Pavement skid resisting control system and method of front-rear axle double-motor driving vehicle

Abstract

The invention relates to a pavement skid resisting control system and method of a front-rear axle double-motor driving vehicle. The system comprises a motor controller, a motor torque distributor, anactual measurement sensor unit, a nonlinear pavement estimation unit, a skid resisting control selective connecting unit and a driving skid resisting control unit, wherein the nonlinear pavement estimation unit is used for acquiring pavement peak adhesion coefficients of each wheel; the driving skid resisting control unit is used for performing skid resisting control and outputting control torquebased on the pavement peak adhesion coefficient, acquired through the nonlinear pavement estimation unit, of the wheels, and the actual measurement data of the actual measurement sensor unit; the skidresisting control selective connecting unit is used for logically determining based on the control torque output by the driving skid resisting control unit, the distribution torque of the motor torque distributor and the actual measurement data of the actual measurement sensor unit and outputting the control torque or distribution torque to the motor controller; and the motor controller is used for controlling two driving motors to move. Compared with the prior art, the system and the method have the advantages of being accurate to control, and good in skid resisting effect.

Description

technical field [0001] The invention relates to the technical field of anti-slip control of dual-motor driven vehicles, in particular to a system and method for controlling anti-slip road surface of a vehicle driven by dual motors on front and rear axles. Background technique [0002] The front and rear axles are driven by dual motors. There is a drive motor on each of the front and rear axles of the vehicle, which can directly drive the wheels on the corresponding axles to achieve driving. It does not require the clutch, transmission and other components of traditional internal combustion engine vehicles, which greatly simplifies the structure of the vehicle and improves the efficiency. transmission efficiency. At the same time, the current rotational speed and torque output by the motor can be obtained more accurately through the motor controller, and the response time of the motor is generally at the millisecond level. When the car starts or accelerates, if the driving t...

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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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