An adaptive parking and auxiliary starting control method for distributed driving off-road vehicles

A technology of off-road vehicles and control methods, which is applied in the field of wheel hub motor distributed drive vehicle control, and can solve problems such as less attention

Active Publication Date: 2018-12-25
WUHAN UNIV OF TECH
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Problems solved by technology

The above method takes advantage of the advantages of precise and fast response of the electric drive system, and also considers the prevention of dangerous phenomena such as slope slopes. Less attention is paid to speed control and other aspects

Method used

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  • An adaptive parking and auxiliary starting control method for distributed driving off-road vehicles
  • An adaptive parking and auxiliary starting control method for distributed driving off-road vehicles
  • An adaptive parking and auxiliary starting control method for distributed driving off-road vehicles

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Embodiment Construction

[0054] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0055] Such as figure 1 As shown, the present invention provides an adaptive parking and auxiliary start control method for a distributed drive off-road vehicle, comprising the following steps:

[0056] S1. Judgment of driver's intention: The driver's driving intention is judged by using the electronic pedal opening signal, shift panel signal, and real-time vehicle speed as input signals.

[0057] In the shift panel signal, when the driver selects the off-road mode for driving, the vehicle controller starts this method.

[0058] When real-time vehicle speed V≤V min And the real-time opening of the electronic accelerator pedal α acc >0, it is judged that the driver has the intention of starting and accelerating; where V min is the lowest stable driving speed, which is the default value; when V≤V min 、α acc = 0 and the real-time opening of the ele...

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Abstract

The invention provides an adaptive parking and auxiliary starting control method of a distributed driving off-road vehicle. When the driver is judged to have the intention of slow parking, the error between the real-time rotational speed of the motor and the desired rotational speed is taken as a control target, and the rotational speed command of the hub motor is adjusted by a PID controller. Judging that the vehicle speed is zero according to the information fed back by the vehicle running state measuring device, maintaining the rotational speed command of each hub motor to be zero, and realizing automatic parking on the slope; When the driver is judged to have the intention of starting and accelerating, the torque command of the whole vehicle controller is calculated by using the second-order sliding mode controller. The proportion of each wheel vertical load to the total vertical load is calculated, and the torque commands of the vehicle controller are distributed to the hub motorof the corresponding wheel according to the proportion. The method can be applied to off-road vehicles equipped with a hub motor distributed driving system and having high climbing performance requirements, and realizes the functions of adaptive slow parking and assisting in starting.

Description

technical field [0001] The invention belongs to the technical field of wheel hub motor distributed drive vehicle control, in particular to an adaptive parking and auxiliary start control method for distributed drive off-road vehicles. Background technique [0002] The existing research direction of the adaptive parking and assisted starting control method of electric vehicles mainly focuses on the realization of the hill starting function, such as Feedback Closed-loop Starting Controller (based on feedback closed-loop starting controller), based on motor blocking The hill start control based on the rotation characteristics, the anti-slope controller based on the in-wheel motor drive system, etc. The above method takes advantage of the advantages of precise and fast response of the electric drive system, and also considers the prevention of dangerous phenomena such as slope slopes. Less attention has been paid to speed control and other aspects. Compared with traditional ce...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2240/12B60L2220/44B60L2240/421B60L2240/423Y02T10/72
Inventor 付翔刘道远吴森
Owner WUHAN UNIV OF TECH
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