Battery electric vehicle drive sliding control system and method based on hub motors

Abstract

The invention provides a battery electric vehicle drive sliding control method based on hub motors. The battery electric vehicle drive sliding control method based on the hub motors comprises the following steps: acquiring speeds of a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, judging whether the difference between the speeds of the left front wheel and the right front wheel is smaller than or equal to 150 r / min, taking the speed w1 of the left front wheel as a target rotating speed of the front wheels if the difference between the speeds of the left frontwheel and the right front wheel is smaller than or equal to 150 r / min, and if the difference between the speeds of the left front wheel and the right front wheel is not smaller than or equal to 150 r / min, taking the lower one of the speeds of the left front wheel and the right front wheel as the target rotating speed of the front wheels; calculating the target rotating speed M_Speed_R of the rearwheels in the same way; comparing the target rotating speed of the front wheels with the target rotating speed M_Speed_R of the rear wheels to obtain the target rotating speed of the whole vehicle; separately comparing the speeds of the four wheels with the target rotating speed of the whole vehicle, and when determining that the wheels trend to rotate very fast, reducing a moment command which is transmitted to hub motor controllers of the wheels; and when the speeds of the four wheels are in a reasonable range, recovering the moment command which is transmitted to the hub motor controllersinto a mode of determining the magnitude of the moment by a driver to ensure dynamic property requirements during running. Motor torque which is input to the hub motors is adjusted by logic judgment,motor rotating speeds are adjusted adaptively to implement ASR control, and power loss is low.

Description

technical field [0001] The invention belongs to the field of pure electric vehicle control, and in particular relates to a pure electric vehicle drive anti-skid control system and method based on a hub motor. Background technique [0002] Acceleration Skip Regulation (ASR), also known as Traction Control System (TCS), is an active safety technology that improves vehicle safety. It improves vehicle starting by controlling the conversion rate of driving wheels. When the form stability and traction through. [0003] The driving anti-slip control of traditional vehicles mainly prevents wheel slipping through two methods: engine torque control mode and brake control mode. Specific implementation methods: 1. Adjust the throttle opening of the engine, adjust the ignition time, etc. to adjust the driving torque of the engine; 2. Implement active braking on the slipping wheels through the brake pedal; 3. Use some special mechanical structures , such as limited slip differentials, d...

AI Technical Summary

Problems solved by technology

[0007] Most of the driving anti-skid systems and methods in the prior art are used in traditional vehicles, and are rarely used in new energy in-wheel motor vehicles

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