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CN108327702A - A kind of four-wheel wheel hub motor independence drive control method - Google Patents

A kind of four-wheel wheel hub motor independence drive control method Download PDF

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Publication number
CN108327702A
CN108327702A CN201810078370.5A CN201810078370A CN108327702A CN 108327702 A CN108327702 A CN 108327702A CN 201810078370 A CN201810078370 A CN 201810078370A CN 108327702 A CN108327702 A CN 108327702A
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CN
China
Prior art keywords
wheel
control
vehicle
control method
hub motor
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Pending
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CN201810078370.5A
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Chinese (zh)
Inventor
黄松
史建鹏
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Priority to CN201810078370.5A priority Critical patent/CN108327702A/en
Publication of CN108327702A publication Critical patent/CN108327702A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02Control of vehicle driving stability
    • B60W30/045Improving turning performance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a kind of four-wheel wheel hub motor independence drive control methods.Control process is:Information by being inputted to driver obtains the longitudinal moment that vehicle keeps stable to be calculated with a status information;And determination is to carry out dynamic property to coordinate control or carry out stability coordination control;Calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control;Determining carry out dynamic property coordinates control or carries out stability to coordinate control, and Different Strategies are respectively adopted, and adjusts the driving moment of each motor and makes that wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains required additional yaw moment.The present invention is using power performance and stability as target, rationally adjust wheel torque, the road surface suddenly superpower direction of travel holding capacity of the safety of acceleration or emergency braking, realization, and the stability that the flexibility of low speed steering can be improved and run at high speed of offroad vehicle can be obviously improved.

