The invention discloses an electric wheel slippage rate estimation method based on adaptive filtering, which comprises the following steps of: 1, acquiring running parameters of a vehicle on a current road surface, including a tire rotating speed, a vehicle running speed, a vehicle steering wheel rotating angle and a hub motor driving torque; 2, acquiring an original slip rate estimated value of an electric wheel of the vehicle under a linear driving condition; 3, estimating the inherent frequency of an electric wheel system, and calculating the low-pass cut-off frequency of a filter; 4, acquiring a torque ripple order instantaneous frequency of the hub motor, and selecting a filter type and a cut-off frequency in combination with a low-pass cut-off frequency; and 5, carrying out preset adaptive filtering processing on the original slip rate of the electric wheel to obtain an accurate estimated value of the slip rate of the electric wheel. The method comprehensively considers the influence of the torque fluctuation of the hub motor in the electric wheel and the deformation of the tire body during the estimation of the slip rate, and effectively improves the estimation precision of the slip rate of the electric wheel while guaranteeing the safety.

    本发明公开了一种基于自适应滤波的电动轮滑移率估算方法,包括:1获取车辆在当前路面的行驶参数,包括轮胎转速、车辆行驶速度、车辆方向盘转角及轮毂电机驱动转矩;2获取车辆在直线驱动工况下的电动轮原始滑移率估计值;3估算电动轮系统固有频率,计算滤波器低通截止频率;4获取轮毂电机转矩波动阶次瞬时频率并结合低通截止频率选择滤波器类型和截止频率;5对电动轮原始滑移率进行预设的自适应滤波处理,获取电动轮滑移率精确估算值。本发明综合考虑滑移率估算时电动轮中轮毂电机转矩波动和轮胎胎体变形的影响,在保证安全性的同时有效提升电动轮滑移率估计精度。


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    Title :

    Electric wheel slippage rate estimation method based on adaptive filtering


    Additional title:

    一种基于自适应滤波的电动轮滑移率估算方法


    Contributors:
    LU JIANWEI (author) / LIU QIANQIAN (author) / ZHU YINGJIE (author) / DONG ZHENG (author) / JIANG SHANG (author) / ZHANG BINGZHAN (author) / WU DI (author)

    Publication date :

    2025-02-14


    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



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