An intelligent drive anti-slip control system and method based on motor torque control

Abstract

The invention discloses an intelligent drive anti-skid control system and method based on motor torque control. Whether the wheel is in a slipping state, and referring to the driver's intention, obtain the motor torque control command; control the output torque of the motor to control the torque of the driving wheel, and the present invention judges whether the driving wheel is in a slipping state through the angular velocity and angular acceleration information of the driving wheel , no need to calculate the slip rate of the driving wheel, no need to identify the best slip rate of the road, which enhances the adaptability of the drive anti-skid to various road surfaces and weather.

Description

technical field [0001] The invention belongs to the technical field of drive anti-skid control of electric vehicles, in particular to an intelligent drive anti-skid control system and method based on motor torque control. Background technique [0002] When the car starts and accelerates on a slippery road, it is prone to skidding. When the driving wheel slips, the excessive slip rate will lead to the reduction of the driving force and the power performance of the car; it will lead to the reduction of the lateral force, the directional stability and steering control of the car will be reduced, which will affect the driving safety; The wheel speed increases rapidly, and the wheel is severely worn. [0003] At present, the commonly used drive anti-skid system adopts the control strategy of controlling the slip rate of the drive wheel near the optimal slip rate, which includes the following difficulties: [0004] 1. It is difficult to accurately calculate the slip rate of the ...

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Problems solved by technology

[0004] 1. It is difficult to accurately calculate the slip rate of the driving wheel. At present, the widely used and low-cost method of calculating the slip rate of the driving wheel is to calculate the speed of the driven wheel instead of the speed of the vehicle, but the speed of the driven wheel is not completely equal to the speed of the vehicle. The slip rate calculated with the speed of the driving wheel is not accurate, and it is not applicable to some all-drive models. In order to calculate the slip rate of the drive wheel more accurately or to adapt to some all-drive models, the use of GPS and other equipment to measure the vehicle speed will increase. System development and production costs;

[0005] 2. It is difficult to determine the optimal slip rate

At present, there are mainly two methods to determine the optimal slip rate of the road. One is to obtain vehicle information through wheel speed sensors and other equipment, and then estimate the optimal slip rate of the road through vehicle dynamics, which is less accurate; the other is to use cameras, ultrasonic waves, etc. Such equipment directly identifies the optimal slip rate of the road, which is costly and poorly adaptable to the weather environment

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