The invention provides a distributed driving electric vehicle driving anti-skid control method based on an energy method. The method comprises the steps that firstly, the rotating speed of each wheel of a vehicle in the actual motion state is obtained; the nominal rotating power which should be distributed to wheels by a hub motor when the rotating speed is the same with that of an actual vehicle and the wheels do not slip is obtained by building a nominal energy distribution model; the rotation power of each wheel in the actual motion state is calculated; according to the actual rotation power of each wheel and the nominal rotation power when the wheel does not slip, the constraint power when the wheel slips is obtained; a torque output value issued by the upper-layer controller is adjusted through feedback control, and then a motor torque instruction value is generated; and the torque output of the hub motor is controlled according to the motor torque instruction value, so that the purpose of driving skid resistance is achieved. According to the driving anti-skid control method, the structural characteristic that the hub motor drives the electric vehicle is fully utilized, and driving anti-skid control over the vehicle is achieved from the angle of motor energy.
本发明提供了一种基于能量法的分布式驱动电动汽车驱动防滑控制方法,本发明首先获取车辆在实际运动状态下的各车轮转速;通过搭建名义能量分配模型得到与实际车辆相同转速但不发生车轮打滑时轮毂电机应分配给车轮的名义转动功率;计算各车轮在实际运动状态下的转动功率;根据各车轮实际的转动功率和不发生打滑时的名义转动功率得到在发生打滑时的约束功率;通过反馈控制调节上层控制器下达的扭矩输出值进而生成电机扭矩指令值;根据电机扭矩指令值来控制轮毂电机的扭矩输出从而达到驱动防滑的目的;该驱动防滑控制方法充分利用轮毂电机驱动电动汽车的结构特点,从电机能量的角度实现了车辆的驱动防滑控制。
Distributed driving electric vehicle driving anti-skid control method based on energy method
基于能量法的分布式驱动电动汽车驱动防滑控制方法
2021-08-27
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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