinear model of the vehicle are realized, full dynamic longitudinal-transverse-vertical dynamic coupling between the drive-by-wire chassis and the whole vehicle is realized, response and control precision of system control are improved, and support is provided for design and function verification of a drive-by-wire chassis vehicle control system based on a physical model.
On the basis, the safe and stable running boundary conditions of the vehicle in the intelligent driving process are accurately quantized, and the chassis domain is fed back to the information such as the running and pre-aiming dynamics state, the running quantization conditions and the like of the vehicle in the intelligent decision-making layer; the coordination control of each component is carried out through the comprehensive optimization of the multiple targets and multiple systems of the chassis by the intention recognition of the driver, and the coordination control is carried out by the chassis executor. The vehicle dynamics coupling mechanism is adopted to realize longitudinal-transverse-vertical coupling control on the multifunctional electric wheels of the integrated driving, braking, steering and suspension, the controllable range of the vehicle dynamics is expanded, the mutual restriction among a plurality of performance indexes of the vehicle is reduced, and the multi-objective optimization is improved.
In some embodiments of the present invention, based on distributed driving, the vehicle motion pattern can be extended, providing additional safety redundancy. The drive-by-wire system uses the hub motor 220, wherein the low-torque fluctuation control method of the hub motor 220 comprises the steps of quantitatively analyzing the harmonic components and the content of the coupled magnetic field by using analysis methods such as a multidimensional electromagnetic field CAE, combining a circuit control model established by using permanent magnet motor control logic, taking the minimum torque fluctuation as a solving target, taking at least one of the air-gap magnetic field harmonic and a switching frequency factor as an optimization parameter, and researching the torque control of the hub motor 220 under the vector control condition by using a multi-target optimization technology. And analyzing and calculating the magnetic field and the loss of each hub motor 220 unit of the electric automobile by adopting an electromagnetic field theoretical calculation and finite element method, and optimizing a cooling system of the hub motor 220.
In some embodiments of the present invention, the control method of the distributed drive-by-wire chassis further includes using a sensor module 110, where the sensor module 110 obtains information of the drive-by-wire chassis actuator and the vehicle and feeds back to the chassis domain controller to form a negative feedback adjustment system.
Referring to fig. 1 to 2, a new energy electric vehicle according to a third aspect of the present invention includes a distributed drive-by-wire chassis according to the first aspect of the present invention, and a novel drive-by-wire chassis based on distributed driving, front-rear axle steering, and chassis domain centralized control has a faster landing possibility. The front and rear axle steering scheme is proposed based on the prior EPS technology, and meanwhile, a high-performance and high-safety drive-by-wire system is developed based on the prior eboster technology, so that the response time and control precision of the drive-by-wire chassis can be greatly improved, the safety of the drive-by-wire chassis is ensured, and the industrialization application of the technology is realized more quickly.
Referring to fig. 1 to 2, a new energy electric vehicle according to a fourth aspect of the present invention includes a control method for a distributed drive-by-wire chassis according to the second aspect of the present invention, where a vehicle dynamics model is currently established from each motion direction or a motion gesture of interest, respectively, and there is no unified modeling of longitudinal-transverse-vertical dynamics of a vehicle on the drive-by-wire chassis.
Therefore, on the basis of analyzing complex nonlinear dynamic behavior characteristics of multisystem coupling of the drive-by-wire chassis vehicle, a strong nonlinear dynamic model reflecting longitudinal, transverse and vertical motion characteristics of the drive-by-wire chassis vehicle is provided, the nonlinear dynamic behavior characteristics of the complex system of an actual drive-by-wire chassis vehicle can be accurately simulated, mathematical theory analysis, simulation modeling and real vehicle verification of the longitudinal-transverse-vertical dynamic nonlinear model of the vehicle are realized, full dynamic longitudinal-transverse-vertical dynamic coupling between the drive-by-wire chassis and the whole vehicle is realized, response and control precision of system control are improved, and support is provided for design and function verification of a drive-by-wire chassis vehicle control system based on a physical model.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (4)
1. A method of controlling a distributed drive-by-wire chassis, the distributed drive-by-wire chassis comprising:
a chassis architecture provided with a sensor module;
the distributed drive-by-wire system comprises four drive-by-wire air suspensions and four hub motors, wherein each hub motor is connected with the chassis framework through each drive-by-wire air suspension, each hub motor is used for independently driving each wheel, each drive-by-wire air suspension comprises four double-cross arm guide mechanisms, four air spring assemblies, a distribution valve, an air storage tank and a compressor, the air storage tank is connected with the compressor, the distribution valve is used for distributing air to each air spring assembly, each double-cross arm guide mechanism is arranged between the chassis framework and each wheel, each air spring assembly is respectively arranged on each double-cross arm guide mechanism, a vehicle body posture signal is obtained based on the sensor module, and a chassis domain controller controls the air charging and discharging of each air spring assembly through the distribution valve to realize the lifting control of the chassis framework;