Description

A kind of four-wheel wheel hub motor independence drive control method
Technical field
The invention belongs to car wheel electromotor control system technical fields, and in particular to a kind of four-wheel wheel hub motor independently drives Flowing control method can be obviously improved the road surface suddenly superpower traveling of the safety of acceleration or emergency braking, realization of offroad vehicle Direction holding capacity, and the stability that the flexibility of low speed steering can be improved and run at high speed.
Background technology
The characteristics of In-wheel motor driving technology is all to be integrated into power, transmission and brake apparatus in wheel hub so that electronic The mechanical part of automobile is greatly simplified, it is convenient to omit a large amount of mechanical transmission components keep vehicle structure simpler, may be implemented a variety of Complicated type of drive, while convenient for using a variety of new energy driving skills arts.Offroad vehicle uses In-wheel motor driving technology, first The mechanical part of vehicle can be simplified, save interior space, to make vehicle obtain the use space of bigger;Secondly as each The individually controllable feature of a wheel hub motor can make vehicle obtain more good dynamic property, maneuverability and passability, significantly carry Adaptability of the high vehicle to various road surfaces.
Four-wheel wheel hub motor independently drives mechanical power transmission system not in general sense, just because of not passing The participation of transfer gear, the differential mechanism of system etc., it is necessary to the torque and rotating speed of four wheels are uniformly controlled, just can guarantee vehicle Dynamic property, braking and control stability.How a kind of four-wheel wheel hub motor independence drive control method is provided, at The technical issues of being badly in need of solving for those skilled in the art.
Invention content
The purpose of the present invention is exactly insufficient existing for above-mentioned background technology in order to solve, and it is only to provide a kind of four-wheel wheel hub motor Vertical drive control method.
The technical solution adopted by the present invention is:A kind of four-wheel wheel hub motor independence drive control method, includes the following steps:
Step 1, it by the information that is inputted to driver to be calculated with a status information, obtains vehicle and keeps stable Longitudinal moment;And determination is to carry out dynamic property to coordinate control or carry out stability coordination control;
Step 2, calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control;
Step 3, coordinate control according to the carry out dynamic property that step 1 determines or carry out stability to coordinate control, be respectively adopted Different Strategies, adjusting the driving moment of each motor makes that wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains Required additional yaw moment.
Further, the information of driver input include gas pedal input information, brake pedal input information and Steering wheel angle input information.
Further, it is determined that carrying out dynamic property surely coordinates the condition of control as α > Δ α, and δ < Δs δ;Determination is stablized Property to coordinate the condition of control be α < Δ α, and δ > Δs δ;Wherein α-gas pedal opening amount signal;δ-steering wheel angle signal; Δ α-accelerator open degree threshold value;Δ δ-steering wheel angle threshold value.
Further, it is described carry out dynamic property coordinate the strategy that uses of control for:Utilize road surface attachment identification module The best slippage rate of current each wheel and practical slippage rate are calculated separately out with wheel slip rate computing module, and acquires the two Between difference, then use proportional, integral control method regulation motor driving moment, so that wheel is obtained best slippage rate.
Further, it is described carry out stability coordinate the strategy that uses of control for:Utilize two degrees of freedom vehicle reference model The ideal yaw velocity of current vehicle and practical yaw velocity are obtained with gyroscope, and acquires difference between the two, when When difference is more than threshold value, the additional yaw moment value inhibited needed for vehicle unstability is calculated using proportional, integral control method, and Each motor is assigned them to, the driving torque of each motor is adjusted, obtains required additional yaw moment.
The present invention first calculates the longitudinal moment that vehicle travels demand according to driver's input information and car status information, and Determine that the specific coordination control of vehicle drive is used as formulation layer;Whole driving wheels are distributed to further according to longitudinal moment, keep vehicle total To be in best transport condition, the operation to meet driver is intended to, finally using specific control strategy to turning to wheel The adjusting of square makes wheel obtain best slippage rate in real time, to realize " direct torque, rotating speed follow ".The present invention is with vehicle Dynamic property and stability are target, rationally adjust wheel torque, can be obviously improved the road surface suddenly acceleration or urgent of offroad vehicle Superpower direction of travel holding capacity is realized in the safety of braking, and can be improved the flexibility of low speed steering and be run at high speed Stability.
Description of the drawings
Fig. 1 is the model schematic of control method of the present invention.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments, convenient for this hair is well understood It is bright, but they do not constitute the present invention and limit.
As shown in Figure 1, a kind of four-wheel wheel hub motor independence drive control method of the present invention, is realized using hierarchical control method The stability control of vehicle is specifically divided into 3 layers of upper, middle and lower:Top level control is longitudinal force and yaw moment formulation layer, middle level control It is slippage rate control layer for multi-state torque coordination Distribution Layer, lower layer's control.
Longitudinal force (driving force or brake force) and yaw moment formulation layer:Entire car controller is inputted according to the driver of acquisition Information and car status information carry out operation, judge that the driving intention of driver, determination are to carry out dynamic property to coordinate control Or carry out stability and coordinate control, and obtain the longitudinal moment that vehicle keeps stable.The information of driver's input includes throttle Pedal input information, brake pedal input information and steering wheel angle input information.
When driving, driver controls the movement of vehicle by gas pedal and steering wheel to vehicle, and vehicle travels demand Longitudinal moment TreqIt is directly determined by them.Control system judges vehicle at this time according to accelerator pedal of automobile aperture and steering wheel angle Traveling needs more preferably driving capability or better directional stability, i.e., determinations be carry out dynamic property coordinate to control or It carries out stability and coordinates control.Determine that carrying out dynamic property coordinates the condition of control as α > Δ α, and δ < Δs δ;Determination is stablized Property to coordinate the condition of control be α < Δ α, and δ > Δs δ;Wherein α-gas pedal opening amount signal;δ-steering wheel angle signal; Δ α-accelerator open degree threshold value;Δ δ-steering wheel angle threshold value.
Multi-state torque coordination Distribution Layer:Demand is travelled according to " longitudinal force and yaw moment formulation layer " calculated vehicle Longitudinal moment Treq, by driving moment Distribution Layer by longitudinal moment TreqDistribute to whole driving wheels (i.e. each hub motor control Device), so that vehicle is always at best transport condition, the operation to meet driver is intended to.
Slippage rate control layer:It identifies that the control of driver is intended to according to " longitudinal force and yaw moment formulation layer ", judges It carries out dynamic property and coordinates control or stability coordination control, Different Strategies are respectively adopted, adjusting the driving moment of each motor makes Wheel obtains best slippage rate or the driving torque of each motor of adjustment obtains required additional yaw moment.
Carry out dynamic property coordinate the strategy that uses of control for:Utilize road surface attachment identification module and wheel slip rate meter It calculates module and calculates separately out the best slippage rate of current each wheel and practical slippage rate, and acquire difference between the two, with vehicle The best slippage rate of wheel is target, using proportional, integral, that is, PI control method regulation motor driving moments, so that wheel is obtained best Slippage rate.By the control of driving wheel slippage rate in optimal slippage rate, each wheel hub motor input torque being calculated is instructed It is delivered separately to corresponding electric machine controller, road surface is made full use of to adhere to condition, ensure that the dynamic property and traveling of vehicle traveling Stability.
Each wheel speed is obtained by motor, calculates the angular acceleration of wheel, the linear acceleration being converted at core wheel, together When, vehicle body longitudinal acceleration is acquired, two acceleration values are compared, judge whether wheel trackslips, it is attached by road surface It situation identification module and calculates coefficient of road adhesion, each wheel trackslipping with respect to ground is calculated by wheel slip rate computing module Rate obtains the best slippage rate of wheel according to the slope variation of ground attaching coefficient and the relation curve of slippage rate.
Carry out stability coordinate the strategy that uses of control for:Respectively using two degrees of freedom vehicle reference model and gyroscope Ideal yaw velocity to current vehicle and practical yaw velocity, and difference between the two is acquired, when difference is more than door When limit value, the additional yaw moment value inhibited needed for vehicle unstability is calculated using proportional, integral, that is, PI control methods, and by its point Each motor of dispensing, adjusts the driving torque of each motor, obtains required additional yaw moment.
The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.

