Electric vehicle attachment stability and quasi-optimal slip rate detection method

A technology of attachment stability and electric vehicles, applied in the direction of brakes, etc., can solve the problems of high cost, high reliability, poor real-time performance and reliability, etc., and achieve the effect of increasing effect, strong reliability and high observation accuracy

Active Publication Date: 2019-09-06
SHANGHAI UNIV
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to propose a detection method for the adhesion stability and quasi-optimum slip rate of an electric vehicle in view of the defects of high cost, poor real-time performance and poor reliability in the prior art method, which is a method for judging vehicle adhesion stability based on the adhesion stability factor. The method of the adhesion state between the tire and the ground. The adhesion stability factor characterizes the transient characteristics of the vehicle's power transmission. Using its drastic change near the maximum attachment point, the vehicle's quasi-optimal slip rate and quasi-optimum adhesion torque can be detected in real time. high reliability

Method used

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  • Electric vehicle attachment stability and quasi-optimal slip rate detection method
  • Electric vehicle attachment stability and quasi-optimal slip rate detection method

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Experimental program
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Embodiment 1

[0052] see figure 1 and figure 2 , the electric vehicle adhesion stability and quasi-optimal slip rate detection method is characterized in that the operation steps are as follows:

[0053] (1) Establish a closed-loop disturbance observer DOB to observe the tire-ground adhesion torque T d;

[0054] (2) Using the observed tire ground adhesion torque T d Calculate its change ΔT d =T d (t 2 )-T d (t 1 ), use the electric vehicle traction motor torque T to calculate its change value ΔT=T(t 2 )-T(t 1 ); t 1 is the first detection time, t 2 is the second detection moment, where the traction torque T is the given torque, or the torque value actually output by the traction motor;

[0055] (3) Using ΔT d The ratio of ΔT and ΔT to calculate the adhesion stability factor δ, when ΔT is 0, the denominator is set to a constant;

[0056] (4) Analyze the variation law of the attachment stability factor. When the attachment stability factor δ changes sharply from positive to neg...

Embodiment 2

[0058] like figure 1 As shown, a method for detecting adhesion stability and quasi-optimal slip rate of an electric vehicle is characterized in that it includes an interrelated vehicle traction motor module, an adhesion torque observation module, an adhesion stability factor calculation unit, and a quasi-optimal slip. rate and quasi-adhesion torque judgment unit and vehicle wheel-ground system module, etc.

[0059] The vehicle traction motor module is used to obtain the output torque T of the traction motor and the wheel speed ω of the vehicle, and calculate the variation ΔT of the traction torque in real time. The traction torque T can be estimated by measuring the armature current parameters of the driving motor, etc., or the traction torque can be obtained by the given command input by the driver to the pedal; and the motor torque change value ΔT=T(t(t) is calculated in real time. 2 )-T(t 1 ); t 1 is the first detection time, t 2 is the second detection time.

[0060] ...

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Abstract

The invention relates to an electric vehicle attachment stability and quasi-optimal slip rate detection method. The electric vehicle attachment stability and quasi-optimal slip rate detection method is used for detecting the attachment stability, the quasi-optimal slip rate and the quasi-optimal attachment torque of a vehicle, and is applicable to electrically driven vehicles. According to the method, the traction motor torque T and a wheel speed omega are utilized to observe the tire-ground attachment torque T<d> through a load disturbance observer, the traction motor torque variation delta Tand the attachment torque variation delta T<d> are utilized to calculate an attachment stability factor delta, and the quasi-optimal slip rate lambda<opt> and the quasi-optimal attachment torque T<dmax> are identified according to the drastic change in the value of the attachment stability factor. The electric vehicle attachment stability and quasi-optimal slip rate detection method is easy to implement and high in reliability, and can be widely applied to the traction/braking anti-slip control process of electric vehicles.

Description

technical field [0001] The invention relates to the technical field of vehicle adhesion state detection, in particular to a method for detecting the adhesion stability and quasi-optimal slip rate of an electric vehicle. Background technique [0002] Vehicle ABS (anti-braking system) / TCS (Traction control System) system is used to ensure vehicle adhesion stability and improve driving safety and driving performance. But a high-performance ABS / TCS system needs to be controlled according to the optimal tire-to-ground slip ratio of the vehicle. The optimal slip ratio usually refers to the slip ratio corresponding to the peak point of the current tire-ground adhesion characteristic curve or a slope of 1, at which time the longitudinal and lateral adhesion forces are large. Considering that the operating point corresponding to the optimal slip rate is usually a transient state during vehicle operation, it is difficult to accurately capture it. Here, the slip rate near the maximum...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10B60W40/064B60T8/1761B60T8/1763
CPCB60T8/1761B60T8/1763B60W40/064B60W40/10
Inventor 杨影张金岛徐国卿黄志栋
Owner SHANGHAI UNIV
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