CN109017747A - Antero posterior axis torque distribution method, system and the associated component of new energy four-wheel drive cars - Google Patents
Antero posterior axis torque distribution method, system and the associated component of new energy four-wheel drive cars Download PDFInfo
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- CN109017747A CN109017747A CN201810904404.1A CN201810904404A CN109017747A CN 109017747 A CN109017747 A CN 109017747A CN 201810904404 A CN201810904404 A CN 201810904404A CN 109017747 A CN109017747 A CN 109017747A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Arrangement And Driving Of Transmission Devices (AREA)
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Abstract
This application discloses a kind of antero posterior axis torque distribution methods of new energy four-wheel drive cars, and the method includes the operating statuses of detection front motor and rear motor to obtain motor status parameter；Driving status parameter is determined according to the coefficient of road adhesion of the new energy four-wheel drive cars running region of acquisition and vehicle driving parameter；Current demand state is determined according to motor status parameter and driving status parameter, and exports antero posterior axis torque ratio corresponding with current demand state；Electric machine controller and rear electric machine controller send the corresponding control instruction of antero posterior axis torque ratio forward, export corresponding torque to control front motor and rear motor according to antero posterior axis torque ratio.This method can rationally adjust the bias ratio example of antero posterior axis according to the actual travel situation of new energy four-wheel drive cars.Disclosed herein as well is a kind of antero posterior axis torque distribution system of new energy four-wheel drive cars, a kind of computer readable storage medium and a kind of new energy four-wheel drive cars, have the above beneficial effect.
Description
Technical field
The present invention relates to new energy vehicle control field, in particular to a kind of antero posterior axis torque of new energy four-wheel drive cars point
Method of completing the square, system, a kind of computer readable storage medium and a kind of new energy four-wheel drive cars.
Background technique
Under the environment more and more harsh about automobile fuel consumption emission regulation of current countries in the world, pure electric automobile has section
Can, efficiently, zero-emission the advantages of, therefore at present more country be dedicated to promote pure electric automobile research and development and the marketization.
4 wheel driven automobile is capable of providing more powerful power compared with two drive automobiles.In wet-skid road surface and non-paved road 4-wheel driven car
Drive that there is higher passability compared with two, the stronger ability of getting rid of poverty.New energy four-wheel drive cars pass through using motor as drive shaft
Power source can arrange a driving motor in antero posterior axis, simplify the drive mechanism of traditional four-wheel drive system, be passenger inside the vehicle
Leave bigger seating space.And due to not limited by mechanical driving device transmitting torque limit, new energy 4-wheel driven car
Antero posterior axis bias ratio example can be continuously adjusted in 0:100 between 100:0, can more fully play 4 wheel driven vehicle
The advantage of control stability.
But since 4 wheel driven automobile antero posterior axis torque distribution method needs to consider different landform and driving cycle, and
And the difference of new energy four-wheel drive cars and traditional 4 wheel driven automobile configuration, at present for the torque of new energy four-wheel drive cars antero posterior axis point
It is still one of the difficult point in full-vehicle control technology with control technology.Different terrain, different coefficient of road adhesion, different vehicle fortune
Dynamic state, the different driver behavior of driver, the demand to vehicle optimal movement state is different, for example, playing new energy completely
The dynamic property of four-wheel drive cars needs antero posterior axis to play maximum driving capability, and needs reality in bend or wet-skid road surface vehicle
When adjustment even reduce the torque of antero posterior axis, in addition the nonlinear characteristic of Vehicular system and being wanted to vehicle Energy Consumption Economy
It asks, the coordinated control of new energy four-wheel drive cars dynamic property, economy, control stability is always vehicle 4 wheel driven torque distribution technique
In difficult point, at present new energy four-wheel drive cars antero posterior axis torque distribution control technology there has been no more perfect solutions.
Therefore, the bias ratio example of antero posterior axis how is rationally adjusted according to the actual travel situation of new energy four-wheel drive cars
It is a technical problem that technical personnel in the field need to solve at present.
Summary of the invention
The purpose of the application is to provide antero posterior axis torque distribution method, the system, Yi Zhongji of a kind of new energy four-wheel drive cars
Calculation machine readable storage medium storing program for executing and a kind of new energy four-wheel drive cars, can be reasonable according to the actual travel situation of new energy four-wheel drive cars
Adjust the bias ratio example of antero posterior axis.
In order to solve the above technical problems, the application provides a kind of antero posterior axis torque distribution method of new energy four-wheel drive cars,
The antero posterior axis torque distribution method includes:
The operating status of detection front motor and rear motor obtains motor status parameter；
Traveling is determined according to the coefficient of road adhesion of the new energy four-wheel drive cars running region of acquisition and vehicle driving parameter
State parameter；
Current demand state is determined according to the motor status parameter and the driving status parameter, and is exported and worked as with described
The corresponding antero posterior axis torque ratio of preceding need state；
The corresponding control of the antero posterior axis torque ratio is sent to the front motor controller and the rear electric machine controller
Instruction exports corresponding torque to control the front motor and the rear motor according to the antero posterior axis torque ratio.
Optionally, functional requirement state is determined according to the motor status parameter and the driving status parameter, and exported
Antero posterior axis torque ratio corresponding with the functional requirement state includes:
Current demand state is determined according to the motor status parameter and the driving status parameter；Wherein, described current
Need state includes that electrical fault, power limited, stability of requirement, demand motive force and demand pass through according to priority from high to low
Any one in Ji property or any several combination；
Functional requirement state is set by the current demand state of the highest priority, and is exported and the functional requirement
The corresponding antero posterior axis torque ratio of state.
Optionally, the vehicle of new energy four-wheel drive cars is determined according to the motor status parameter and the driving status parameter
State includes:
Judge the front motor or the rear motor with the presence or absence of driving malfunction according to the motor status parameter；
If so, determining that current demand state includes the electrical fault；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is electrical fault, export to drive normal motor distribution complete
The antero posterior axis torque ratio of portion's torque.
Optionally, the vehicle of new energy four-wheel drive cars is determined according to the motor status parameter and the driving status parameter
State includes:
Judge whether the front motor or the rear motor are in limit power rating according to the motor status parameter；
If so, determining that current demand state includes power limited；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is power limited, according to the front motor and the rear motor
Power limit degree export the corresponding antero posterior axis torque ratio.
Optionally, the vehicle of new energy four-wheel drive cars is determined according to the motor status parameter and the driving status parameter
State includes:
Current yaw velocity is determined according to the driving status parameter, and compares the current yaw velocity and target
Yaw velocity obtains comparing result,
Judge whether the new energy four-wheel drive cars are in intermediate steering according to the comparing result；
If so, determining that the current demand state includes stability of requirement；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is stability of requirement, determined according to the coefficient of road adhesion
The pavement state of the new energy four-wheel drive cars track；
When the pavement state is low attached road surface or split road surface, then according to the stabilization of preset rules output Special Road
The property corresponding antero posterior axis torque ratio of antero posterior axis torque allocation strategy；
When the pavement state is high attached road surface, then before the stability for exporting no special road surface according to the preset rules
The corresponding antero posterior axis torque ratio of reared torque allocation strategy.
Optionally, the vehicle of new energy four-wheel drive cars is determined according to the motor status parameter and the driving status parameter
State includes:
Judge whether gas pedal state, steering wheel angle and gear meet default item according to the driving status parameter
Part；
If so, determining that the current demand state includes demand motive force；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is demand motive force, judge that the new energy four-wheel drive cars are worked as
Whether the road surface of preceding traveling is slope surface road；
If so, the corresponding antero posterior axis torque ratio of output ramp road surface four-driving-force control strategy；
If it is not, then exporting the corresponding antero posterior axis torque ratio of non-ramp road surface four-driving-force control strategy.
Optionally, the vehicle of new energy four-wheel drive cars is determined according to the motor status parameter and the driving status parameter
State includes:
Judge whether to receive energy saving instruction；If so, determining that the current demand state includes demand economy；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
It exports the energy conservation and instructs the corresponding antero posterior axis torque ratio, so that the transmission of the new energy four-wheel drive cars
The efficiency of device reaches maximum value.
Present invention also provides a kind of antero posterior axis torque distribution system of new energy four-wheel drive cars, which includes:
First parameter acquisition module, the operating status for detecting front motor and rear motor obtain motor status parameter；
Second parameter acquisition module obtains the coefficient of road adhesion and vehicle driving ginseng of new energy four-wheel drive cars running region
Number obtains driving status parameter；
Torque ratio determining module, for determining current need according to the motor status parameter and the driving status parameter
State is sought, and exports antero posterior axis torque ratio corresponding with the current demand state；
Control module, for sending the antero posterior axis torque ratio to the front motor controller and the rear electric machine controller
The corresponding control instruction of example is exported according to the antero posterior axis torque ratio and is corresponded to control the front motor and the rear motor
Torque.
Present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the computer
Program realizes the step of antero posterior axis torque distribution method of above-mentioned new energy four-wheel drive cars executes when executing.
Present invention also provides a kind of new energy four-wheel drive cars, including memory and processor, stored in the memory
There is computer program, the processor realizes above-mentioned new energy four-wheel drive cars when calling the computer program in the memory
The step of antero posterior axis torque distribution method executes.
The present invention provides a kind of antero posterior axis torque distribution methods of new energy four-wheel drive cars, including detection front motor is with after
The operating status of motor obtains motor status parameter；According to the coefficient of road adhesion of the new energy four-wheel drive cars running region of acquisition
Driving status parameter is determined with vehicle driving parameter；It is determined according to the motor status parameter and the driving status parameter current
Need state, and export antero posterior axis torque ratio corresponding with the current demand state；To the front motor controller and institute
State rear electric machine controller and send the corresponding control instruction of the antero posterior axis torque ratio, so as to control the front motor and it is described after
Motor exports corresponding torque according to the antero posterior axis torque ratio.
The application determines working as new energy four-wheel drive cars by the driving status parameter of motor conditions sensed parameter and vehicle
Preceding need state determines the antero posterior axis torque ratio for needing to export according to current demand state.Since current demand state can
Reflect the whole vehicle functions demand under current vehicle condition, and the antero posterior axis torque ratio is according to new energy vehicle actual travel
What current demand state determined, therefore being capable of flexibly adjustment vehicle shape according to the motor control that the front and back torque ratio is realized
State.Therefore the application can rationally adjust the bias ratio of antero posterior axis according to the actual travel situation of new energy four-wheel drive cars
Example.The application additionally provides a kind of antero posterior axis torque distribution system of new energy four-wheel drive cars simultaneously, a kind of computer-readable deposits
Storage media and a kind of new energy four-wheel drive cars have above-mentioned beneficial effect, and details are not described herein.
Detailed description of the invention
In ord to more clearly illustrate embodiments of the present application, attached drawing needed in the embodiment will be done simply below
It introduces, it should be apparent that, the drawings in the following description are only some examples of the present application, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of process of the antero posterior axis torque distribution method of new energy four-wheel drive cars provided by the embodiment of the present application
Figure；
Fig. 2 is that a kind of antero posterior axis torque of the new energy four-wheel drive cars of the embodiment of the present application in practical applications distributes logic
Schematic diagram；
Fig. 3 is a kind of structure of the antero posterior axis torque distribution system of new energy four-wheel drive cars provided by the embodiment of the present application
Schematic diagram；
Fig. 4 is a kind of power system architecture schematic diagram of new energy four-wheel drive cars provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Below referring to Figure 1, Fig. 1 is a kind of antero posterior axis torque of new energy four-wheel drive cars provided by the embodiment of the present application
The flow chart of distribution method.
Specific steps may include:
S101: the operating status of detection front motor and rear motor obtains motor status parameter；
Wherein, the present embodiment is applied to new energy four-wheel drive cars, and defaults only one preceding electricity of the new energy four-wheel drive cars
The subject of implementation of motor after machine and one, the present embodiment is entire car controller, and entire car controller is controlled by front motor controller
Front motor output torque, similarly, motor output torque after entire car controller is controlled by rear electric machine controller.Based on above-mentioned knot
Structure goes the operating status of front motor and rear motor after can obtaining by front motor controller and rear electric machine controller.Motor shape
State parameter is to describe the information of front motor operating status and rear motor operating state, can be judged whether according to motor status parameter
There are electrical fault and forward and backward motor there are power limiteds the case where.
S102: it is determined according to the coefficient of road adhesion of the new energy four-wheel drive cars running region of acquisition and vehicle driving parameter
Driving status parameter；
Wherein, coefficient of road adhesion refers to the ratio of adhesive force with wheel normal direction (direction vertical with road surface) pressure, instead
Tire has been reflected in the adhesive ability on different road surfaces.It is very mature for obtaining the technology of the coefficient of road adhesion of vehicle at present,
Details are not described herein again.Vehicle driving parameter may include the parameters such as speed, steering wheel angle, gas pedal state, gear, as long as
It is the relevant parameter of description new energy vehicle driving process can be vehicle driving parameter.
It is understood that coefficient of road adhesion is extraneous ring during new energy four-wheel drive cars are contacted with external environment
Border changes bring parameter, and vehicle driving parameter is the variation of the certain parameters of new energy four-wheel drive cars itself, driving status parameter
It is exactly the general name of coefficient of road adhesion and vehicle driving parameter.Sequencing in logic is not present between S101 and S102,
The execution sequence of S101 and S102 can be exchanged mutually, can also synchronize execution.It should be noted that data in S101 and S102
It is all the data for current time obtaining or detecting, therefore there is directive significance for changing front and back bias ratio example.
S103: determining current demand state according to the motor status parameter and the driving status parameter, and export with
The corresponding antero posterior axis torque ratio of the current demand state；
Wherein, this step is established on the basis for having obtained motor status parameter and driving status parameter in S101 and S102
On, can according to motor status parameter and driving status parameter by complicated vehicle Run-time scenario, by motor status parameter and
Driving status parameter determines that current demand state, current demand state correspond to new energy 4-wheel driven car under current vehicle moving scene
Functional requirement, therefore in this step will for whole vehicle functions demand be converted into for antero posterior axis torque distribution demand, then
It realizes and antero posterior axis torque ratio is determined according to the current demand state in different scenes.
It should be noted that current demand state can have many such as electrical faults, power limited, stability of requirement,
Any one in demand motive force and demand economy or any several combination.Therefore it can be according to the motor status parameter
Current demand state is determined with the driving status parameter；Setting function for the current demand state of the highest priority needs
State is sought, and exports antero posterior axis torque ratio corresponding with the functional requirement state.As a preferred embodiment, can
Priority orders are arranged to all current demand states, front and back is arranged according to a kind of current demand state of highest priority
Torque ratio.
S104: it is corresponding that the antero posterior axis torque ratio is sent to the front motor controller and the rear electric machine controller
Control instruction exports corresponding torque to control the front motor and the rear motor according to the antero posterior axis torque ratio.
Wherein, under the premise of front and back bias ratio example has been determined according to whole vehicle functions demand, in this step
Front motor can be controlled according to the front and back bias ratio example and rear motor exports corresponding torque and realizes new energy 4 wheel driven automobile
Coordinated control.
The present embodiment determines new energy four-wheel drive cars by the driving status parameter of motor conditions sensed parameter and vehicle
Current demand state determines the antero posterior axis torque ratio for needing to export according to current demand state.Due to current demand state energy
Enough reflect the whole vehicle functions demand under current vehicle condition, and the antero posterior axis torque ratio is according to new energy vehicle actual travel
Current demand state determine, therefore according to the front and back torque ratio realization motor control being capable of flexibly adjustment vehicle shape
State.Therefore the present embodiment can rationally adjust the bias ratio of antero posterior axis according to the actual travel situation of new energy four-wheel drive cars
Example.
Stateful and each current need included by the current demand state of new energy four-wheel drive cars are described below
Seek the corresponding torque distribution method of state.Herein it should be noted that the current demand state due to new energy four-wheel drive cars is
Determined according to the motor status parameter of detection and the driving status parameter, when vehicle it is different with environment when, motor shape
The current demand state that state parameter and the driving status parameter will necessarily free variation, therefore mention in the present embodiment can be one
The combination of kind situation or various states.Certainly, each current demand state is all pre-set, in specific execute,
It only need to detect whether each current demand state is triggered, current demand state is illustrated when a certain state is triggered
Current demand state including corresponding type.Current demand state can be interpreted as to a table, when a certain current demand shape
When state is triggered, then recorded accordingly in table.
One, the corresponding current demand state of electrical fault
Judge the front motor or the rear motor with the presence or absence of driving malfunction according to according to the motor status parameter；If
It is then to determine that current demand state includes the electrical fault.
Referring herein to electrical fault refer to that a certain motor loses driving capability situation.
It is directed to this current demand state of electrical fault, torque distribution method are as follows: export to drive normal motor
Distribute the antero posterior axis torque ratio of all torsion torque.That is, an individual motor will be used to drive, while will further discriminate between
Front motor is operated alone, two different states are operated alone in rear motor, controls the motion state of vehicle, torsion at this time
Square allocation proportion is 0:100 or 100:0.
Two, the corresponding current demand state of power limited
Judge whether the front motor or the rear motor are in limit power rating according to the motor status parameter；If
It is then to determine that current demand state includes power limited；
Referring herein to power limited refer to the failure for causing front motor or rear electric motors function to degrade, front motor or rear electricity
The special operation condition that machine driving capability is restricted；The allocation strategy of different limit power reasons, antero posterior axis torque is different.
It is directed to this current demand state of power limited, torque distribution method are as follows: according to the front motor and described
The power limit degree of motor exports the corresponding antero posterior axis torque ratio afterwards.Specifically, can be limited according to power of motor
The reason of different bias ratio example output policies is set.
Three, the corresponding current demand state of stability of requirement
Current yaw velocity is determined according to the driving status parameter, and compares the current yaw velocity and target
Yaw velocity obtains comparing result, judges whether the new energy four-wheel drive cars are in intermediate and turn according to the comparing result
To；If so, determining that the current demand state includes stability of requirement." stability of requirement " refers to current new energy 4-wheel driven car
Have a needs for keeping intact stability, the trigger condition of this current demand state be mostly vehicle driving Special Road (such as
Snowfield, gravel road etc.).
Specifically, whether being punished for stability of requirement, the steering wheel angle according to vehicle, car speed can be needed
Etc. parameters calculate the yaw velocity and coefficient of road adhesion of vehicle in real time, by calculated yaw velocity and pass through CarSim
It emulates obtained yaw velocity threshold values to be compared, judges whether vehicle is in stability control section.
It is directed to this current demand state of stability of requirement, torque distribution method are as follows: system is adhered to according to the road surface
Number determines the pavement state of the new energy four-wheel drive cars track；When the pavement state is low attached road surface or split road surface
When, then according to the corresponding antero posterior axis torque ratio of stability antero posterior axis torque allocation strategy of preset rules output Special Road；
When the pavement state is high attached road surface, then the stability antero posterior axis torque on no special road surface is exported according to the preset rules
The corresponding antero posterior axis torque ratio of allocation strategy.
Four, the corresponding current demand state of demand motive force
Judge whether gas pedal state, steering wheel angle and gear meet default item according to the driving status parameter
Part；If so, determining that the current demand state includes demand motive force." demand motive force " refers to current new energy 4-wheel driven car
There are the needs for keeping intact stability, the trigger condition of this current demand state is mostly vehicle driving with certain slope
Road surface.
It is directed to this current demand state of demand motive force, torque distribution method are as follows: when the highest priority
When current demand state is demand motive force, judge whether the road surface of the new energy four-wheel drive cars current driving is slope surface road
Road；If so, the corresponding antero posterior axis torque ratio of output ramp road surface four-driving-force control strategy；If it is not, then exporting non-slope
The corresponding antero posterior axis torque ratio of road surface four-driving-force control strategy.
Five, the corresponding current demand state of demand economy
Judge whether to receive energy saving instruction；If so, determining that the current demand state includes demand economy；
It is directed to this current demand state of demand economy, torque distribution method are as follows: the output energy conservation instruction pair
The antero posterior axis torque ratio answered, so that the efficiency of the transmission device of the new energy four-wheel drive cars reaches maximum value.
Certainly, the theoretical distribution coefficient that can be calculated according to CarSim under implied terms, divides antero posterior axis torque
Match, and antero posterior axis torque is controlled.
Five kinds of current demand states are referred to altogether above, when only there are one of above-mentioned five kinds current demand states
The corresponding antero posterior axis torque ratio of the current need state can directly be exported；When there are the multiple combinations in above-mentioned five kinds,
It can be according to the corresponding antero posterior axis torque ratio of the current need state by a kind of current demand state output of highest priority.
Preferably, the sequence of the priority of five kinds of current demand states from high to low are as follows: electrical fault, power limited, stability of requirement,
Demand motive force and demand economy.
Fig. 2 is referred to below, and Fig. 2 is a kind of front and back of the new energy four-wheel drive cars of the embodiment of the present application in practical applications
Axis torque distributes logical schematic.The new energy vehicle that the embodiment is driven based on a antero posterior axis by a motor,
The vehicle is equipped with an entire car controller (Vehicle Control Unit, hereinafter referred to as VCU), battery controller, preceding driving electricity
Machine, preceding drive motor controller, rear driving motor, rear drive motor controller.VCU according to whole vehicle state and control strategy,
By CAN communication network, electric machine controller requested torque forwards, backwards, front and back motor is respectively in the control of front and back electric machine controller
Under, respond the torque request of VCU.Each control strategy all corresponds to a kind of front and back bias ratio example in the present embodiment,
The specific implementation process of Fig. 2 corresponding antero posterior axis torque distribution logic includes:
Step 1: VCU needs the motor status fed back according to front and back electric machine controller by CAN network in the control strategy,
Judge whether vehicle is in malfunction, and whether needs to be implemented the antero posterior axis torque allocation strategy under malfunction；If no
It in malfunction, is then determined further, otherwise according to the antero posterior axis torque allocation strategy under malfunction, before calculating
Reared torque distribution coefficient, VCU are calculated at this time to the requested torque of front and back motor, and are sent to front and back electricity by CAN network
Machine controller, front and back electric machine controller respond the requested torque of VCU；
Step 2: when VCU judges that vehicle is not at malfunction, but is in limit power rating, VCU is according to limit power shape
Antero posterior axis torque allocation strategy under state controls antero posterior axis torque；Otherwise it is determined further；
Step 3: when VCU judges that vehicle does not have failure, and vehicle is not at limit power rating, VCU carries out the steady of vehicle
Qualitative state judgement and the calculating of coefficient of road adhesion, according to the stability status and coefficient of road adhesion of vehicle, with peace
Full property is principle, controls antero posterior axis torque, is in vehicle in stability region；
Step 4: when VCU judges that vehicle does not have failure, when vehicle is not at limit power rating, and vehicle does not have stability
When demand for control, VCU is intended to according to the operation of driver, the gradient on road surface locating for vehicle, judges that the whether dynamic property of vehicle needs
It asks, and according to different road gradients, antero posterior axis torque is controlled, so that vehicle, in level road and ramp, dynamic property is optimal；
Step 5: if vehicle does not have failure, is not at limit power rating, vehicle does not have the demand for control of stability, and drives
The operation intention and demand of the not no dynamic property of the person of sailing, then VCU can further judge whether vehicle has the demand of economy, if vehicle
The not demand of economy, then execute the fixation antero posterior axis distribution coefficient of default；It, then will be according to warp if there is economy demand
Ji property demand, controls antero posterior axis torque, so that vehicle economy is optimal.
Of course, it is possible to reenter the judgement process in Fig. 2 after being spaced preset time after distributing antero posterior axis torque.
Fig. 3 is referred to, Fig. 3 is a kind of antero posterior axis torque distribution of new energy four-wheel drive cars provided by the embodiment of the present application
The structural schematic diagram of system；
The system may include:
First parameter acquisition module 100, the operating status for detecting front motor and rear motor obtain motor status parameter；
Second parameter acquisition module 200 obtains the coefficient of road adhesion and vehicle row of new energy four-wheel drive cars running region
It sails parameter and obtains driving status parameter；
Torque ratio determining module 300, for being worked as according to the motor status parameter and driving status parameter determination
Preceding need state, and export antero posterior axis torque ratio corresponding with the current demand state；
Control module 400, for sending the antero posterior axis to the front motor controller and the rear electric machine controller and turning round
The corresponding control instruction of moment ratio example exports to control the front motor and the rear motor according to the antero posterior axis torque ratio
Corresponding torque.
Further, torque ratio determining module 300 includes:
Current demand status determining unit, for being worked as according to the motor status parameter and driving status parameter determination
Preceding need state；Wherein, the current demand state includes electrical fault, power limited, demand according to priority from high to low
Any one in stability, demand motive force and demand economy or any several combination；
Ratio-dependent unit, for setting functional requirement state for the current demand state of the highest priority, and
Export antero posterior axis torque ratio corresponding with the functional requirement state.
Since the embodiment of components of system as directed is corresponded to each other with the embodiment of method part, the embodiment of components of system as directed is asked
Referring to the description of the embodiment of method part, wouldn't repeat here.
Present invention also provides a kind of computer readable storage mediums, have computer program thereon, the computer program
It is performed and step provided by above-described embodiment may be implemented.The storage medium may include: USB flash disk, mobile hard disk, read-only deposit
Reservoir (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or
The various media that can store program code such as CD.
It may include memory and processor present invention also provides a kind of new energy four-wheel drive cars, in the memory
There is computer program, when the processor calls the computer program in the memory, above-described embodiment institute may be implemented
The step of offer.Certain new energy four-wheel drive cars can also include various network interfaces, the components such as power supply.Fig. 4 is referred to,
Fig. 4 is a kind of power system architecture schematic diagram of new energy four-wheel drive cars provided by the embodiments of the present application.1 is preceding driving electricity in figure
Machine (i.e. front motor), 2 be preceding drive motor controller (i.e. front motor controller), and 3 be entire car controller VCU, and 4 be power electric
Pond, 5 be battery controller, and 6 be CAN communication network, and 7 be rear drive motor controller (electric machine controller after i.e.), 8 be after drive
Motor (motor after i.e.).
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.It should be pointed out that for those skilled in the art, under the premise of not departing from the application principle, also
Can to the application, some improvement and modification can also be carried out, these improvement and modification also fall into the protection scope of the claim of this application
It is interior.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.Under the situation not limited more, the element limited by sentence "including a ..." is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Claims (10)
1. a kind of antero posterior axis torque distribution method of new energy four-wheel drive cars characterized by comprising
The operating status of detection front motor and rear motor obtains motor status parameter；
Driving status is determined according to the coefficient of road adhesion of the new energy four-wheel drive cars running region of acquisition and vehicle driving parameter
Parameter；
Current demand state is determined according to the motor status parameter and the driving status parameter, and is exported and the current need
Seek the corresponding antero posterior axis torque ratio of state；
The corresponding control instruction of the antero posterior axis torque ratio is sent to the front motor controller and the rear electric machine controller,
Corresponding torque is exported to control the front motor and the rear motor according to the antero posterior axis torque ratio.
2. according to antero posterior axis torque distribution method described in the claim 1, which is characterized in that according to the motor status parameter
Functional requirement state is determined with the driving status parameter, and exports antero posterior axis torque ratio corresponding with the functional requirement state
Example include:
Current demand state is determined according to the motor status parameter and the driving status parameter；Wherein, the current demand
State includes electrical fault, power limited, stability of requirement, demand motive force and demand economy according to priority from high to low
In any one or any several combination；
Functional requirement state is set by the current demand state of the highest priority, and is exported and the functional requirement state
Corresponding antero posterior axis torque ratio.
3. antero posterior axis torque distribution method according to claim 1, which is characterized in that according to the motor status parameter and institute
It states driving status parameter and determines that the vehicle-states of new energy four-wheel drive cars includes:
Judge the front motor or the rear motor with the presence or absence of driving malfunction according to the motor status parameter；
If so, determining that current demand state includes the electrical fault；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is electrical fault, export to drive normal motor distribution all to turn round
The antero posterior axis torque ratio of square.
4. antero posterior axis torque distribution method according to claim 1, which is characterized in that according to the motor status parameter and institute
It states driving status parameter and determines that the vehicle-states of new energy four-wheel drive cars includes:
Judge whether the front motor or the rear motor are in limit power rating according to the motor status parameter；
If so, determining that current demand state includes power limited；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is power limited, according to the function of the front motor and the rear motor
Rate limited degree exports the corresponding antero posterior axis torque ratio.
5. antero posterior axis torque distribution method according to claim 1, which is characterized in that according to the motor status parameter and institute
It states driving status parameter and determines that the vehicle-states of new energy four-wheel drive cars includes:
Current yaw velocity is determined according to the driving status parameter, and compares the current yaw velocity and target yaw
Angular speed obtains comparing result；
Judge whether the new energy four-wheel drive cars are in intermediate steering according to the comparing result；
If so, determining that the current demand state includes stability of requirement；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is stability of requirement, according to coefficient of road adhesion determination
The pavement state of new energy four-wheel drive cars track；
When the pavement state is low attached road surface or split road surface, then before the stability for exporting Special Road according to preset rules
The corresponding antero posterior axis torque ratio of reared torque allocation strategy；
When the pavement state is high attached road surface, then the stability antero posterior axis on no special road surface is exported according to the preset rules
The corresponding antero posterior axis torque ratio of torque allocation strategy.
6. antero posterior axis torque distribution method according to claim 1, which is characterized in that according to the motor status parameter and institute
It states driving status parameter and determines that the vehicle-states of new energy four-wheel drive cars includes:
Judge whether gas pedal state, steering wheel angle and gear meet preset condition according to the driving status parameter；
If so, determining that the current demand state includes demand motive force；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
When the current demand state of the highest priority is demand motive force, the new energy four-wheel drive cars current line is judged
Whether the road surface sailed is slope surface road；
If so, the corresponding antero posterior axis torque ratio of output ramp road surface four-driving-force control strategy；
If it is not, then exporting the corresponding antero posterior axis torque ratio of non-ramp road surface four-driving-force control strategy.
7. antero posterior axis torque distribution method according to claim 1, which is characterized in that according to the motor status parameter and institute
It states driving status parameter and determines that the vehicle-states of new energy four-wheel drive cars includes:
Judge whether to receive energy saving instruction；If so, determining that the current demand state includes demand economy；
Correspondingly, output antero posterior axis torque ratio corresponding with the functional requirement state includes:
It exports the energy conservation and instructs the corresponding antero posterior axis torque ratio, so that the transmission device of the new energy four-wheel drive cars
Efficiency reach maximum value.
8. a kind of antero posterior axis torque distribution system of new energy four-wheel drive cars characterized by comprising
First parameter acquisition module, the operating status for detecting front motor and rear motor obtain motor status parameter；
Second parameter acquisition module, the coefficient of road adhesion and vehicle driving parameter for obtaining new energy four-wheel drive cars running region obtain
To driving status parameter；
Torque ratio determining module, for determining current demand shape according to the motor status parameter and the driving status parameter
State, and export antero posterior axis torque ratio corresponding with the current demand state；
Control module, for sending the antero posterior axis torque ratio pair to the front motor controller and the rear electric machine controller
The control instruction answered exports corresponding torsion to control the front motor and the rear motor according to the antero posterior axis torque ratio
Square.
9. a kind of new energy four-wheel drive cars characterized by comprising
Memory, for storing computer program；
Processor realizes new energy 4-wheel driven car as described in any one of claim 1 to 7 when for executing the computer program
Antero posterior axis torque distribution method the step of.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program realize new energy four-wheel drive cars as described in any one of claim 1 to 7 when being executed by processor
Antero posterior axis torque distribution method the step of.
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| CN201810904404.1A CN109017747B (en) | 2018-08-09 | 2018-08-09 | Front and rear axle torque distribution method and system of new energy four-wheel drive vehicle and related components |
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