The invention discloses a driving anti-skid control method, a motor controller and an electric two-wheeled vehicle, and relates to the technical field of electric vehicle control. The method comprises the steps that the state of the whole vehicle is judged according to the current and the rotating speed of a motor; when it is judged that the whole vehicle slips, the speed of the driving wheels is adjusted to not exceed the target speed; controlling the output torque of the motor to be gradually increased from zero, and monitoring the speed of a driving wheel in real time; the slip rate of the whole vehicle in the torque changing process is calculated, and when the calculated value is smaller than the expected slip rate and meets the slip suppression quit condition, the state of the whole vehicle is judged again; when the slip suppression quit condition is not met, the torque is continuously increased; and when the calculated value is not smaller than the expected slip rate, it is judged that the whole vehicle slips again, and the driving wheel speed is adjusted again so that the driving wheel speed does not exceed the updated target speed. According to the method, a sensor does not need to be additionally arranged, the rotating speed of the motor is reduced at the slip moment, the output torque is smoothly and accurately controlled to restrain the slip phenomenon, and the vehicle is kept stable.

    本发明公开了一种驱动防滑控制方法、电机控制器及电动两轮车,涉及电动车控制技术领域,该方法包括:根据电机的电流和转速对整车状态进行判定;当判定整车出现打滑时,调整驱动轮速度使其不超过目标速度;控制电机输出力矩从零逐渐增大,并实时监控驱动轮速度;计算力矩变化过程中的整车滑移率,当计算值小于期望滑移率,并满足滑移抑制退出条件时,重新对整车状态进行判定;在不满足滑移抑制退出条件时,持续增大力矩;当计算值不小于期望滑移率时,再次判定整车出现打滑,并重新调整驱动轮速度使其不超过更新后的目标速度。本方法无需额外增加传感器,在打滑瞬间降低电机转速并对输出力矩进行平顺、准确的控制以抑制打滑现象,保持车辆稳定。


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    Title :

    Driving anti-skid control method, motor controller and electric two-wheeled vehicle


    Additional title:

    一种驱动防滑控制方法、电机控制器及电动两轮车


    Contributors:
    DING JIANGUO (author) / WANG SHUNDA (author) / SHEN YUCHENG (author) / JIANG YAJUN (author)

    Publication date :

    2024-01-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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