Road surface self-adaptive driving anti-skid control method and system of distributed driving electric automobile

Abstract

The invention relates to a road surface self-adaptive driving anti-skid control method and system of a distributed driving electric automobile and belongs to the technical field of vehicle control. According to the road surface self-adaptive driving anti-skid control method of the distributed driving electric automobile, by estimating a current road surface peak adhesion coefficient in real time,a current road surface optimal slip rate is obtained according to a corresponding linear relation between the current road surface peak adhesion coefficient and the current road surface optimal slip rate; by combining a current wheel center speed, a current wheel reference wheel speed is determined; a difference between an actual wheel speed and the reference wheel speed is calculated; according to the wheel speed difference, the moment of a wheel, which slips in a driving state, is controlled by using a sliding mode variable structure controller; and therefore, it is guaranteed that the wheelslip rate is controlled to the current road surface optimal slip rate. According to the road surface self-adaptive driving anti-skid control method of the distributed driving electric automobile, thewheel slip rate is controlled to the current road surface optimal slip rate to realize self-adaptive control of anti-skid driving of the wheel.

Description

technical field [0001] The invention relates to a road surface self-adaptive drive anti-slip control method and system for a distributed drive electric vehicle, belonging to the technical field of vehicle control. Background technique [0002] Due to the independent drive of the motor and the precise control of the motor torque, the distributed drive electric vehicle can make full use of its unique advantages to achieve a lot of safety control. [0003] When an electric vehicle is driving on a road with a low adhesion coefficient, such as a rainy or snowy road, the output torque of the motor may exceed the torque corresponding to the maximum adhesion provided by the road. most common. When this happens, the wheel speed will rise rapidly in a short time, but the longitudinal speed of the vehicle will change very little, and the wheel will slip. After that, the slip rate enters the unstable zone from the stable zone, and the adhesion between the electric vehicle and the road...

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Problems solved by technology

[0009] The purpose of the present invention is to provide a road surface self-adaptive drive anti-skid control method for distributed drive electric vehicles to solve the problems of anti-skid torque jitter, poor adaptability and stability in current anti-skid control; meanwhile, the present invention also provides a A distributed drive electric vehicle road surface adaptive drive anti-slip control system

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