The invention is suitable for the technical field of vehicle control, and particularly relates to a vehicle driving anti-slip control method and system and a vehicle. The method comprises the following steps: determining front and rear axle rotating speeds and front and rear axle speed difference according to the wheel speeds of four wheels obtained by calculating the vehicle speed and the rotating angle, correcting the front and rear axle rotating speeds to obtain corrected front and rear axle rotating speeds, and determining the front and rear axle rotating speed difference according to the collected actual wheel speeds of the four wheels and the front and rear axle speed difference. Acquiring the current rotating speeds of the front and rear motors in real time, controlling the current rotating speeds of the front and rear motors not to exceed the corresponding rotating speed limits of the front and rear motors, acquiring the rotating speed limits of the motors by using the calculated wheel speeds, and identifying the slip condition according to the rotating speed limits. The method has high precision and real-time performance, so that the control period of the motor can be shortened, and the precision of anti-slip control is improved.
本申请适用于车辆控制技术领域,尤其涉及一种车辆驱动防打滑控制方法、系统及车辆。该方法根据车速和转角计算得到的四轮的轮速确定前后轴转速和前后轴速差,对前后轴转速进行修正得到修正后的前后轴转速,根据采集的四轮的实际轮速和前后轴速差确定前后轴转速差,根据修正后的前后轴转速和前后轴转速差得到前后电机转速限制,实时采集前后电机当前转速,控制前后电机当前转速不超过对应前后电机转速限制,使用计算得到的轮速来得到电机转速限制,并以此限制识别打滑的情况,具备较高的精度和实时性,从而可以缩短电机的控制周期,提高了防打滑控制的精度。
Vehicle driving anti-slip control method and system and vehicle
车辆驱动防打滑控制方法、系统及车辆
2025-05-30
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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