Electronic differential control system and method, computer equipment and computer readable storage medium

Abstract

The invention discloses an electronic differential control system and method, computer equipment and a computer readable storage medium, and the system is suitable for the rotating speed of a left motor and a right motor of a vehicle, and comprises a calibration module which is used for outputting the value of an adjustment torque calibration value of the speed difference of inner and outer wheels at different steering wheel rotating angles and different vehicle speeds when the vehicle turns; the whole vehicle module comprises a whole vehicle controller, motor controllers correspondingly connected with a left motor and a right motor and electric wheels correspondingly connected with the left motor and the right motor, and the whole vehicle controller is used for adjusting the torque according to the calibrated value of the adjusting torque and the left motor distribution torque and the right motor distribution torque during constant-speed straight driving at the corresponding vehicle speed, outputting a left side motor demand torque and a right side motor demand torque under different steering wheel angles and different vehicle speeds when the vehicle turns; the vehicle control unit is used for outputting the required torque of the left motor and the required torque of the right motor, so that the motor controller drives the corresponding left motor or the corresponding right motor to rotate so as to adjust the rotating speed of the corresponding electric wheel.

Description

technical field [0001] The present invention relates to the technical field of electronic differential speed control, in particular to an electronic differential speed control system and method thereof, computer equipment and a computer-readable storage medium. Background technique [0002] When the car is turning, due to the different trajectories of the inner and outer wheels, the outer wheels travel a longer distance than the inner wheels at the same time, so the speeds of the wheels on both sides are different. For electric vehicles with distributed independent drive, it is necessary to adjust the torque of each motor to achieve the required wheel speed, which is called electronic differential control. Existing electronic differential speed control methods are generally torque closed-loop control with the motor speed as the target, the control variable is the motor torque, and the control algorithm includes closed-loop control (PID), fuzzy PID, etc. The current control ...

AI Technical Summary

Problems solved by technology

The current control algorithm still has two problems. In terms of algorithm problems, although the steady-state response of closed-loop control is more accurate, the transient response is often not ideal, especially when the response time is long. , the control effect is poor. On the other hand, in terms of the verification method, the test car is generally used to verify the algorithm with a short mileage under low-speed conditions, and insufficient consideration is given to the full-speed domain coverage and long-mileage driving of the mass-produced cars of the main engine factory.

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