Torque distribution control system for considering coordination of maneuverability and wheel stability, and method

A torque distribution and control system technology, applied in the direction of control drive, electric vehicles, vehicle components, etc., can solve the problem of lack of wheel drive anti-skid control

Active Publication Date: 2019-08-09
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the above torque distribution algorithms have certain limitations, and lack of consideration for wheel drive anti-skid control

Method used

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  • Torque distribution control system for considering coordination of maneuverability and wheel stability, and method
  • Torque distribution control system for considering coordination of maneuverability and wheel stability, and method
  • Torque distribution control system for considering coordination of maneuverability and wheel stability, and method

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Embodiment

[0076] Such as figure 1 As shown, the present invention provides a four-wheel torque distribution control system for distributed drive electric vehicles. The system includes a motor controller and a motor torque distributor. The motor controller is provided with 4 drive motors respectively connected to the corresponding 4 wheels. The system also includes a vehicle state measurement unit, a control output constraint calculation unit, a torque control mode unit, a drive anti-slip control unit and a four-wheel torque distribution unit.

[0077] The four-wheel torque distribution control system calculates the control output constraints based on the obtained vehicle state information, and then judges the working mode according to the degree of wheel slippage. The torque distribution unit converts the expected total driving force and additional yaw torque required by the upper motion control layer into torque commands for the four drive motors, and the motor controller controls the ...

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Abstract

The invention relates to a torque distribution control system for considering coordination of maneuverability and wheel stability, and a method. The method comprises the following steps that (1) the range constraint of wheel output torque is obtained; (2) generalized force demands for a motion control layer are pre-distributed; (3) the peak slip rate corresponding to a road surface adhesion coefficient and the reference wheel speed of each wheel are obtained, and the working mode of each wheel is determined; (4) an anti-saturation integral slip-mode variable-structure controller is built, anda difference value between the actual wheel speed and the reference wheel speed serves as input to obtain control torque; (5) the non-slip wheels serve as a control variable of secondary distribution,the weighted sum of the minimum generalized force tracking error and the minimum adhesion utilization rate serves as a target function, and optimization solution is conducted; and (6) finally, a torque instruction of a driving anti-slip control unit and a torque instruction of a four-wheel torque distribution control unit are combined to be output to a motor controller. Compared with the prior art, the torque distribution control system for considering coordination of maneuverability and wheel stability, and the method have the advantages of secondary distribution, effective slip preventing,comprehensive consideration, precise control and the like.

Description

technical field [0001] The invention relates to the field of four-wheel torque coordination control of a distributed drive electric vehicle, in particular to a torque distribution control system and method considering the coordination of maneuverability and wheel stability. Background technique [0002] Distributed drive electric vehicle, as an advanced electric vehicle power system, has great advantages in terms of power and economy. Distributed drive electric vehicles generally use wheel hub / wheel side motors to drive the power system. The peak torque acting on the wheels is relatively large, and it is easy to cause excessive slippage of the drive wheels during the start or acceleration phase, which will wear the tires and reduce the driving efficiency. decrease towards stability. Therefore, in order to avoid excessive slip ratio during driving, it is necessary to adopt a reasonable control method to reduce the driving torque on the driving wheel, so as to control the sli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60L15/20
CPCB60L15/20B60W30/18072Y02T10/72
Inventor 余卓平侯誉烨冷搏熊璐
Owner TONGJI UNIV
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