Multi-layer driving anti-slip control method suitable for electric wheel driving vehicle

Abstract

The invention discloses a multi-layer driving anti-slip control method suitable for an electric wheel driving vehicle. The method comprises the steps of 1, determining a first active driving anti-slipcontrol torque according to an optimized objective function, and conducting wheel torque distribution according to the first active driving anti-slip control torque; 2, comparing an actual slip ratioof driving wheels with a target slip ratio, when the actual slip ratio is not smaller than the target slip ratio, determining a second active driving anti-slip control torque of the wheels and a passive driving anti-slip control torque of the wheels, and when the actual slip ratio is smaller than the target slip ratio, repeating the first step; 3, obtaining a third active driving anti-slip control torque according to the second active driving anti-slip control torque and the passive driving anti-slip control torque, and conducting wheel torque distribution according to the third active driving anti-slip control torque.

Description

technical field [0001] The invention belongs to the technical field of wheel torque control of electric wheel-driven vehicles, and in particular relates to a multi-layer drive anti-slip control method suitable for electric wheel-driven vehicles. Background technique [0002] With the increase in the number of traditional internal combustion engine vehicles, oil resources are being consumed in large quantities, and serious environmental pollution has also been caused. The birth of electric vehicles can better alleviate the above two problems. Electric wheel drive vehicle is a kind of electric vehicle, each drive motor drives a wheel, and the torque of each drive wheel can be independently controlled. Since the driving motor integrates the power system, transmission system and braking system inside the motor, the mechanical structures such as clutches and transmissions of traditional vehicles are omitted, the chassis layout is more flexible, the space utilization rate of the ...

AI Technical Summary

Problems solved by technology

[0003] At present, there are generally two driving anti-skid control strategies for electric wheel-driven vehicles: one is the active drive anti-skid control strategy, by actively controlling the slip rate of each driving wheel, the wheel torque is controlled before the wheels slip, which can effectively avoid The wheel slips to improve the stability margin of the vehicle, but the drive anti-skid method relies too much on the identification of vehicle motion parameters, which requires high computing performance of the processor and is difficult to implement in engineering; the other is the passive drive anti-skid control strategy, which can After the wheel slip is identified, the passive control of the wheel slip rate is generally conservative. Although it can effectively suppress the wheel slip, it sacrifices the overall performance of the vehicle.

Images