The embodiment of the invention discloses an anti-slip control method and device, and the method comprises the steps: determining a motor demand torque based on a dynamic balance condition after a to-be-controlled vehicle enters an anti-slip mode, and carrying out the primary adjustment of a motor of the to-be-controlled vehicle through the motor demand torque; judging whether the locked-rotor time of the motor of the to-be-controlled vehicle exceeds a preset duration or not; and if yes, carrying out secondary adjustment on the required torque of the motor based on the difference between the current rotating speed of the motor and the target rotating speed of the motor by utilizing PID control. According to the method, the motor torque is subjected to primary coarse adjustment by utilizing the dynamic balance condition, and then the motor torque is subjected to secondary fine adjustment by utilizing PID control, so that the technical problem that slope sliding prevention cannot be predicted, prevented and controlled in advance in the prior art is solved, slope sliding of the vehicle can be predicted, controlled and controlled in advance, and the driving safety of the vehicle is improved. And the motor torque of the vehicle can be accurately controlled.
本发明实施例公开了一种防溜坡控制方法和装置,防溜坡控制方法包括:在待控车辆进入防溜坡模式之后,基于动力学平衡条件确定电机需求扭矩,并利用电机需求扭矩对待控车辆的电机进行一次调节;判断待控车辆的电机的堵转时间是否超过预设时长;若是,则利用PID控制,基于当前电机转速与目标电机转速之差对电机需求扭矩进行二次调节。本申请通过利用动力学平衡条件进行对电机扭矩进行一次粗调节,再利用PID控制对电机扭矩进行二次精细调节,解决了现有技术中对于防溜坡无法提前预知防控的技术问题,实现了提前预知防控车辆溜坡,且能够对车辆的电机扭矩进行精准控制的技术效果。
Slope sliding prevention control method and device
一种防溜坡控制方法和装置
2023-04-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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