Claims (5)

1. a kind of four-wheel wheel hub motor independence drive control method, it is characterised in that:Include the following steps:
Step 1, by the information that is inputted to driver to be calculated with a status information, the longitudinal direction that vehicle keeps stable is obtained Torque;And determination is to carry out dynamic property to coordinate control or carry out stability coordination control;
Step 2, calculated longitudinal moment is distributed in each hub motor control device, realizes vehicle stabilization control;
Step 3, coordinate control according to the carry out dynamic property that step 1 determines or carry out stability to coordinate control, difference is respectively adopted Strategy, adjust each motor driving moment make wheel obtain best slippage rate or each motor of adjustment driving torque obtain needed for Additional yaw moment.
2. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that:The driver is defeated The information entered includes gas pedal input information, brake pedal input information and steering wheel angle input information.
3. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that:It is fixed into action to determine Power coordinates the condition of control as α > Δ α, and δ < Δs δ;Determine that carrying out stability coordinates the condition of control as α < Δ α, and δ > Δs δ;Wherein α-gas pedal opening amount signal;δ-steering wheel angle signal;Δ α-accelerator open degree threshold value;Δ δ-steering Disk corner threshold value.
4. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that:It is described into action edge Property coordinate the strategy that uses of control for:It is calculated separately out using road surface attachment identification module and wheel slip rate computing module The best slippage rate and practical slippage rate of current each wheel, and difference between the two is acquired, then proportional, integral is used to control Method regulation motor driving moment, makes wheel obtain best slippage rate.
5. four-wheel wheel hub motor independence drive control method according to claim 1, it is characterised in that:It is described to be stablized Property coordinate the strategy that uses of control for:The ideal sideway of current vehicle is obtained using two degrees of freedom vehicle reference model and gyroscope Angular speed and practical yaw velocity, and difference between the two is acquired, when difference is more than threshold value, using proportional, integral Control method calculates the additional yaw moment value inhibited needed for vehicle unstability, and assigns them to each motor, adjusts each motor Driving torque obtains required additional yaw moment.
CN201810078370.5A 2018-01-26 2018-01-26 A kind of four-wheel wheel hub motor independence drive control method Pending CN108327702A (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329346A (en) * 2019-06-24 2019-10-15 东风汽车集团有限公司 The difference for improving four-wheel In-wheel motor driving steering behaviour turns round yaw moment distribution method
CN110341497A (en) * 2019-07-17 2019-10-18 东风汽车集团有限公司 System and method for promoting four-wheel In-wheel motor driving control stability
CN110356247A (en) * 2019-07-04 2019-10-22 宁德时代电动科技有限公司 Electric car distribution drives electronic differential control system and method
CN111845708A (en) * 2020-06-10 2020-10-30 武汉理工大学 Method for coordinately controlling longitudinal driving force of cross-country vehicle
CN112693520A (en) * 2021-01-08 2021-04-23 北京理工大学 Steering control strategy for regulating rotating speed of hydrostatic drive tracked vehicle
CN112706756A (en) * 2020-11-25 2021-04-27 东风越野车有限公司 Yaw stability control method for off-road vehicle driven by hub motor
CN112874502A (en) * 2021-03-01 2021-06-01 南京航空航天大学 Wire control chassis information physical system in intelligent traffic environment and control method
CN114919421A (en) * 2022-05-10 2022-08-19 武汉理工大学 Layered driving control device and method for wheel hub motor vehicle under cross-country working condition
CN115320594A (en) * 2022-07-11 2022-11-11 东风汽车集团股份有限公司 Control method for preventing wheel from slipping and rotating, vehicle control unit and vehicle
WO2024222308A1 (en) * 2023-04-28 2024-10-31 比亚迪股份有限公司 Vehicle control method and apparatus, and vehicle

