The invention relates to a driving anti-skid control method and system for an electric wheel, and belongs to the technical field of multi-axle distributed electric driving wheel type vehicles. The problems that in the prior art, an existing driving anti-skid control method is slow in torque pull-down and poor in effect in wheel slip intervention under the large-torque low-speed working conditions such as vertical obstacle passing and pivot steering are solved. The method comprises the following steps: calculating a slip rate difference value between a target slip rate and a real-time slip rate; when the slip rate difference value is smaller than a slip rate difference value threshold value and the real-time vehicle speed is larger than a vehicle speed threshold value, driving anti-slip control over the wheels is started; performing driving anti-skid control on the wheel, namely outputting a motor torque command value through a PI control module; and based on the slip rate difference value, a fuzzy control rule is adopted to determine a proportionality coefficient and an integral coefficient of the PI control module. 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.

    本发明涉及一种电动轮的驱动防滑控制方法及控制系统,属于多桥分布式电驱动轮式车辆技术领域,解决了现有技术中现有驱动防滑控制方法对垂直障碍通过、原地转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。本发明的方法包括:计算目标滑转率与实时滑转率之间的滑转率差值;当滑转率差值小于滑转率差值阈值,并且实时车速大于车速阈值时,启动对该车轮的驱动防滑控制;对该车轮进行驱动防滑控制,包括:通过PI控制模块输出电机扭矩命令值;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。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。


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    Title :

    Driving anti-skid control method and control system for electric wheel


    Additional title:

    一种电动轮的驱动防滑控制方法及控制系统


    Contributors:
    LI YUNXIAO (author) / LIU HAITAO (author) / TANG JING (author) / XIAO YUEFENG (author) / LIANG WENJIAO (author) / ZHANG QINGYUN (author) / ZHANG XIAN (author)

    Publication date :

    2024-02-27


    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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