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CN118182172B - Vehicle speed control method, vehicle driving system and vehicle - Google Patents

Vehicle speed control method, vehicle driving system and vehicle Download PDF

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Publication number
CN118182172B
CN118182172B CN202410503512.3A CN202410503512A CN118182172B CN 118182172 B CN118182172 B CN 118182172B CN 202410503512 A CN202410503512 A CN 202410503512A CN 118182172 B CN118182172 B CN 118182172B
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China
Prior art keywords
target
motor
speed
driver
rotation speed
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CN202410503512.3A
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Chinese (zh)
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CN118182172A (en
Inventor
李宇虹
张平化
孟凡己
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Fj Controlling Co ltd
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Fj Controlling Co ltd
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Priority to CN202410503512.3A priority Critical patent/CN118182172B/en
Publication of CN118182172A publication Critical patent/CN118182172A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle speed control method, a vehicle driving system and a vehicle. The vehicle comprises at least two motors and at least two drivers, wherein the drivers are connected with the motors; the vehicle speed control method includes: the method comprises the steps that when a vehicle runs in a steering way, a driver determines a target rotating speed of a corresponding motor in each driving period; each driver determines a rotation speed difference value between a target rotation speed and an actual rotation speed of each motor, determines a target duration according to a maximum difference value in all rotation speed difference values, and determines a target acceleration of the corresponding motor according to the rotation speed difference value and the target duration of the corresponding motor; or when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein, the ratio of the target rotating speeds of all motors is the same as the ratio of the rotating speed coefficients; the driver drives the corresponding motor to operate according to the corresponding target acceleration. The technical scheme of the invention can better control the running of the vehicle.

