Electric motor car differential steeling control method based on slip rate control

Abstract

The invention provides an electric motor car differential steeling control method based on slip rate control. The method comprises the following steps of: (1) measuring the back wheel speed of the electric motor car, the actual output torque of a drive motor and the side speed of the car according to a wheel sped sensor; and (2) calculating the side speed and the heading angle peed of the electric motor car according to two freedom steering models, and then calculating the slip angles of four wheels, thereby calculating the rotational speed of the four wheels; and using a special arithmetic to realize the control on the electric differential steeling of a hub electric motor car. The electric motor car differential steeling control method based on slip rate control combines the calculation of torque distribution with the slip rate of the wheels to lead a designed electric differential steeling mechanism to have the effect of differential lock simultaneously when having the differential and also have the functions of reducing the speed and increasing the torque, thus greatly improving the running trafficability characteristic and the steering performance of the electric motor car, not only achieving the effect of a mechanical differential mechanism on the aspect of function, but also improving the transmission efficiency and reducing the complexity of a mechanical system.

Description

technical field [0001] The invention relates to electric vehicle differential steering control technology, in particular to a method for realizing electronic differential steering control of wheel-hub electric vehicles based on a slip rate controlled electronic differential steering system. Background technique [0002] With the increasingly serious air pollution and energy crisis, the sustainable development of traditional means of transportation is becoming increasingly severe, and electric vehicles are an effective way to solve the above problems. However, the advantages of electric vehicles are not limited to this. From the perspective of structure and control, electric vehicles also have advantages that ordinary fuel vehicles cannot match. According to the structure of the power transmission system, electric vehicles have two drive modes: one is modified on the basis of the original engine vehicle, that is, the centralized drive mode is replaced by an electric motor. Th...

AI Technical Summary

Problems solved by technology

Since the above-mentioned first driving method adopts mechanical differential speed, its research and development costs are high and the cycle is long, and it cannot adapt to the ever-changing market demand.

According to the characteristics of electric vehicles, and for their special variable load environment, the method of electronic differential speed control of the speed is widely used, but at present, most of them are limited to the electronic differential speed algorithm research based on the Ackerman-Jeantand electric vehicle steering model. However, if the algorithm based on this model is used for the two-wheel differential steering control of electric vehicles, the speed error will be large and the steering will be unstable.

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