Highly robust wheel anti-skid control method, anti-skid control system and vehicle

Abstract

The invention provides a high-robustness wheel anti-skid control system. The control system is characterized in that an angular velocity of each wheel is subjected to differential calculation to obtain an angular acceleration; by means of combining the angular acceleration and a driving torque value of each wheel, a driving force applied to each wheel is calculated according to a wheel kinetic equation; by means of combining the driving force with a center acceleration of each wheel and regulatory factors, a constraint torque of each wheel can be obtained by calculation; by comparison of an upper torque output request value and a constraint torque numerical value, wheel driving torque output is controlled, and all wheels are enabled to have excellent anti-skid control effects under any conditions.

Description

Technical field [0001] The present invention relates to the technical field of vehicle drive / brake control, in particular to a highly robust wheel anti-skid control system and anti-skid control method. Background technique [0002] A vehicle braking system with an electronic anti-skid control function belongs to the prior art. Known vehicle braking systems can brake each wheel of the vehicle independently of the driver’s wishes, such as the anti-lock brake system (ABS) to prevent wheel lock, and the traction distribution control system ( TCS), in order to make the vehicle enter the stable form device (Electronic Body Stability System ESP), in order to eliminate the slip of the driving wheel (Drive Anti-Slip Control System ASR), etc., these all belong to the bottom wheel control and need to be based on the wheel slip rate (Slip Ratio). However, the calculation of slip ratio often requires the use of information from other wheels. When all wheels are in working condition (drivin...

AI Technical Summary

Problems solved by technology

Slip rate based antiskid control tends to not work well when all wheels are active (driving / braking)

[0003] For this reason, some researchers have abandoned the application of slip ratio. In the application of distributed drive electric vehicles, anti-skid control based on mechanics is proposed, such as the MFC proposed by Yoichi Hori, Hiroshi Fujimoto, Dejun Yin et al. MTTE and other methods, but these control methods are heavily dependent on vehicle parameters and are sensitive to changes in vehicle resistance and body weight, which limits the practicability of these methods

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