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Electric vehicle antilock control method based on linear time varying

A technology for electric vehicles and control methods, which is applied in electric vehicles, braking control systems, electric braking systems, etc., can solve the problems of low slip rate tracking control accuracy and narrow controller stability range.

Inactive Publication Date: 2018-05-22
CHANGCHUN UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing linear MPC method cannot fully characterize the nonlinear longitudinal slip characteristics of tires, the slip ratio tracking control accuracy is low and the stability domain of the controller is narrow.

Method used

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  • Electric vehicle antilock control method based on linear time varying
  • Electric vehicle antilock control method based on linear time varying
  • Electric vehicle antilock control method based on linear time varying

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Embodiment Construction

[0068] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0069] figure 1 It is a schematic diagram of the system structure of a linear time-varying anti-lock control method for electric vehicles in the present invention. The system mainly includes a desired slip rate module 1, a tire data processor 2, an MPC controller 3, a Carsim vehicle model 4, a slip Shift rate calculation module 5, braking torque distribution module 6. The expected slip ratio module 1 is used to determine the expected slip ratio, and the tire data processor 2 is used to determine the tire longitudinal force and tire longitudinal stiffness; the MPC controller 3 is based on the current vehicle longitudinal speed and slip ratio, combined with the expected Slip ratio, optimize and solve the braking torque of the four wheels, the optimized front wheel braking torque is directly input to the CarSim vehicle model, and the optimized rear whee...

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Abstract

The invention discloses an electric vehicle antilock control method based on linear time varying. The electric vehicle antilock control method is characterized by comprising an expectation slip rate module, a tire data processor, an MPC controller, a CarSim vehicle model, a slip rate calculating module and a braking torque distribution module. The expectation slip rate module is used for determining the expected slip rate, and the tire data processor is used for determining tire longitudinal force and tire longitudinal rigidity; the MPC controller optimizes and solves braking torque of four wheels according to the longitudinal speed and the slip rate of a current vehicle in combination with the expected slip rate; the CarSim vehicle model is used for outputting actual motion state information of the vehicle, and the actual motion state information comprises the longitudinal speed and the vehicle wheel rotation speed of the vehicle; the slip rate calculating module calculates the slip rate according to the output longitudinal speed and the vehicle wheel rotation speed of the vehicle; the front wheel braking torque is achieved by a hydraulic braking system, and the braking torque distribution module distributes braking torque of rear wheels, and determines hydraulic braking torque and motor regeneration braking torque to be input to the CarSim vehicle model.

Description

technical field [0001] The invention relates to an anti-lock braking control method of electromechanical composite braking of a rear-drive electric vehicle under emergency braking conditions, in particular to an anti-lock braking control method of an electric vehicle based on linear time-varying. Background technique [0002] The electromechanical composite braking system of an electric vehicle includes a motor regenerative braking system and a hydraulic braking system. Among them, the motor regenerative braking system is also called the braking energy recovery system, which uses the feedback characteristics of the motor to convert the kinetic energy or potential energy of the car into electrical energy storage. It is used in energy storage devices such as batteries for the next car driving acceleration, and provides braking torque to the car through the transmission system. For the wheel anti-lock braking control of electric vehicles under emergency braking conditions, some...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L7/24B60T8/1761
CPCB60L7/24B60T8/1761B60T2270/604Y02T10/40
Inventor 李绍松李政崔高健于志新卢晓晖郭陆平王国栋任晓光
Owner CHANGCHUN UNIV OF TECH
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