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Anti-slip control method for distributed drive electric vehicles based on combination of wheel speed and wheel acceleration

A technology of electric vehicles and control methods, which is applied in the field of vehicle control, can solve problems such as the deterioration of the slip rate control effect, the error of vehicle speed estimation, and the performance decline of dynamic algorithms, so as to improve the precision of anti-skid control, improve the accuracy, and improve the estimation of vehicle speed The effect of precision

Active Publication Date: 2020-06-26
TONGJI UNIV
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AI Technical Summary

Problems solved by technology

There are still two major problems in the research results of slip ratio control at this stage: the problem of vehicle speed estimation error and the problem of performance degradation of dynamic algorithm caused by the error of tire model, which leads to the deterioration of slip ratio control effect

Method used

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  • Anti-slip control method for distributed drive electric vehicles based on combination of wheel speed and wheel acceleration
  • Anti-slip control method for distributed drive electric vehicles based on combination of wheel speed and wheel acceleration
  • Anti-slip control method for distributed drive electric vehicles based on combination of wheel speed and wheel acceleration

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Embodiment

[0058] In this embodiment, the anti-skid control process implemented according to the above method is as follows Figure 5 As shown, specifically:

[0059] Step 1. Construct a kinematics-dynamics joint vehicle speed estimator, and design the estimator switching mechanism, and obtain the estimated vehicle speed through the four-wheel estimated vehicle speed fusion strategy. In this embodiment, based on the dynamics of the wheel slip rate, the dynamics and Kinematics integrated slip rate controller, and the switching conditions and specific switching mechanism between the two are given. When the wheel is in the range of small longitudinal slip rate, the slip rate estimation method adopts the dynamic estimation method based on the tire model. When the wheel is in a large range of longitudinal slip rate, the slip rate estimation method adopts the kinematics estimation method. And design a switching mechanism based on the wheel acceleration as the main criterion, supplemented by ...

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Abstract

The invention relates to a wheel speed and wheel acceleration combined distributed driving electric vehicle antiskid control method. The method comprises the following steps: 1, building a kinematics-dynamics combined vehicle speed estimator, designing an estimator switching mechanism, and obtaining an estimated vehicle speed through a four-wheel estimated vehicle speed fusion method; 2, obtaininga slip rate according to the estimated vehicle speed, and combining the slip rate with the wheel acceleration to carry out anti-skid control of slip rate-wheel angular acceleration combined controlled variables. Compared with the prior art, the method has the advantages that the control precision is improved, the slip rate estimation accuracy is improved, the vehicle speed estimation precision isimproved, the antiskid control precision is improved, and the vehicle safety and driving efficiency are improved.

Description

technical field [0001] The invention relates to the field of automobile control, in particular to an anti-skid control method of a distributed drive electric vehicle combining wheel speed and wheel acceleration. Background technique [0002] Compared with traditional internal combustion engine vehicles, distributed drive electric vehicles have the characteristics of more available information, accurate and controllable torque of each wheel, and rapid torque response. As one of the basic systems of vehicle active safety, slip ratio control system is one of the research hotspots in the field of vehicle dynamics. When the vehicle starts or accelerates violently, if the driving force provided by the road surface is small, the excessive driving force will cause excessive slippage of the driving wheels. On the one hand, the excessive rotation of the wheels reduces the driving ability of the vehicle. On the other hand, the excessive slip of the front wheels will cause the steering...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W50/00B60L15/20
CPCY02T10/72
Inventor 冷搏熊璐任晓舟余卓平侯誉烨
Owner TONGJI UNIV
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