The invention discloses a slip rate calculation and anti-slip control method for an electric wheel automobile, which comprises the following steps of: acquiring the wheel speeds and yaw velocity of four wheels and the longitudinal and lateral acceleration of the automobile, and calculating the slip rate of the automobile by adopting a speed compensation method according to the wheel speeds of the four wheels. The first longitudinal speed of the automobile is calculated, and the second longitudinal speed of the automobile is calculated according to the longitudinal acceleration and the lateral acceleration of the automobile through an integral method; and performing weighted summation on the obtained first longitudinal speed and the obtained second longitudinal speed to obtain an accurate third automobile longitudinal speed, calculating the actual slip rate of the automobile wheels by using the obtained third automobile longitudinal speed and the wheel speeds of the four wheels, calculating the utilization adhesion coefficient of the automobile wheels, and calculating the actual slip rate of the automobile wheels. According to the Burckhardt tire model and the relation between the adhesion coefficient and the slip rate, road surface recognition is conducted through a fuzzy recognition algorithm, the optimal slip rate and the peak adhesion coefficient are obtained, and compared with a traditional control theory component driving anti-slip algorithm, the method has the better control effect.

    本发明公开一种电动轮汽车的滑移率计算及防滑控制方法,包括采集四个车轮轮速、横摆角速度以及车辆的纵向及侧向加速度、根据四个车轮的轮速,采用补偿速度的方法,计算汽车的第一纵向速度、根据车辆的纵向及侧向加速度采用积分的方法,计算汽车的第二纵向速度;对得到的第一纵向速度以及得到的第二纵向速度加权求和,得到精准的第三汽车纵向速度,运用得到的第三汽车纵向速度和四个车轮的轮速计算汽车车轮实际滑移率,计算汽车车轮的利用附着系数,根据Burckhardt轮胎模型以及利用附着系数和滑移率的关系,运用模糊识别的算法进行路面识别,得到最优滑移率和峰值附着系数,本发明相对于传统控制理论构件驱动防滑算法具有更好的控制效果。


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    Title :

    Slip rate calculation and anti-slip control method for electric wheel automobile


    Additional title:

    一种电动轮汽车的滑移率计算及防滑控制方法


    Contributors:
    LI JIANHUA (author) / SONG QI (author) / JIN LIQIANG (author) / LIU SHAOJIE (author) / ZHOU YANBO (author)

    Publication date :

    2024-08-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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