Four-wheel hub electric vehicle speed control method

A technology of electric vehicle and vehicle speed control, which is applied in the direction of electric vehicles, control drives, control devices, etc., and can solve the problems of not considering the influence of multiple driving modes and the accuracy of vehicle speed estimation

Inactive Publication Date: 2016-08-10
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

This method does not consider the fact that there are multiple driving modes in the four-wheel hub electric vehicle, and the switching of driving modes will have a certain impact on the accuracy of vehicle speed estimation.

Method used

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  • Four-wheel hub electric vehicle speed control method
  • Four-wheel hub electric vehicle speed control method
  • Four-wheel hub electric vehicle speed control method

Examples

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Embodiment

[0066] figure 1 It is a schematic diagram of a vehicle speed control system for a four-wheel hub electric vehicle of the present invention.

[0067] In this example, if figure 1 Shown, a kind of four-wheel hub electric vehicle speed control system of the present invention comprises:

[0068] The UKF-based vehicle speed estimation module uses the collected vehicle sensor signals and the nonlinear three-degree-of-freedom estimation model with HSRI tires to estimate the vehicle speed of electric vehicles in real time;

[0069] The vehicle speed estimation module based on wheel speed uses the non-driving wheel speed of the electric vehicle to estimate the vehicle speed of the electric vehicle in real time;

[0070] The vehicle speed estimation method switching module selects the appropriate vehicle speed estimation module according to the current driving mode and the slip ratio of the non-driving wheels, that is, selects the vehicle speed estimation module based on UKF or the ve...

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Abstract

The invention discloses a four-wheel hub electric vehicle speed control method comprising the following steps: using a present drive mode to select a proper speed estimation module, i.e., a UKF based speed estimation module or a wheel speed based speed estimation module, and real time estimating the present speed; carrying out smooth filtering process for speed jumping when the drive mode switches; taking expected speed as the control target, and using a PID controller to control the output total torque; inputting the total torque into each motor controller through torque distribution and limitation, thus controlling the electric vehicle to reach the expected speed.

Description

technical field [0001] The invention belongs to the technical field of electric vehicles, and more specifically relates to a method for controlling the speed of a four-wheel hub electric vehicle. Background technique [0002] Vehicle speed is an important variable in vehicle dynamics control and stability control, and the measurement accuracy of vehicle speed will directly affect the control effect of the vehicle. At present, the control methods for wheel hub vehicles mainly include drive anti-skid control, traction control and stability control. However, the above methods all assume that the vehicle speed is a known quantity, and do not consider the impact of vehicle speed measurement on vehicle stability and ride comfort. . [0003] In order to reduce the cost, the vehicle speed measurement method is mainly realized based on the vehicle-mounted common sensor. There are mainly two existing measurement methods, one is obtained by direct conversion of basic measurement info...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20B60L15/32
CPCB60L15/20B60L15/32B60L2240/423B60L2240/461B60L2240/465B60L2260/28Y02T10/72
Inventor 辛晓帅张文建邹见效彭超张健
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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