The invention relates to a driving control method and system for a multi-axle distributed vehicle, belongs to the technical field of multi-axle distributed vehicles, and solves the problems of slow torque pull-down and poor effect in wheel slip intervention under large-torque low-speed working conditions such as vertical obstacle passing and in-situ steering in the prior art. The method comprises the following steps: acquiring 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; when driving anti-skid control is performed on the wheel, outputting a motor torque command value to a driving motor of the wheel through the PI control module, and determining a proportionality coefficient and an integral coefficient of the PI control module by adopting a feedback function. The driving torque can be accurately, rapidly and stably controlled, and therefore the effects of driving smoothness, stability and controllability of the vehicle under the large-torque low-speed driving working conditions such as vertical obstacle passing and pivot steering are improved.
本发明涉及一种多桥分布式车辆的驱动控制方法及控制系统,属于多桥分布式车辆技术领域,解决了现有技术对垂直障碍通过、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。本发明的方法包括:获取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时,通过PI控制模块输出电机扭矩命令值至车轮的驱动电机,采用反馈函数确定PI控制模块的比例系数和积分系数。本发明能够精准、快速且平稳地对驱动扭矩进行控制,从而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。
Driving control method and control system of multi-axle distributed vehicle
多桥分布式车辆的驱动控制方法及控制系统
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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