Vehicle Anti-Slip Torque Control for Low-Adhesion Wheel Spin
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Solution Overview
Problem
Excessive wheel slip or spin on low-adhesion road surfaces affects vehicle stability, safety, and performance, and existing anti-slip control methods suffer from signal lag and prolonged control periods.
Innovation Solution
An anti-slip control method that determines the actual speed of the motor, calculates a target speed based on slip rate and adhesion coefficient, adjusts driving torque to achieve the target speed, and employs a segmented PI control algorithm for rapid torque adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional anti-slip control methods are used, then the control system is simple to implement, but the control response is slow with signal lag and prolonged control periods
Solution Approach 1:
The system performs preliminary calculations of the optimal slip rate and target motor speed before slip occurs by pre-establishing the relationship between slip rate, adhesion coefficient, and target speed. When slip is detected, the control system immediately applies the pre-calculated target speed, eliminating the need for real-time iterative calculations and reducing control lag.
Solution Approach 2:
The patent introduces an intermediary calculation model that directly relates slip rate and adhesion coefficient to target motor speed through a predetermined formula. This intermediary relationship bypasses complex real-time signal processing chains, providing a direct computational path from sensor input to control output, thus reducing signal lag.
2Reliability
If the motor speed is adjusted rapidly to correct wheel slip, then the anti-slip control effectiveness is improved, but the driving torque adjustments cause vehicle body vibrations
Solution Approach 1:
The control system dynamically adjusts the target motor speed based on the actual slip rate and adhesion coefficient, creating a dynamic equilibrium between slip correction effectiveness and vehicle stability. The system continuously adapts the torque reduction profile to match the current slip conditions, preventing excessive or abrupt torque changes that would cause vehicle body vibrations.
Solution Approach 2:
The patent changes the control parameter from binary torque on/off control to continuous torque modulation based on slip rate and adhesion coefficient. By adjusting the driving torque in proportion to the slip condition rather than applying fixed torque reductions, the system achieves effective slip correction while minimizing disruptive torque variations that cause vehicle body vibrations.
3Measurement precision
If the control period is extended to improve measurement accuracy, then the slip rate calculation is more precise, but the control lag increases
Solution Approach 1:
The system pre-calculates and stores the optimal slip rate and its corresponding target motor speed relationships before actual slip events occur. This preliminary preparation allows the control system to immediately apply precise control actions when slip is detected, without needing to perform time-consuming real-time calculations, thus maintaining measurement precision while eliminating control lag.
Data Source
AI summary
An anti-slip control method and system for a vehicle, a vehicle, and a computer-readable storage medium. The anti-slip control method for the vehicle includes: obtaining an actual speed of a motor in the vehicle; determining a target speed of the motor in the vehicle; determining a slip state of wheels of the vehicle with respect to a current road surface according to the actual speed and the target speed of the motor; and determining a current adjustment amount for an actual torque of the motor in the vehicle according to the slip state of the wheels of the vehicle with respect to the current road surface, and determining an adjusted driving torque of the motor according to the current adjustment amount, so as to adjust the actual speed of the motor in the vehicle, enabling the actual speed of the motor to reach the target speed of the motor.