A distributed drive electric vehicle road surface adaptive anti-slip control system and method

Abstract

The invention relates to a road surface self-adaption anti-skid controlling system and a method for a distributed type driving electric automobile. The road surface self-adaption anti-skid controlling system comprises a motor controller, a motor torque distributor, an actual measurement sensor unit, a nonlinearity road surface estimating unit, an anti-skid controlling selective access unit and a driving anti-skid controlling unit, the nonlinearity road surface estimating unit is used for obtaining road surface peak value attachment coefficients of all wheels, the driving anti-skid controlling unit conducts anti-skid controlling and outputs control torque according to the road surface peak value attachment coefficients, of the wheels, obtained by the nonlinearity road surface estimating unit and actual measured data of the actual measurement sensor unit, the anti-skid controlling selective access unit conducts a logical judgment and then outputs control torque or distributed torque to the motor controller according to the control torque output by the driving anti-skid controlling unit, distributed torque of the motor torque distributor and the actual measured data of the actual measurement sensor unit, and the motor controller controls four driving motors to move. Compared with the prior art, the road surface self-adaption anti-skid controlling system and the method for the distributed type driving electric automobile have high control precision and a good anti-skid effect.

Description

technical field [0001] The invention relates to a distributed drive electric vehicle anti-skid control system and method, in particular to a distributed drive electric vehicle road surface self-adaptive anti-skid control system and method. Background technique [0002] Distributed drive electric vehicles are driven by wheel-side motors or hub motors, without the need for clutches, transmissions, final reducers and differentials of traditional internal combustion engine vehicles, thus simplifying the vehicle structure and improving transmission efficiency. At the same time, the motor controller can accurately obtain the current output speed and torque of the motor, and the response time of the motor is generally in milliseconds. The excessive slip of the driving wheel during the start or acceleration phase of the car is due to the fact that the driving torque exceeds the adhesion limit between the tire and the ground. Excessive slip causes the tire to wear, the driving effici...

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Problems solved by technology

However, it is difficult to establish the fuzzy control rules of this method, and it is also difficult to debug.

[0007] (4) Optimal control solves the optimal index of the driving anti-skid control system according to the optimal principle, and its effect depends on the accuracy of the mathematical model of the system, which is difficult to achieve in practical applications

[0008] (5) Sliding mode variable structure control enables the phase trajectory of the system control variable to slide to the control target along the switching line. This control method has strong robustness, but near the sliding mode surface, the control torque will produce high-frequency jitter

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