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CN104210383A (en) * 2014-09-18 2014-12-17 上海工程技术大学 Four-wheel independently driven electric vehicle torque distribution control method and system
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329346A (en) * 2019-06-24 2019-10-15 东风汽车集团有限公司 The difference for improving four-wheel In-wheel motor driving steering behaviour turns round yaw moment distribution method
CN110356247A (en) * 2019-07-04 2019-10-22 宁德时代电动科技有限公司 Electric car distribution drives electronic differential control system and method
CN110356247B (en) * 2019-07-04 2023-04-28 宁德时代电动科技有限公司 Distributed driving electronic differential control system and method for electric automobile
CN110341497A (en) * 2019-07-17 2019-10-18 东风汽车集团有限公司 System and method for promoting four-wheel In-wheel motor driving control stability
CN110341497B (en) * 2019-07-17 2021-01-08 东风汽车集团有限公司 System and method for improving four-wheel hub motor drive handling stability
CN111845708B (en) * 2020-06-10 2021-09-10 武汉理工大学 Method for coordinately controlling longitudinal driving force of cross-country vehicle
CN111845708A (en) * 2020-06-10 2020-10-30 武汉理工大学 Method for coordinately controlling longitudinal driving force of cross-country vehicle
CN112706756A (en) * 2020-11-25 2021-04-27 东风越野车有限公司 Yaw stability control method for off-road vehicle driven by hub motor
CN112706756B (en) * 2020-11-25 2022-03-29 东风越野车有限公司 Yaw stability control method for off-road vehicle driven by hub motor
CN112693520A (en) * 2021-01-08 2021-04-23 北京理工大学 Steering control strategy for regulating rotating speed of hydrostatic drive tracked vehicle
CN112874502A (en) * 2021-03-01 2021-06-01 南京航空航天大学 Wire control chassis information physical system in intelligent traffic environment and control method
CN112874502B (en) * 2021-03-01 2022-07-12 南京航空航天大学 Wire control chassis information physical system in intelligent traffic environment and control method
CN114919421A (en) * 2022-05-10 2022-08-19 武汉理工大学 Layered driving control device and method for wheel hub motor vehicle under cross-country working condition
CN114919421B (en) * 2022-05-10 2024-08-20 武汉理工大学 Hierarchical driving control device and method for hub motor vehicle under off-road working condition
CN115320594A (en) * 2022-07-11 2022-11-11 东风汽车集团股份有限公司 Control method for preventing wheel from slipping and rotating, vehicle control unit and vehicle
CN115320594B (en) * 2022-07-11 2024-09-24 东风汽车集团股份有限公司 Wheel anti-slip control method, whole vehicle controller and vehicle
WO2024222308A1 (en) * 2023-04-28 2024-10-31 比亚迪股份有限公司 Vehicle control method and apparatus, and vehicle

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Application publication date: 20180727