The invention relates to a dynamic braking force control method for a multi-axle vehicle, and relates to the technical field of vehicle power control. The method comprises the following steps: acquiring static load, wheel speed and vehicle speed information of each wheel of a vehicle, and calculating to obtain the movement rate of each wheel; establishing a multi-axle vehicle braking kinetic equation retaining suspension constraint characteristics, and calculating the dynamic load of each wheel; and the braking force distribution proportion of the wheels with the maximum slip rate is reduced, normalization processing is conducted on the braking force distribution proportion of each wheel according to the braking force ratio between the wheels, and the dynamic braking force needed by each wheel is obtained through calculation. According to the braking force control method of the multi-axle vehicle with the suspension constraint characteristics reserved, the dynamic loads of all the axles are converted into the dynamic loads of all the wheels, and calculation can be accurately and simply carried out; according to the dynamic load and the state of each wheel, the sliding rate of each wheel is obtained through estimation, the purposes of restraining the maximum sliding rate and synchronizing the sliding rates of each wheel are achieved, braking force of each wheel is reasonably distributed, and the probability that a certain wheel is locked in advance is effectively reduced.
本发明是关于一种多轴车辆的动态制动力控制方法,涉及车辆动力控制技术领域。该方法包括以下步骤:获取车辆各轮静载、轮速和车速信息,计算得到各轮滑移率;建立保留悬架约束特征的多轴车辆制动动力学方程,计算各轮动载;减小具有最大滑移率的车轮的制动力分配比例,根据各轮之间的制动力比对各轮的制动力分配比例进行归一化处理,经过计算得到各轮所需的动态制动力。本发明提出了保留悬架约束特征的多轴车辆的制动力控制方法,将各轴动载转变为各轮动载,可以准确、简单地进行计算;根据各轮动载和状态估算得到各轮滑移率,达到抑制最大滑移率、将各轮滑移率同步的目的,对各轮制动力进行合理分配,有效降低某一轮提前抱死的概率。
Dynamic braking force control method for multi-axle vehicle
一种多轴车辆的动态制动力控制方法
2023-08-04
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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