The invention relates to a multi-axle distributed electric drive wheeled vehicle, belongs to the technical field of electric drive vehicles, and solves the problems of slow torque pull-down and poor effect of wheel slip intervention of an existing vehicle under large-torque low-speed working conditions such as vertical obstacle passing and in-situ steering. The vehicle comprises a driving anti-skid control system and a plurality of driving axles, each driving axle comprises two wheels and two driving motors, and the driving anti-skid control system comprises a calculation module for obtaining the slip rate difference value of each wheel; the PI control module outputs a motor torque command value to the driving motor; the fuzzy control module is used for determining a proportionality coefficient and an integral coefficient of the PI control module by adopting a fuzzy control rule based on the slip rate difference value; and the antiskid trigger module enables the PI control module to output a motor torque command value. The effects of improving the running smoothness, stability and controllability of the vehicle under the large-torque low-speed running working conditions such as vertical obstacle passing and pivot steering are achieved.
本发明涉及一种多桥分布式电驱动轮式车辆,属于电驱动车辆技术领域,解决了现有车辆在垂直障碍通过、原地向等大扭矩低速工况下的车轮滑转干预存在扭矩下拉慢且效果差的问题。本发明的车辆包括:驱动防滑控制系统和多个驱动桥,每个驱动桥包括两个车轮和两个驱动电机,驱动防滑控制系统包括:计算模块,获取各车轮的滑转率差值;PI控制模块,输出电机扭矩命令值至驱动电机;模糊控制模块,基于滑转率差值,采用模糊控制规则确定PI控制模块的比例系数和积分系数;防滑触发模块,使PI控制模块输出电机扭矩命令值。实现了提升车辆在垂直障碍通过、原地转向等大扭矩低速行驶工况下的行驶流畅性、稳定性和可操控性的效果。
Multi-axle distributed electric drive wheeled vehicle
一种多桥分布式电驱动轮式车辆
2024-02-27
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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