The invention provides a modified target anti-skid control for a heavy hub motor vehicle. According to the method, the vehicle speed and the yaw velocity are calculated according to the rotating speedof a driven wheel and the rotating angle of a steering wheel, preliminary anti-skid control is conducted through proportional differential control of a correction target, torque redistribution is conducted according to the vehicle speed and the skid degree, and vehicle anti-skid control is achieved. Control delay of the heavy vehicle in anti-skid control can be overcome, and it can be guaranteedthat overshoot oscillation does not happen to the rotating speed of wheels. Anti-skid control over the hub motor driven vehicle under the braking and driving working conditions can be covered at the same time, and the yawing stability of ice and snow curve driving can also be guaranteed. Meanwhile, the method does not depend on the mass parameters of the vehicle, the total mass and the mass centerposition of the whole vehicle of heavy vehicles such as passenger cars and trucks can be greatly changed due to passenger number changes and cargo mass changes, and the method can effectively avoid the influence of the parameter changes.

    本发明提出一种用于重型轮毂电机车辆的修正目标防滑控制。该方法依据从动轮转速以及方向盘转角大小计算车速与横摆角速度,使用修正目标的比例微分控制进行初步防滑控制,再依据车速大小与打滑程度进行扭矩的再分配,实现对车辆防滑控制。本发明既能克服重型车辆在防滑控制中控制延迟,也能保证车轮转速不发生超调振荡的现象。本发明能够同时覆盖轮毂电机驱动车辆在制动和驱动工况的防滑控制,也能保证冰雪弯道行驶的横摆稳定性。同时本发明不依赖车辆的质量参数,客车、货车等重型车辆会因为乘客数量变化,货物质量变化导致整车总质量、质心位置发生较大变化,该方法可以有效避免这些参数变化的影响。


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    Title :

    Modified target anti-skid control method for heavy hub motor vehicle


    Additional title:

    一种用于重型轮毂电机车辆的修正目标防滑控制方法


    Contributors:
    LIAN XIAOMIN (author) / WANG YUAN (author) / YUAN LIANGXIN (author) / CHEN HAO (author) / DU PENG (author)

    Publication date :

    2020-07-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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