The invention discloses a wheel anti-lock method based on wheel deceleration and motor torque control. The method comprises the following steps: (1) estimating a road adhesion coefficient, and estimating to obtain a maximum road adhesion coefficient (112); ideal wheel deceleration calculation (2) for determining an ideal wheel deceleration [alpha] id (210); the target wheel deceleration calculation (3) is used for determining a target wheel deceleration alpha g (302) according to the wheel deceleration alpha p (301) required by the current whole vehicle state and the ideal wheel deceleration alpha id (210); (4) determining the control rate uk (sigma k) (413) of the controller according to the actual motion state information of the electric vehicle and the target wheel deceleration alpha g (302); setting uk (5) for optimizing a control law parameter sigma (409) based on a wheel deceleration dynamics control law parameter; the motor controller (6) outputs the required motor braking torque according to the optimized control rate uk (509); the power system (7) is used for outputting current actual motion state information of the electric automobile, and the current actual motion state information comprises wheel deceleration alpha i (701), automobile speed v (702) and wheel angular speed omega i (703) of the electric automobile; the method can effectively solve the problem of wheel locking of motor regenerative braking during emergency braking of the electric vehicle, and improves the stability of the electric vehicle in the braking process.
本发明公开了一种基于轮减速度与电机转矩控制的车轮防抱死方法,该方法包括路面附着系数估计(1),估计得出最大路面附着系数(112);理想轮减速度计算(2)用于确定理想的轮减速度αid(210);目标轮减速度计算(3)根据当前整车状态需求的轮减速度αp(301)和理想的轮减速度αid(210),用于确定目标轮减速度αg(302);基于轮减速度动力学控制器设计uk(σk)(4)根据电动汽车实际的运动状态信息和目标轮减速度αg(302)用于确定控制器的控制率uk(σk)(413);基于轮减速度动力学控制律参数整定uk(5)用于优化控制律参数σ(409);电机控制器(6)根据优化得到控制率uk(509)输出需求的电机制动力矩;动力系统(7)用于输出当前电动汽车实际的运动状态信息,包括电动汽车的车轮减速度αi(701)、车速v(702)和车轮角速度ωi(703);所述方法能够有效地解决电动汽车在紧急制动时电机再生制动的车轮抱死的问题,并且提高了电动汽车制动过程中的稳定性。
Wheel anti-lock method based on wheel deceleration and motor torque control
基于轮减速度与电机转矩控制的车轮防抱死方法
2023-05-09
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |