Wheel anti-skid control method and system based on energy distribution model

Abstract

The invention provides a wheel anti-skid control method based on an energy distribution model. The wheel anti-skid control method comprises the steps of obtaining the mechanical power consumed by wheels at the actual rotating speed according to the angular speed and the rotational inertia of the wheels of a vehicle; acquiring the power allocated to the wheel by the motor when the wheel does not slip at the current rotating speed; obtaining constraint power by comparing the mechanical power consumed at the actual rotating speed with the power which should be distributed to the wheels by the motor when the wheels do not slip; constraining the power control adjustment upper-layer power output request value to generate a power instruction value; and obtaining torque output for controlling thedriving wheel according to the power instruction value.

Description

technical field [0001] The invention relates to a vehicle driving / braking control technology, in particular to a wheel anti-slip control method based on an energy distribution model. Background technique [0002] Vehicle braking systems with electronic anti-skid control functions belong to the prior art. Known vehicle braking systems can brake the individual wheels of the vehicle independently of the driver's wishes, such as anti-lock brakes to prevent wheel locking System (ABS), Traction Distribution Control System (TCS) for rationally distributing traction, Formal device for stabilizing the vehicle (Electronic Stability System (ESP) for the vehicle), Elimination of slippage at the driving wheels (ASR) etc. etc. These are all bottom-level wheel controls, which need to be performed based on the wheel slip ratio (Slip Ratio). However, the calculation of slip ratio often requires the use of information from other wheels. When all the wheels are in working state (driving / brak...

AI Technical Summary

Problems solved by technology

Slip rate based antiskid control tends to not work well when all wheels are active (driving / braking)

[0003] Some researchers have abandoned the application of slip ratio. In the application of distributed drive electric vehicles, they have proposed anti-skid control based entirely on mechanics, such as MFC, MTTE and other methods proposed by Yoichi Hori, Hiroshi Fujimoto, DejunYin, etc., but These control methods rely heavily on vehicle parameters, are sensitive to changes in vehicle resistance and body weight, and require accurate motor torque output values ​​(which require relatively high costs), thus restricting the practicability of these methods

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