A method for controlling anti-slip driving of electric vehicles

Abstract

The invention discloses an anti-slip control method for driving of an electric automobile. The anti-slip control method for driving of the electric automobile involves an improved active-disturbance-rejection controller which has the self-adaptability and further involves a most speed tracking differentiator, an expansion state observer, the nonlinear feedback control law and a self-adaptation module which can update parameters of the nonlinear feedback control law in real time. A vehicle-mounted electronic control unit (ECU) based on the control algorithm receives information from all vehicle-mounted sensors, the expected wheel rotating speed and the actual wheel rotating speed existing at the moment are calculated based on an expected slippage rate according to the slippage rate definition and are compared, a signal is output through the improved active-disturbance-rejection controller which has the self-adaptability and then is input into a motor through a hub motor driver, so that the output torque and the rotating speed of the motor are adjusted, in this way, the slippage rate existing during driving of the electric automobile is lowered, anti-slip driving is achieved, and the traveling stability of the electric automobile is improved. According to the anti-slip control method for driving of the electric automobile, anti-slip driving of the electric automobile is achieved by adjusting the output torque of the motor through the intelligent controller according to the control algorithm.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle control, and in particular relates to a driving anti-slip control method of an electric vehicle. Background technique [0002] With the depletion of fossil energy such as petroleum and the increasingly serious environmental pollution problems, internal combustion locomotives will obviously not be able to meet social development and needs in the future, and people are actively looking for and paying attention to its alternatives—electric vehicles. Electric vehicles use electric energy, have zero emissions, and do not cause any pollution to the environment. Foreign scientific research has shown that even if the environmental pollution caused by the power generation process is calculated at the current stage, the environmental pollution caused by electric vehicles will be 40% lower than that of internal combustion locomotives. The biggest advantage of an electric vehicle is that it is drive...

AI Technical Summary

Problems solved by technology

[0007] However, the above several traditional control methods have affected the effect of driving anti-skid in the process of driving anti-skid control due to their own limitations.

For example, in threshold logic control, the setting of the threshold logic value is not adaptable to a variety of complex road conditions; PID control is mostly used in linear systems, but the electric vehicle with tire model is a strongly nonlinear system, and the PID parameters Not very adaptable to changes in complex road conditions

For the control of nonlinear systems, fuzzy control is a good choice, but fuzzy control often has steady-state errors and tremors in the control process.

The defects of the above several control methods make it difficult for the current traditional electric vehicle drive anti-skid system to achieve a very satisfactory drive anti-skid

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