the front-rear axis steering system comprises a first motor steering device and a second motor steering device, wherein the first motor steering device is used for controlling the steering of two wheels on the opposite front side, and the second motor steering device is used for controlling the steering of two wheels on the opposite rear side; the front-rear axis steering system further comprises a dual-source power supply mechanical and electrical dual-redundancy design framework, a first chip, a second chip, a first angle sensor and a second angle sensor, wherein the first chip, the first angle sensor and the first motor steering device are respectively connected, and the second chip, the second angle sensor and the second motor steering device are respectively connected;
the first motor steering gear and the second motor steering gear adopt six-phase motor steering gears, and the chassis domain controller respectively controls each six-phase motor steering gear through the first chip and the second chip;
when one phase has a problem, the six-phase motor steering gear is changed into a three-phase motor to work, and the three-phase and six-phase work of the six-phase motor steering gear can ensure the normal steering of the vehicle;
when the front six-phase motor steering gear and the rear six-phase motor steering gear are invalid, differential steering is realized through the four wheel hub motors;
the double-shaft cooperative control line control system comprises a first line control brake and a second line control brake, wherein the first line control brake is used for controlling braking of two wheels on the opposite front side, and the second line control is used for controlling braking of two wheels on the opposite rear side;
the double-shaft cooperative control brake-by-wire system is arranged as an electronic hydraulic brake system, and is used for controlling the brake pressure of the whole vehicle according to the first brake-by-wire system and the second brake-by-wire system, and the brake execution systems of the four wheels are respectively controlled in an X-shaped pipeline arrangement mode;
when the first wire control brake and the second wire control brake are invalid, four wheel hub motors realize redundant brake control;
the chassis domain controller is arranged on the chassis framework and receives signals of the sensor module;
the chassis domain controller is used for controlling the torque output by each wheel hub motor so as to control yaw moment and longitudinal moment;
the chassis domain controller is used for controlling each wire control air suspension to realize lifting control of the chassis framework height;
the chassis domain controller respectively controls the first motor steering device and the second motor steering device through the first chip and the second chip based on signals of the first angle sensor and the second angle sensor so as to realize front-drive steering, rear-drive steering and four-wheel steering;
wherein the chassis domain controller is configured to control the first brake-by-wire and the second brake-by-wire to control brake execution of the four wheels, respectively;
the control method of the distributed drive-by-wire chassis comprises the following steps:
the intelligent vehicle body domain, the intelligent driving domain and the intelligent cabin domain send information to a chassis domain controller for centralized processing;
the chassis domain controller comprises a signal processing module, a target state module, a control strategy decision module and a redundancy module, wherein the signal processing module receives information and performs parameter identification, and simultaneously refers to the target state module to perform target state identification, then the information is transmitted to the control strategy decision module, and a control instruction is sent out through the control strategy decision module, wherein the redundancy module is used for ensuring the normal work of the signal processing module, the target state module and the control strategy decision module;
the drive-by-wire chassis receives the output control instruction, and controls at least one of a drive-by-wire steering system, a drive-by-wire suspension system and a drive-by-wire system, so that the control of the control vehicle is realized;
the drive-by-wire system comprises a hub motor, wherein the low-torque fluctuation control method of the hub motor comprises the steps of quantitatively analyzing harmonic components and contents of a coupled magnetic field by using a multidimensional electromagnetic field, combining a circuit control model established by using permanent magnet motor control logic, taking the minimum torque fluctuation as a solving target, taking at least one of air gap magnetic field harmonic and switching frequency factors as optimization parameters, and researching the torque control of the hub motor under the vector control condition through multi-target optimization.
2. The control method of a distributed drive-by-wire chassis according to claim 1, wherein: the control method of the distributed drive-by-wire chassis further comprises the steps of carrying out various dynamic performance analysis, active control, function realization and parameter optimization of the vehicle based on a vehicle dynamics model;
the vehicle dynamics model realizes longitudinal-transverse-vertical coupling control by observing global dynamics states and modeling fifteen degrees of freedom dynamics, wherein the fifteen degrees of freedom are longitudinal, transverse, vertical, pitching, yaw, rolling and wheel steering respectively, four wheels independently rotate, and four wheels vertically and independently jump.
3. The control method of a distributed drive-by-wire chassis according to claim 1, wherein: the control method of the distributed drive-by-wire chassis further comprises the step of using a sensor module, wherein the sensor module acquires information of a drive-by-wire chassis executing mechanism and a vehicle and feeds the information back to the chassis domain controller to form a negative feedback regulating system.
4. The utility model provides a new forms of energy trolley, its characterized in that includes: a control method of a distributed drive-by-wire chassis as claimed in any one of claims 1 to 3.
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Denomination of invention: A distributed drive line control chassis, control method, and new energy electric vehicle Granted publication date: 20231205 Pledgee: Bank of China Limited by Share Ltd. Zhuhai branch Pledgor: ZTE INTELLIGENT AUTOMOBILE CO.,LTD. Registration number: Y2024980014917 |