A control method for a distributed drive electric vehicle
A technology of an electric vehicle and a control method, which is applied in the control field of a distributed drive electric vehicle, can solve the problems of the destruction of the driving stability of the electric vehicle, the decrease of the lateral adhesion coefficient between the wheels and the road surface, and the decrease of the adhesion coefficient between the wheels and the road surface.
Active Publication Date: 2016-04-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
like figure 2 As shown, when the slip rate of the wheel is greater than 20%, the electric vehicle enters the slipping instability zone, resulting in a decrease in the adhesion coefficient between the wheel and the road surface, especially a sharp drop in the lateral adhesion coefficient between the wheel and the road surface, which in turn leads to the electric vehicle The vehicle swayed and the driving stability of the electric vehicle was damaged
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[0027] Combine below image 3 The control method of the distributed driving electric vehicle (hereinafter referred to as electric vehicle) of the present invention will be described in detail.
[0028] First, the vehicle controller on the electric vehicle collects the vehicle speed v when the electric vehicle is driving on the opposite road, and the rotation speed ω of the four wheels of the electric vehicle, and calculates the four wheel speeds of the electric vehicle according to formula (1). The slip rate λ of a wheel during driving,
[0029] λ = ωr - v ωr - - - ( 1 )
[0030] Among them, r is the wheel rolling radius of the electric vehicle.
[0031] Preferably, the vehicle controller collects the real-time vehicle speed v of the electric vehicle through GPS (Global Positioning System),...
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The invention relates to the field of control of electric cars, and provides a control method, aiming to improve driving stability of electric cars, of the distributed drive electric car. The slippage rates Lambda of four wheels are calculated; when the slippage rates Lambda are all smaller than a slippage control target value Lambda 0, the electric cars are controlled according to requirements; when the slippage rate Lambda i of the slippage wheel Wi is greater than Lanbda 0, a driving torque T (i+1) distributed to the wheels on the same side is regulated in a sliding-mode control mode, the driving torque T (i+1) can not compensate for the torque loss of the coaxial wheel Wi' when the equation that min (T max and T road)-T (i+1_desire)<=T (i_desire)-T(i_opt) is satisfied, the driving torque T (i+1) satisfies the equation that T (i+1)=(Tmax and T road), and driving torque Ti' and driving torque T(i+1) ' distributed to the coaxial wheel Wi' and the opposite-angle wheel W(i+1) ' respectively are regulated so that the equations that Ti'=T(i_opt) and T(i+1) '=T (i+1) can be satisfied; the driving torque T (i+1) can satisfy the torque loss of the slippage wheel Wi when the equation that min (T max and T road)-T (i+1_desire)>T (i_desire)-T(i_opt), the equation that T (i+1)=T (i+1_desire)+[T (i_desire)-T(i_opt)] is satisfied, and the driving torque Ti' and the driving torque T(i+1) ' distributed to the coaxial wheel Wi' and the opposite-angle wheel W(i+1) ' respectively are regulated so that the equations that Ti'=T(i_opt) and T(i+1) '=T (i+1). By the adoption of the method, the electric cars running on the road can be controlled, and stability is improved.
Description
technical field [0001] The invention relates to the control field of electric vehicles, in particular to a control method for distributed drive electric vehicles. Background technique [0002] Facing the increasingly severe energy situation and environmental protection pressure in the world, in recent years, electric vehicles have gradually emerged and become a major trend in the development of automobiles. [0003] The drive system of distributed drive electric vehicles such as figure 1 As shown, its power battery 1 is connected with four in-wheel motors 4 provided on four wheels 3 through four inverters 2, and provides power for the in-wheel motors 4 to drive the wheels 3 to rotate. During the running of the distributed electric vehicle, the vehicle controller 5 sends a control command to the hub motor 4 through the inverter 2 according to the detected vehicle state, and the hub motor 4 applies a driving torque to the wheel 3 to make the wheel 3 rotate. Since the traditi...
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IPC IPC(8): B60W30/02B60W30/18B60W40/105B60W40/10
CPCB60W30/02B60W30/18B60W40/10B60W40/105
Inventor 何洪文刘新磊彭剑坤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY