CN103935354A - Driving force coordinating control system and control method for multi-axle independent electric wheel vehicle - Google Patents

Abstract

The invention discloses a driving force coordinating control system and control method for a multi-axle independent electric wheel vehicle. The control method comprises the steps that a measuring value and a target value of yaw velocity are compared, and target output torque needed by each axle is adjusted according to a comparison result and the distance between each axle and the axle load mass center of the multi-axle independent electric wheel vehicle; according to the target output torque needed by each axle and load pressure of each wheel, the target torque of a left wheel and a right wheel of the corresponding axle is calculated. Compared with the prior art, the driving force coordinating control system and control method can control the torque of each wheel in a coordinating mode according to the position of the axle load mass center of the vehicle, the difference between the measuring value and the target value of the yaw velocity of the vehicle is compensated timely, and therefore the vehicle operates stably in the turning process, and safety is improved.

Description

Propulsive effort coordinated control system and the control method of multiaxis independence electric drive wheel vehicle

Technical field

The present invention relates to automotive field, relate in particular to propulsive effort coordinated control system and the control method thereof of multiaxis independence electric drive wheel vehicle.

Background technology

The independent electronic wd vehicle of multiaxis generally comprises three electric drive wheels more than axle, and each axle comprises revolver and right wheel.Owing to not having bearing to connect revolver and right wheel of same axle, each electric drive wheel is by an In-wheel motor driving independently.The normally each motor of the independent electronic wd vehicle of multiaxis of the prior art is shared out equally the required total drive torque of car load and be there is no diff mechanical device.Therefore, this vehicle easily cause because the drive torque of each independent electric drive wheel is inharmonious turn to unstable, thereby reduced steering safety.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of propulsive effort coordinated control system and control method thereof of multiaxis independence electric drive wheel vehicle, in the process of turning in operation at multiaxis independence electric drive wheel vehicle, coordinate in time each electric drive wheel drive torque, thereby make multiaxis independence electric drive wheel vehicle stable direction, improve steering safety.

The present invention solves its technical matters and adopts following technical scheme:

The propulsive effort coordinated control system that the invention provides a kind of multiaxis independence electric drive wheel vehicle, described control system comprises:

Multiaxis independence electric drive wheel, each axle of described multiaxis independence electric drive wheel comprises revolver and right wheel, and described revolver and described right wheel comprise respectively wheel hub motor, and the output torque of described wheel hub motor has determined the moment of described electric drive wheel;

It is characterized in that, described control system also comprises:

Steering wheel angle sensor, for responding to the corner of bearing circle of described vehicle, and produces the first induced signal that represents described corner;

Yaw-rate sensor, for detection of the yaw velocity of described vehicle, and generation represents the second induced signal of the observed reading of described yaw velocity;

Multiple LOAD CELLS, described multiple LOAD CELLS is assemblied in respectively each wheel of described multiaxis independence electric drive wheel, described multiple LOAD CELLS detects respectively the load pressure of corresponding wheel, and produces multiple the 3rd induced signals that represent described load pressure respectively; And

The motor propulsive effort controller being connected with described steering wheel angle sensor, described yaw-rate sensor and described LOAD CELLS, be used for receiving described the first induced signal, described the second induced signal and described the 3rd induced signal, and produce multiple electric drive wheel control signals, to control respectively the output torque of each wheel hub motor in described multiaxis independence electric drive wheel

Wherein, described motor propulsive effort controller determines the expected value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed, calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal, and calculate the distance of described axle load barycenter to each axle of described multiaxis independence electric drive wheel

Observed reading and the expected value of the more described yaw velocity of described motor propulsive effort controller, the target output torque required according to each axle of multiaxis described in the result of described comparison and described distance adjustment, calculate respectively revolver and the right target moment of taking turns of respective shaft according to the load pressure of the required target output torque of described each axle and described each wheel, and the output torque of wheel hub motor by described electric drive wheel control signal control respective shaft equals corresponding described target moment

Wherein, described multiaxis independence electric drive wheel comprises the first axle, the second axle and the 3rd axle, distance between described the first axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter, and the distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter; In the time that described observed reading is less than described expected value, described motor propulsive effort controller increases the output torque of described the first axle, and reduces the output torque of described the second axle; In the time that described observed reading is greater than described expected value, described motor propulsive effort controller reduces the output torque of described the first axle, and increases the output torque of described the second axle.

In one embodiment, the total driving torque of target of the average described vehicle of described motor propulsive effort controller, to obtain the target drive torque of described multiaxis independence electric drive wheel axis; In the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, increase k doubly, and makes the output torque of described the second axle on the basis of described target drive torque, reduce k doubly; In the time that described observed reading is greater than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, reduce m doubly, and makes the output torque of described the second axle on the basis of described target drive torque, increase m doubly; Wherein, described k and described m are constant.

In one embodiment, if the wheel hub motor in described the first axle electric drive wheel reaches specified maximum output torque, and in the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the 3rd axle increase n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant.

In one embodiment, described motor propulsive effort controller calculates respectively the ratio between each axle revolver and right load pressure of taking turns and described revolver and the described right load pressure sum of taking turns in described multiple axle, and calculate respectively described revolver and the described right output torque of taking turns according to described ratio, wherein, the ratio that the load pressure that the output torque of described revolver equals described revolver accounts for described load pressure sum is multiplied by corresponding axle output torque, the described right output torque of taking turns equals the ratio that described right load pressure of taking turns accounts for described load pressure sum and is multiplied by corresponding axle output torque.

The present invention also provides a kind of control method of multiaxis independence electric drive wheel vehicle, described multiaxis independence electric drive wheel vehicle comprises multiaxis independence electric drive wheel, wherein, each axle of described multiaxis independence electric drive wheel comprises revolver and right wheel, described revolver and described right wheel comprise respectively wheel hub motor, the output torque of described wheel hub motor has determined the moment of described electric drive wheel

It is characterized in that, described control method comprises:

Receive the first induced signal that represents described steering wheel for vehicle corner;

Receive the second induced signal of the observed reading that represents described Vehicular yaw cireular frequency;

Receive multiple the 3rd induced signals of the load pressure that represents described multiaxis independence electric drive wheel;

Determine the expected value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed;

Calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal;

Calculate the distance between each axle and the described axle load barycenter of described multiaxis independence electric drive wheel,

The observed reading of more described yaw velocity and expected value, the target output torque required according to each axle of multiaxis described in the result of described comparison and described distance adjustment;

Calculate respectively revolver and the right target torque of taking turns of respective shaft according to the load pressure of the required target output torque of described each axle and described each wheel;

Produce multiple electric drive wheel control signals according to described target torque, to control respectively the output torque of each wheel hub motor in described multiaxis independence electric drive wheel, wherein, the output torque of the wheel hub motor of described each axle equals the required described target moment of corresponding electric drive wheel;

In the time that the described observed reading of described yaw velocity is less than described expected value, increase the output torque of the first axle in described multiaxis independence electric drive wheel, and reduce the output torque of the second axle in described multiaxis independence electric drive wheel, wherein, the distance between described the first axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter; And

In the time that described observed reading is greater than described expected value, reduces the output torque of described the first axle, and increase the output torque of described the second axle.

In one embodiment, the step of described adjusting the first axle and the second axle output torque also comprises:

The total driving torque of target of average described vehicle, to obtain the target drive torque of each axle of described multiaxis independence electric drive wheel;

In the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, increase k doubly, and the output torque that makes described the second axle reduces k doubly on the basis of described target drive torque, wherein, described k is constant; And

In the time that described observed reading is greater than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, reduce m doubly, and makes the output torque of described the second axle on the basis of described target drive torque, increase m doubly; Wherein, described m is constant.

In one embodiment, described control method also comprises:

If the wheel hub motor in described the first axle electric drive wheel reaches specified maximum output torque, and in the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of the 3rd axle in described multiaxis independence electric drive wheel increase n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant, and the distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.

In one embodiment, the step of the revolver of described calculating respective shaft and right target torque of taking turns also comprises:

Calculate respectively the ratio between each axle revolver and right load pressure of taking turns and described revolver and the described right load pressure sum of taking turns in described multiple axle, and calculate respectively described revolver and the described right output torque of taking turns according to described ratio, wherein, the ratio that the load pressure that the output torque of described revolver equals described revolver accounts for described load pressure sum is multiplied by corresponding axle output torque, and the described right output torque of taking turns equals the ratio that described right load pressure of taking turns accounts for described load pressure sum and is multiplied by corresponding axle output torque.

Compared with prior art, the propulsive effort coordinated control system of multiaxis independence electric drive wheel vehicle of the present invention and control method thereof can coordinate to control according to the position of waggon axle load-carrying barycenter the torque of each wheel, to compensate in time the difference between expected value and the observed reading of yaw velocity of vehicle, thereby make vehicle stable in the process of turning, improved safety.

Brief description of the drawings

Figure 1 shows that the structural representation of the propulsive effort coordinated control system of multiaxis independence electric drive wheel vehicle according to an embodiment of the invention.

Fig. 2 A and Fig. 2 B are the schematic diagram of multiaxis independence electric drive wheel according to an embodiment of the invention.

Figure 3 shows that the diagram of circuit of the propulsive effort control method for coordinating of multiaxis independence electric drive wheel vehicle according to an embodiment of the invention.

Detailed description of the invention

To embodiments of the invention be provided to detailed explanation below.Although the present invention sets forth and illustrates in connection with some detailed description of the invention, it should be noted that the present invention is not merely confined to these embodiments.On the contrary, the amendment that the present invention is carried out or be equal to replacement, all should be encompassed in the middle of claim scope of the present invention.

In addition, for better explanation the present invention, in detailed description of the invention below, provided numerous details.It will be understood by those skilled in the art that and there is no these details, the present invention can implement equally.In other example, method, flow process, element and the circuit known for everybody are not described in detail, so that highlight purport of the present invention.

Figure 1 shows that the structural representation of the propulsive effort coordinated control system 100 of multiaxis independence electric drive wheel vehicle according to an embodiment of the invention.Propulsive effort coordinated control system 100 comprises multiaxis independence electric drive wheel 101_1～105_2.In the embodiment in figure 1, multiaxis independence electric drive wheel vehicle comprises five axles, and wherein, each axle comprises revolver and right wheel.For example: the first axle comprises revolver 101_1 and the right 101_2 of wheel; The second axle comprises revolver 102_1 and the right 102_2 of wheel; The 3rd axle comprises revolver 103_1 and the right 103_2 of wheel; The 4th axle comprises revolver 104_1 and the right 104_2 of wheel; The 5th axle comprises revolver 105_1 and the right 105_2 of wheel.What deserves to be explained is, multiaxis independence electric drive wheel vehicle can also comprise that other are more than or equal to three the number of axle (for example: four axles or six axles), and is not limited to five axles shown in Fig. 1.In one embodiment, the independent electric drive wheel in each axle includes wheel hub motor, for driving respectively corresponding independent electric drive wheel.Wherein, the output torque of wheel hub motor has determined the moment of corresponding electric drive wheel, has also just determined cireular frequency and the linear velocity of corresponding electric drive wheel.

In one embodiment, propulsive effort coordinated control system 100 also comprises pedal sensor 112, steering wheel angle sensor 114, yaw-rate sensor 120, multiple LOAD CELLS 122 and motor propulsive effort coordinating control module 118.Pedal sensor 112 is arranged on the universal driving shaft of multiaxis independence electric drive wheel vehicle Das Gaspedal below, for the stroke of perception chaufeur step on the accelerator.Pedal sensor 112 produces the throttle induced signal 130 that represents throttle operation displacement.Steering wheel angle sensor 114 is installed on the axle of multiaxis independence electric drive wheel vehicle bearing circle below.Steering wheel angle sensor 114 is for responding to the steering wheel angle of multiaxis independence electric drive wheel vehicle, and generation represents the first induced signal 132 of this corner.Yaw-rate sensor 120 is arranged on the vehicle chassis below multiaxis independence electric drive wheel vehicle operator's compartment armrest box.Yaw-rate sensor 120 detects the yaw velocity of multiaxis independence electric drive wheel vehicle, and produces the second induced signal 134 of the observed reading that represents this yaw velocity.Multiple LOAD CELLS 122 are installed on respectively on each electric drive wheel shaft coupling of multiaxis independence electric drive wheel vehicle.LOAD CELLS 122 detects respectively the load pressure of corresponding wheel, and produces multiple the 3rd induced signals 136 that represent this load pressure respectively.Motor propulsive effort controller 118 is connected with steering wheel angle sensor 114, yaw-rate sensor 120 and LOAD CELLS 122.Motor propulsive effort controller 118 receives throttle induced signal 130, the first induced signal 132, the second induced signal 134 and the 3rd induced signal 136, and produce multiple electric drive wheel control signals 140 according to these induced signals, to control respectively the output torque of each wheel hub motor in multiaxis independence electric drive wheel.

More particularly, motor propulsive effort controller 118 calculates the required target moment of multiaxis independence electric drive wheel vehicle according to throttle induced signal 130, and control the output torque of each wheel hub motor by multiple electric drive wheel control signals 140, thereby make the thrust forward of multiaxis independence electric drive wheel vehicle equal this target moment, multiaxis independence electric drive wheel vehicle moves forward according to the operation of chaufeur.

To motor propulsive effort controller 118 be calculated to the method casehistory of target moment below.

For example, for the independent electronic wd vehicle of five axles shown in Fig. 1, chaufeur demand drive power square can be expressed as:

$T_{\mathrm{req}}^{\mathrm{drive}}=\left\{\begin{array}{cc}0& (K_{\mathrm{acc}}\∈[\mathrm{0,0.05}\left]\right)\\ K_{\mathrm{acc}}\×T_{\max }^{\mathrm{vechile}}& (K_{\mathrm{acc}}\∈\left(\mathrm{0.05,1}\right])\end{array}\right.---1)$

Wherein, vehicle maximum drive moment can be expressed as:

$T_{\max }^{\mathrm{vechile}}=10\×T_{\max }^{\mathrm{motor}}---2)$

Wherein, represent single wheel hub motor maximum output torque.Suc as formula 1) shown in, give and drive pedal pressing force and gross pressure stroke percentum K at chaufeur according to driver's operation custom _accwhile being 0% to 5%, general objective driving torque demand is 0; Work as K _accwhile being greater than 5%, total driving power demand and pedal pressing force are proportionate relationship.

In turning, motor propulsive effort controller 118 determines the expected value of the yaw velocity of multiaxis independence electric drive wheel vehicle according to the first induced signal 132 and current vehicle speed.What deserves to be explained is, the yaw velocity in the present invention refers to the deflection speed of multiaxis independence electric drive wheel vehicle around vertical axis.In the process of normal turning driving, ground is different big or small thrust in the face of multiaxis independence electric drive wheel produces, thereby multiaxis independence electric drive wheel vehicle can be turned smoothly.The expected value of yaw velocity is defined as the size of can the steady trun required yaw velocity of multiaxis independence electric drive wheel vehicle.If the actual yaw velocity of independent electric drive wheel vehicle is less than its expected value, the independent electric drive wheel vehicle rightabout lateral deviation of can turning.If the actual yaw velocity of independent electric drive wheel vehicle is greater than its expected value, can there is the lateral deviation of turn direction in independent electric drive wheel vehicle.Below either way may affect the stability in turn inside diameter process.

Advantage is, motor propulsive effort controller 118 can be according to the torque of the expected value of yaw velocity, the second induced signal 134 and the each electric drive wheel of the 3rd induced signal 136 real time coordination, thereby make actual yaw velocity equal its expected value, to keep independent electric wheel truck stable.

More particularly, motor propulsive effort controller 118 calculates the axle load barycenter position of vehicle according to the 3rd induced signal 136, and calculates the distance between each axle and the axle load barycenter of multiaxis independence electric drive wheel.Then, relatively observed reading (for example: the second induced signal) and the expected value of yaw velocity of motor propulsive effort controller 118.The target output torque that motor propulsive effort controller 118 is required according to each axle of distance adjustment between result and each axle and axle load barycenter relatively, and calculate respectively revolver and the right target moment of taking turns of respective shaft according to the load pressure of the output torque of the required target of each axle and each wheel, and the output torque of wheel hub motor by electric drive wheel control signal control respective shaft equals corresponding target moment.

Wherein, multiaxis independence electric drive wheel comprises the first axle, the second axle and the 3rd axle.The first axle, the second axle are different from the distance of axle load barycenter with the 3rd axle.If the distance of setting between the first axle and axle load barycenter is greater than the distance between the second axle and axle load barycenter, in the time that the observed reading of yaw velocity is less than expected value, motor propulsive effort controller 118 increases the output torque of the first axle, and reduces the output torque of the second axle; In the time that observed reading is greater than expected value, motor propulsive effort controller 118 reduces the output torque of the first axle, and increases the output torque of the second axle.

In one embodiment, the adjusting of above-mentioned the first axle and the second axle can be to increase and reduce identical multiple.That is to say, the total driving torque of target of motor propulsive effort controller 118 average independent electric drive wheel vehicles, to obtain the target drive torque of each axle in multiaxis independence electric drive wheel.In the time that observed reading is less than expected value, motor propulsive effort controller 118 makes the output torque of the first axle increase k doubly, and makes the output torque of the second axle reduce k doubly; In the time that observed reading is greater than expected value, motor propulsive effort controller 118 makes the output torque of the first axle reduce m doubly, and makes the output torque of the second axle increase m doubly; Wherein, k and m are constant.

In addition, if the wheel hub motor in the first axle electric drive wheel reaches specified maximum output torque, and in the time that yaw velocity observed reading is less than expected value, motor propulsive effort controller 118 makes the output torque of the 3rd axle increase n doubly, and make the output torque of the second axle reduce n doubly; Wherein, n is constant.

Finally, the output torque of the each electric drive wheel of torque control after motor propulsive effort controller 118 regulates according to each axle, can realize the adjusting of the yaw velocity of independent electric wheel truck, thereby make the observed reading of yaw velocity equal its expected value.

Further describe motor propulsive effort controller 118 and coordinate the principle of work of the torque of each electric drive wheel below with reference to Fig. 2 A and Fig. 2 B.

Fig. 2 A and Fig. 2 B are the schematic diagram of multiaxis independence electric drive wheel according to an embodiment of the invention.In the embodiment of Fig. 2 A and Fig. 2 B, multiaxis independence electric drive wheel comprises five axles, and these five axles can be expressed as (101_1 by the form of (revolver, right wheel), 101_2), (102_1,102_2), (103_1,103_2), (104_1,104_2) and (105_1,105_2).In Fig. 2 A, the axle load barycenter G1 of multiaxis independence electronlmobil is positioned between axle (102_1,102_2) and axle (103_1,103_2).In Fig. 2 B, the axle load barycenter G2 of multiaxis independence electronlmobil is positioned between axle (103_1,103_2) and axle (104_1,104_2).Situation when Fig. 2 A and Fig. 2 B show the right-hand rotation of multiaxis independence electric wheel truck.

Below by the computing formula of derivation yaw velocity.In the time of multiaxis independence electric vehicle motion, its yaw resultant moment

∑ M _zican be by formula 3) represent:

∑M _zi=(F _xl1cosδ _l1-F _xr1cosδ _r1+F _xl2cosδ _l2-F _xr2cosδ _r2+F _xl3cosδ _l3-F _xr3cosδ _r3

+F _xl4cosδ _l4-F _xr4cosδ _r4+F _xl5cosδ _l5-F _xr5cosδ _r5)B _f

+(F _yr1sinδ _r1-F _yl1sinδ _l1+F _yr2sinδ _r2-F _yl2sinδ _l2+F _yr3sinδ _r3-F _yl3sinδ _l3+F _yr4sinδ _r4-F _yl4sinδ _l4+F _yr5sinδ _r5-F _yl5sinδ _l5)B _r

+(F _yl1cosδ _l1+F _yr1cosδ _r1+F _xl1sinδ _l1+F _xfr1sinδ _r1)L ₁

+(F _yl2cosδ _l2+F _yr2cosδ _r2+F _xl2sinδ _l2+F _xr2sinδ _r2)L ₂

+(F _yl3cosδ _l3+F _yr3cosδ _r3+F _xl3sinδ _l3+F _xr3sinδ _r3)L ₃

+(F _yl4cosδ _l4+F _yr4cosδ _r4+F _xl4sinδ _l4+F _xr4sinδ _r4)L ₄

+(F _yl5cosδ _l5+F _yr5cosδ _r5+F _xl5sinδ _l5+F _xr5sinδ _r5)L ₅ 3）

Wherein, F _xl1and F _xr1represent respectively axle (101_1,101_2) revolver and right longitudinal force of taking turns;

F _yl1, F _yr1represent the right transverse force of taking turns of the 1st axle revolver;

F _xl2, F _xr2represent the right longitudinal force of taking turns of the 2nd axle revolver;

F _yl2, F _yr2represent the right transverse force of taking turns of the 2nd axle revolver;

F _xl3, F _xr3represent the right longitudinal force of taking turns of the 3rd axle revolver;

F _yl3, F _yr3represent the right transverse force of taking turns of the 3rd axle revolver;

F _xl4, F _xr4represent the right longitudinal force of taking turns of the 4th axle revolver;

F _yl4, F _yr4represent the right transverse force of taking turns of the 4th axle revolver;

F _xl5, F _xr5represent the right longitudinal force of taking turns of the 5th axle revolver;

F _yl5, F _yr5represent the right transverse force of taking turns of the 5th axle revolver;

δ _l1, δ _r1, δ _l2, δ _r2, δ _l3, δ _r3, δ _l4, δ _r4, δ _l5and δ _r5represent respectively corner and the right 105_2 of the wheel corner of the corner of the corner of revolver 101_1, the right 101_2 of wheel corner, revolver 102_1 corner, the right 102_2 of wheel corner, revolver 103_1, the right 103_2 of wheel corner, revolver 104_1 corner, the right 104_2 of wheel corner, revolver 105_1; B _f, B _rrepresent respectively distance and the right distance of taking turns limit and barycenter of revolver limit and barycenter; L ₁, L ₂, L ₃, L ₄and L ₅represent the distance of each axle and barycenter.

The yaw velocity of multiaxis independence electronlmobil can be by formula 4) represent:

$I_z\stackrel{\·}{r}-I_{\mathrm{xz}}\stackrel{\·\·}{\mathrm{\φ}}=\mathrm{\Σ}{M}_{\mathrm{zi}}---4)$

Wherein, I _zrepresent the rotor inertia of rolling motion in vehicle, I _xzexpression spring carried mass is long-pending around x axle and z axle rotor inertia, represent the yaw angle acceleration/accel of independent electric wheel truck, represent vehicle spring carried mass roll angle acceleration.

Convolution 3) and formula 4) can find out that Vehicular yaw angular acceleration is determined by yaw resultant moment.The yaw velocity of independent electric wheel truck is determined by Vehicular yaw angular acceleration.By formula 3) can find out, Vehicular yaw resultant moment and each wheel drive force and corresponding respectively take turns to the position of barycenter relevant.Therefore, in Fig. 2 A, if the observed reading of yaw velocity is less than expected value, ensureing under the constant prerequisite of current total driving torque, increase from barycenter away from axle (for example: axle (101_1, target drive torque 101_2)) for example reduces, from the target drive torque of barycenter more paraxial (: axle (102_1,102_2)) simultaneously, can improve Vehicular yaw torque, to increase yaw angle acceleration/accel, thereby increase actual yaw velocity, i.e. the observed reading of yaw velocity.In like manner, if the observed reading of yaw velocity is greater than expected value, for the prerequisite that ensures that total driving torque is constant, reduce from barycenter away from the target drive torque of axle (for example: axle (101_1,101_2)), increase from barycenter more paraxial (for example: axle (102_1 simultaneously, target drive torque 102_2)), can reduce Vehicular yaw torque, to reduce yaw angle acceleration/accel, thereby reduce actual yaw velocity.The situation of Fig. 2 B can regulate by similar method.

Each axle left and right electric drive wheel In-wheel motor driving moment coordinated allocation is according to this axle left and right wheels load-bearing pressure distribution left and right wheel hub motor target torque.Multiple-axle vehicle are in the time of straight-line travelling, and each axle left and right wheels load-bearing pressure changes less, and it is less that each axle left and right wheel hub motor target drive torque changes fluctuation, and in the time of the recessed road surface of wheel of vehicle process, this is taken turns load-bearing pressure and will increase; In the time of wheel process convex surface, this is taken turns load-bearing pressure and will reduce.Change and adjust left and right wheel hub motor output torque according to each axle left and right wheels pressure proportion of weighing, the each axle left and right wheels of Real-Time Monitoring load-bearing pressure, adjusts left and right wheel hub motor driving torque, can make vehicle at roughness pavement driving stability; Multiple-axle vehicle are in the time turning to, each axle left and right wheels load-bearing pressure changes greatly, turn to the interior load-bearing pressure of taking turns to reduce, turn to foreign steamer load-bearing pressure to increase, according to each axle left and right wheels weigh pressure proportion change, the each axle left and right wheels of coordinated allocation drive torque, can further improve multiple-axle vehicle steering stability.

That is to say, left and right wheel hub motor target drive torque calculates according to following formula:

T _Ln=F _Ln/(F _Ln+F _Rn)*T _n

T _Rn=F _Rn/(F _Ln+F _Rn)*T _n

T _ln, T _rnrepresent respectively n axle revolver and right wheel drive moment;

F _ln, F _rnrepresent respectively n axle left and right wheels load-bearing pressure;

T _nrepresent n axle target drive torque;

Advantage is, the propulsive effort coordinated control system 100 of multiaxis independence electric drive wheel vehicle can coordinate to control according to the position of waggon axle load-carrying barycenter the torque of each wheel, difference between expected value and the observed reading of the yaw velocity of compensation vehicle in time, thereby make vehicle stable in the process of turning, improved safety in operation.

Figure 3 shows that the diagram of circuit of the propulsive effort control method for coordinating 300 of multiaxis independence electric drive wheel vehicle according to an embodiment of the invention.

In step 302, receive the first induced signal that represents described steering wheel for vehicle corner.In step 304, receive the second induced signal of the observed reading that represents described Vehicular yaw cireular frequency.In step 306, receive multiple the 3rd induced signals of the load pressure that represents described multiaxis independence electric drive wheel.In step 308, determine the expected value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed.In step 310, calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal.In step 312, calculate the distance between each axle and the described axle load barycenter of described multiaxis independence electric drive wheel.

In step 314, the observed reading of more described yaw velocity and expected value, the target output torque required according to each axle of multiaxis described in the result of described comparison and described distance adjustment.

Multiple axles of described vehicle comprise the first axle, the second axle and the 3rd axle.Wherein, the distance between described the first axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.Distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.In the time that the described observed reading of described yaw velocity is less than described expected value, increases the output torque of the first axle in described multiaxis independence electric drive wheel, and reduce the output torque of the second axle in described multiaxis independence electric drive wheel; In the time that described observed reading is greater than described expected value, reduces the output torque of described the first axle, and increase the output torque of described the second axle.

In one embodiment, the total driving torque of the target of average described vehicle, to obtain the target drive torque of each axle of described multiaxis independence electric drive wheel.In the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, increase k doubly, and the output torque that makes described the second axle reduces k doubly on the basis of described target drive torque, wherein, described k is constant.In the time that described observed reading is greater than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, reduce m doubly, and makes the output torque of described the second axle on the basis of described target drive torque, increase m doubly; Wherein, described m is constant.

In one embodiment, if the wheel hub motor in described the first axle electric drive wheel reaches specified maximum output torque, and in the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of the 3rd axle in described multiaxis independence electric drive wheel increase n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant, and the distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.

In step 316, calculate respectively revolver and the right target torque of taking turns of respective shaft according to the load pressure of the required target output torque of described each axle and described each wheel.

In step 318, produce multiple electric drive wheel control signals according to described target torque, to control respectively the output torque of each wheel hub motor in described multiaxis independence electric drive wheel, wherein, the output torque of the wheel hub motor of described each axle equals the required described target moment of corresponding electric drive wheel.

Above detailed description of the invention and accompanying drawing are only the present invention's conventional embodiment.Obviously, under the prerequisite that does not depart from the present invention's spirit that claims define and invention scope, can there be various supplements, amendment and replacement.It should be appreciated by those skilled in the art that the present invention can change to some extent in form, structure, layout, ratio, material, element, assembly and other side according to concrete environment and job requirement in actual applications under the prerequisite that does not deviate from invention criterion.Therefore, be only illustrative rather than definitive thereof at the embodiment of this disclosure, the present invention's scope is defined by appended claim and legal equivalents thereof, and is not limited to description before this.

Claims (8)

1. a control system for multiaxis independence electric drive wheel vehicle, described control system comprises:

Multiaxis independence electric drive wheel, each axle of described multiaxis independence electric drive wheel comprises revolver and right wheel, and described revolver and described right wheel comprise respectively wheel hub motor, and the output torque of described wheel hub motor has determined the moment of described electric drive wheel;

It is characterized in that, described control system also comprises:

Steering wheel angle sensor, for responding to the corner of bearing circle of described vehicle, and produces the first induced signal that represents described corner;

Yaw-rate sensor, for detection of the yaw velocity of described vehicle, and generation represents the second induced signal of the observed reading of described yaw velocity;

Multiple LOAD CELLS, described multiple LOAD CELLS is assemblied in respectively each wheel of described multiaxis independence electric drive wheel, described multiple LOAD CELLS detects respectively the load pressure of corresponding wheel, and produces multiple the 3rd induced signals that represent described load pressure respectively; And

The motor propulsive effort controller being connected with described steering wheel angle sensor, described yaw-rate sensor and described LOAD CELLS, be used for receiving described the first induced signal, described the second induced signal and described the 3rd induced signal, and produce multiple electric drive wheel control signals, to control respectively the output torque of each wheel hub motor in described multiaxis independence electric drive wheel

Wherein, described motor propulsive effort controller determines the expected value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed, calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal, and calculate the distance of described axle load barycenter to each axle of described multiaxis independence electric drive wheel

Observed reading and the expected value of the more described yaw velocity of described motor propulsive effort controller, the target output torque required according to each axle of multiaxis described in the result of described comparison and described distance adjustment, calculate respectively revolver and the right target moment of taking turns of respective shaft according to the load pressure of the required target output torque of described each axle and described each wheel, and the output torque of wheel hub motor by described electric drive wheel control signal control respective shaft equals corresponding described target moment

Wherein, described multiaxis independence electric drive wheel comprises the first axle, the second axle and the 3rd axle, distance between described the first axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter, and the distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter; In the time that the observed reading of described yaw velocity is less than described expected value, described motor propulsive effort controller increases the output torque of described the first axle, and reduces the output torque of described the second axle; In the time that described observed reading is greater than described expected value, described motor propulsive effort controller reduces the output torque of described the first axle, and increases the output torque of described the second axle.

2. the control system of multiaxis independence electric drive wheel vehicle according to claim 1, is characterized in that, the total driving torque of target of the average described vehicle of described motor propulsive effort controller, to obtain the target drive torque of described multiaxis independence electric drive wheel axis; In the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, increase k doubly, and makes the output torque of described the second axle on the basis of described target drive torque, reduce k doubly; In the time that described observed reading is greater than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, reduce m doubly, and makes the output torque of described the second axle on the basis of described target drive torque, increase m doubly; Wherein, described k and described m are constant.

3. the control system of multiaxis independence electric drive wheel vehicle according to claim 1 and 2, it is characterized in that, if the wheel hub motor in described the first axle electric drive wheel reaches specified maximum output torque, and in the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the 3rd axle increase n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant.

4. the control system of multiaxis independence electric drive wheel vehicle according to claim 1, it is characterized in that, described motor propulsive effort controller calculates respectively the ratio between each axle revolver and right load pressure of taking turns and described revolver and the described right load pressure sum of taking turns in described multiple axle, and calculate respectively described revolver and the described right output torque of taking turns according to described ratio, wherein, the ratio that the load pressure that the output torque of described revolver equals described revolver accounts for described load pressure sum is multiplied by corresponding axle output torque, the described right output torque of taking turns equals the ratio that described right load pressure of taking turns accounts for described load pressure sum and is multiplied by corresponding axle output torque.

5. the control method of a multiaxis independence electric drive wheel vehicle, described multiaxis independence electric drive wheel vehicle comprises multiaxis independence electric drive wheel, wherein, each axle of described multiaxis independence electric drive wheel comprises revolver and right wheel, described revolver and described right wheel comprise respectively wheel hub motor, the output torque of described wheel hub motor has determined the moment of described electric drive wheel

It is characterized in that, described control method comprises:

Receive the first induced signal that represents described steering wheel for vehicle corner;

Receive the second induced signal of the observed reading that represents described Vehicular yaw cireular frequency;

Receive multiple the 3rd induced signals of the load pressure that represents described multiaxis independence electric drive wheel;

Determine the expected value of the yaw velocity of described vehicle according to described the first induced signal and current vehicle speed;

Calculate the axle load barycenter position of described vehicle according to described the 3rd induced signal;

Calculate the distance between each axle and the described axle load barycenter of described multiaxis independence electric drive wheel,

The observed reading of more described yaw velocity and expected value, the target output torque required according to each axle of multiaxis described in the result of described comparison and described distance adjustment;

Calculate respectively revolver and the right target torque of taking turns of respective shaft according to the load pressure of the required target output torque of described each axle and described each wheel;

Produce multiple electric drive wheel control signals according to described target torque, to control respectively the output torque of each wheel hub motor in described multiaxis independence electric drive wheel, wherein, the output torque of the wheel hub motor of described each axle equals the required described target moment of corresponding electric drive wheel;

In the time that the described observed reading of described yaw velocity is less than described expected value, increase the output torque of the first axle in described multiaxis independence electric drive wheel, and reduce the output torque of the second axle in described multiaxis independence electric drive wheel, wherein, the distance between described the first axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter; And

In the time that described observed reading is greater than described expected value, reduces the output torque of described the first axle, and increase the output torque of described the second axle.

6. the control method of multiaxis independence electric drive wheel vehicle according to claim 5, is characterized in that, the step of described adjusting the first axle and the second axle output torque also comprises:

The total driving torque of target of average described vehicle, to obtain the target drive torque of each axle of described multiaxis independence electric drive wheel;

In the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, increase k doubly, and the output torque that makes described the second axle reduces k doubly on the basis of described target drive torque, wherein, described k is constant; And

In the time that described observed reading is greater than described expected value, described motor propulsive effort controller makes the output torque of described the first axle on the basis of described target drive torque, reduce m doubly, and makes the output torque of described the second axle on the basis of described target drive torque, increase m doubly; Wherein, described m is constant.

7. according to the control method of the multiaxis independence electric drive wheel vehicle described in claim 5 or 6, it is characterized in that, also comprise:

If the wheel hub motor in described the first axle electric drive wheel reaches specified maximum output torque, and in the time that described yaw velocity observed reading is less than described expected value, described motor propulsive effort controller makes the output torque of the 3rd axle in described multiaxis independence electric drive wheel increase n doubly, and makes the output torque of described the second axle reduce n doubly; Wherein, described n is constant, and the distance between described the 3rd axle and described axle load barycenter is greater than the distance between described the second axle and described axle load barycenter.

8. the control method of multiaxis independence electric drive wheel vehicle according to claim 5, is characterized in that, the step of the revolver of described calculating respective shaft and right target torque of taking turns also comprises:

Calculate respectively the ratio between each axle revolver and right load pressure of taking turns and described revolver and the described right load pressure sum of taking turns in described multiple axle, and calculate respectively described revolver and the described right output torque of taking turns according to described ratio, wherein, the ratio that the load pressure that the output torque of described revolver equals described revolver accounts for described load pressure sum is multiplied by corresponding axle output torque, and the described right output torque of taking turns equals the ratio that described right load pressure of taking turns accounts for described load pressure sum and is multiplied by corresponding axle output torque.