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Four-wheel drive torque limiting method and device based on fuzzy PID

A torque limit and torque control technology, applied in the field of four-wheel drive torque limit method and device based on fuzzy PID, can solve problems such as insufficient safety, achieve reliable operation, improve stability and safety, vehicle safety and stability Good results

Active Publication Date: 2021-07-09
ZHEJIANG ZEEKR INTELLIGENT TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the intervention of the traction control system has communication delays and other situations. It can only perform feedback control to correct the vehicle attitude and handling stability when the vehicle is unstable. It cannot perform targeted predictive control to achieve predictive torque reduction protection, which is not safe enough.

Method used

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  • Four-wheel drive torque limiting method and device based on fuzzy PID
  • Four-wheel drive torque limiting method and device based on fuzzy PID
  • Four-wheel drive torque limiting method and device based on fuzzy PID

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] Such as image 3 As shown, the four-wheel drive torque limiting device based on fuzzy PID includes a vehicle controller 2 and a signal acquisition module 1 for obtaining front axle speed, rear axle speed and vehicle speed, and the signal acquisition module 1 and the vehicle controller 2 connection, wherein the vehicle controller 2 includes a road surface adhesion coefficient acquisition module 21, an open-loop torque control module 22, a closed-loop torque control module 23, a torque value comparison module 24 and a torque limit control module 25, and the road surface adhesion coefficient module is respectively connected to the signal acquisition Module 1 and open-loop torque control module 22, signal acquisition module 1 is also connected with closed-loop torque control module 23 and open-loop torque control module 22, wherein, closed-loop torque control module 23 includes fuzzy PID controller one 23a and fuzzy PID controller two 23b, the first fuzzy PID controller 23a...

Embodiment 2

[0103] The technical solution in this embodiment is basically the same as the technical solution in Embodiment 1, the difference is that, as Figure 4 As shown, in the four-wheel drive torque limiting device based on fuzzy PID, the vehicle controller 2 also includes:

[0104] The activation condition judging module 26 is used to compare the obtained vehicle speed with the front axle speed and the rear axle speed respectively, and when the front axle speed and / or the rear axle speed are greater than the vehicle speed, the vehicle controller 2 enters the front and rear axle torque limit;

[0105] The exit condition judging module 27 is used to monitor in real time whether the traction control system intervenes in the driving torque control signal and the vehicle controller 2 exits the front and rear axle torque limitation when the traction control system intervenes.

[0106] Such as figure 2 Shown, in this fuzzy PID-based four-wheel drive torque limiting method, also include:...

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Abstract

The invention provides a four-wheel-drive torque limiting method and device based on fuzzy PID, and belongs to the technical field of automobiles. The invention aims to solve the problem that safety is not enough due to the fact that predictive torque reduction protection cannot be achieved in the prior art. The four-wheel drive torque limiting method based on the fuzzy PID comprises the steps that: open-loop control is carried out according to a front axle road adhesion coefficient to obtain a front axle torque limiting value, and open-loop control is carried out according to a rear axle road adhesion coefficient to obtain a rear axle torque limiting value; fuzzy PID control is performed according to a front axle speed difference value obtained on the basis of front axle speed and vehicle speed to obtain a front axle maximum torque value; fuzzy PID control is performed according to a rear axle difference value obtained on the basis of rear axle speed and vehicle speed to obtain a rear axle maximum torque value; and the front axle torque limiting value and the rear axle torque limiting value are correspondingly compared with the front axle maximum torque value and the rear axle maximum torque value, and the value with the small numerical value is selected to limit the torque of a front axle and a rear axle. The method and device can predict and control the instability state of the vehicle, and improve the safety of the vehicle.

Description

technical field [0001] The invention belongs to the technical field of automobiles, and relates to a fuzzy PID-based four-wheel drive torque limiting method and a device thereof. Background technique [0002] Electric four-wheel drive vehicles usually have independent front-axle electric drive systems and rear-axle electric drive systems. Both the front and rear electric drive systems can distribute the driver's demand torque within a ratio of (0 to 1), so that it is easy to achieve Independent front drive, independent rear drive or four-wheel drive, which makes the torque distribution of the front and rear drive systems of electric four-wheel drive vehicles have great flexibility. However, at present, the torque distribution of the front and rear axles is basically a fixed ratio or several adjustable fixed ratios during normal driving. However, in the actual driving process, due to the difference in road surface adhesion, using a fixed ratio is prone to wheel slippage and a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2240/10B60L2240/64B60L2260/48Y02T10/72
Inventor 丁少兵刘国瑞张荡张国湘张爽
Owner ZHEJIANG ZEEKR INTELLIGENT TECH CO LTD