The invention provides a driving anti-slip control method and system based on maximum transmittable driving force estimation, and the method comprises the steps: calculating the target rotating speed of each wheel and the target yaw velocity of a vehicle body according to the speed of a vehicle, the front wheel rotation angle and the yaw velocity; according to the torque of the driving motor of each wheel and the rotating speed of the wheel, the maximum estimated value of the driving force capable of being transmitted to the wheel is obtained; defining a wheel rotating speed disturbance value and a yaw velocity disturbance value according to the actual rotating speed and the target rotating speed of the wheel and the actual yaw velocity and the target yaw velocity of the vehicle body; preliminarily calculating a torque instruction of the wheel driving motor according to the two disturbance values and the maximum transmittable driving force estimated value; and the driving anti-skid control torque instruction value of each wheel is obtained by observing the positive and negative characteristics of the yaw velocity disturbance value.
本发明提供了一种基于最大可传递驱动力估计的驱动防滑控制方法和系统,本发明根据车辆的速度、前轮转角和横摆角速度,计算各个车轮目标转速和车身目标横摆角速度;根据各个车轮驱动电机扭矩和车轮转速,获取最大可传递到车轮的驱动力估计值;根据车轮实际转速和目标转速,车身实际横摆角速度和目标横摆角速度,定义车轮转速扰动值和横摆角速度扰动值;根据上述两个扰动值和最大可传递驱动力估计值,初步计算车轮驱动电机扭矩指令;通过观测横摆角速度扰动值的正负性,获取各个车轮的驱动防滑控制扭矩指令值。
Driving anti-slip control method and system based on maximum transmittable driving force estimation
基于最大可传递驱动力估计的驱动防滑控制方法和系统
2023-01-13
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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