Description

Vehicle speed control method, vehicle driving system and vehicle
Technical Field
The present invention relates to the field of vehicle speed control technologies, and in particular, to a vehicle speed control method, a vehicle driving system, and a vehicle.
Background
With the development of vehicle technology, vehicles are increasingly widely used, and the requirements of people on the vehicles are increasingly high. The vehicle can adopt a double-drive or four-drive system, two wheels in the double-drive system are correspondingly provided with a motor, each wheel in the four-drive system is correspondingly provided with a motor, and each motor is driven by a corresponding driver. For example, an arm aerial platform, a four-wheel drive system is typically employed.
When the vehicle turns to run or the vehicle needs to turn in situ, the steering wheel is turned to realize steering. When the vehicle runs at the minimum turning radius, the target rotating speeds of different motors are different, different drivers drive the motors to run according to the same target rotating speed, the motor with smaller difference between the target rotating speed and the actual rotating speed can reach the target rotating speed first, and the motor with larger difference between the target rotating speed and the actual rotating speed can reach the target rotating speed last, so that the wheels are dragged in the steering process, the vehicle is rubbed with the ground greatly, and the service life of the wheels is influenced.
Disclosure of Invention
The invention provides a vehicle speed control method, a vehicle driving system and a vehicle, which are used for solving the problems that the wheels are dragged in the steering process of the vehicle, so that the vehicle is rubbed with the ground greatly and the service life of the wheels is influenced.
According to an aspect of the present invention, there is provided a vehicle speed control method, the vehicle including at least two motors and at least two drivers connected to the motors; the method comprises the following steps:
The driver determines a target rotation speed of a corresponding motor in each driving period when the vehicle is driven in a steering mode;
Each driver determines the target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; the rotating speed difference value is the difference value between the target rotating speed and the actual rotating speed of the motor; or when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein, the ratio of the target rotating speeds of all motors is the same as the ratio of the rotating speed coefficients;
and the driver drives the corresponding motor to operate according to the corresponding target acceleration.
Optionally, the vehicle further comprises a controller, and the controller is connected with the driver; the driver determining a target rotational speed of a corresponding motor, comprising:
The driver calculates the target rotating speed of the corresponding motor according to the regulating quantity of the speed regulator of the vehicle and the vehicle body parameter; wherein the body parameters include a body angle;
Or the controller calculates the target rotating speed of the corresponding motor according to the regulating quantity of the speed regulator of the vehicle and the vehicle body parameter, and the driver acquires the target rotating speed of the corresponding motor from the controller.
Optionally, the driver calculates the target rotation speed of the corresponding motor according to the adjustment amount of the speed regulator of the vehicle and the vehicle body parameter, including:
The driver determines a maximum target rotating speed according to the adjustment quantity;
The driver takes the maximum target rotating speed as a reference, and determines the rotating speed coefficient of each motor according to the vehicle body parameters; wherein the rotation speed coefficient is less than or equal to 1;
and the driver calculates the target rotating speed of the corresponding motor according to the rotating speed coefficient and the maximum target rotating speed.
Optionally, before each driver determines the target acceleration of the corresponding motor according to the rotation speed difference value of the corresponding motor and the target duration, the method further includes:
And each driver determines a rotating speed difference value between the target rotating speed and the actual rotating speed of each motor, and the target duration is determined according to the maximum difference value in all the rotating speed difference values.
Optionally, each driver determines a rotational speed difference between a target rotational speed and an actual rotational speed of each motor, and determines a target duration according to a maximum difference among all the rotational speed differences, including:
Each driver determines a rotation speed difference value between a target rotation speed and an actual rotation speed of a corresponding motor, and sends the corresponding rotation speed difference value to other drivers;
And each driver determines a maximum difference value according to all the rotating speed difference values, and determines the target duration according to the maximum difference value and preset acceleration.
Optionally, each driver determines a rotational speed difference between a target rotational speed and an actual rotational speed of each motor, and determines a target duration according to a maximum difference among all the rotational speed differences, including:
each driver obtains target rotating speeds and actual rotating speeds of all motors;
and each driver determines a rotating speed difference value between the target rotating speed and the actual rotating speed of each motor, determines a maximum difference value according to all the rotating speed difference values, and determines the target duration according to the maximum difference value and a preset acceleration.
Optionally, when the actual rotation speed is zero, each driver determines a target acceleration of the corresponding motor according to a rotation speed coefficient and a preset acceleration of the corresponding motor, including:
And when the actual rotating speed is zero, the driver takes the preset acceleration as a reference, and determines the target acceleration of the corresponding motor according to the rotating speed coefficient of the corresponding motor.
According to another aspect of the present invention, there is provided a vehicle driving system including: at least two motors and at least two drivers, the drivers being connected to the motors;
the driver is used for acquiring the target rotating speed of the corresponding motor in each driving period when the vehicle is in steering running; each driver is used for determining target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; or when the actual rotation speed of the motor is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein, the ratio of the target rotating speeds of all motors is the same as the ratio of the rotating speed coefficients; the driver is also used for driving the corresponding motor to run according to the corresponding target acceleration.
Optionally, any two drivers are in communication connection, and the drivers are used for transmitting the target rotating speed and the actual rotating speed of the corresponding motor to other drivers; or the rotation speed difference value between the target rotation speed and the actual rotation speed of the corresponding motor is transmitted to other drivers.
According to another aspect of the present invention, there is provided a vehicle comprising the vehicle drive system according to any one of the embodiments of the present invention.
According to the technical scheme, the target acceleration of the motor is determined according to the target duration and the rotation speed difference value, so that the differential operation of different motors at each moment can be ensured, all motors can reach respective target rotation speeds at the same time, the situation that wheels are dragged due to the fact that some motors reach the corresponding target rotation speeds in the steering process can be avoided, the friction damage between the wheels and the ground can be avoided, and the power consumption can be reduced. And the situation that the gravity center of the vehicle is offset on the ramp to cause rollover can be avoided, and the vehicle running can be controlled better. And when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration, so that the differential operation of different motors at each moment can be ensured, all motors can reach the respective target rotation speeds at the same time, the rotation speed difference value and the target time length are not required to be determined, and the control efficiency is improved. And the driver periodically determines the target rotating speed and the actual rotating speed of the motor, so that the target acceleration can be periodically adjusted, and the situation that the load of a certain wheel becomes large and the target rotating speed cannot be reached according to the target duration due to the operation working conditions (such as the working conditions of a road surface, the air pressure of the wheels and the like) is avoided.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle speed control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of yet another vehicle speed control method provided by an embodiment of the present invention;
FIG. 3 is a flow chart of yet another vehicle speed control method provided by an embodiment of the present invention;
FIG. 4 is a flow chart of yet another vehicle speed control method provided by an embodiment of the present invention;
Fig. 5 is a schematic circuit diagram of a vehicle driving system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the problem that the service life of wheels is influenced due to the fact that the wheels are dragged in the steering process of the vehicle, the embodiment of the invention provides a vehicle speed control method. The vehicle includes at least two motors and at least two drives, the drives being connected with the motors. The vehicle is, for example, an electric vehicle, and may be a road vehicle or an off-road vehicle. Off-road vehicles may include forklifts, ball trucks, aerial platforms, or the like. The vehicle may include two motors and two drives, each motor driving two wheels; the vehicle may include four electric motors and four drives, each driving one wheel. The driver is connected with the motor, and the driver can generate driving voltage according to the target rotating speed of the corresponding motor, and the driving voltage is transmitted to the motor to drive the motor to operate. For example, the driver may generate the driving voltage to the motor according to the target rotation speed according to a proportional-integral control strategy or a proportional-integral-derivative control strategy.
Fig. 1 is a flowchart of a vehicle speed control method according to an embodiment of the present invention, and referring to fig. 1, the vehicle speed control method includes:
S110, during steering running of the vehicle, the driver determines the target rotating speed of the corresponding motor in each driving period.
The driver periodically determines the target rotation speed of the corresponding motor, the driving period is a period of time between two determinations of the target rotation speeds, the period of time of the driving period may be a preset value, or may be determined according to an actual running condition of the vehicle, for example, according to a magnitude of the target speed of the vehicle, or according to a control accuracy of the speed of the vehicle, which is not limited in this embodiment.
Specifically, the drivers are arranged in one-to-one correspondence with the motors. When the vehicle turns, the driver periodically determines the target rotating speed of the corresponding motor, so that the operation of each motor is conveniently controlled according to the target rotating speed of each motor, and the independent control of each motor is realized. The driver may calculate the target rotational speed of the corresponding motor, or may acquire the target rotational speed of the corresponding motor from a controller of the vehicle.
S120, each driver determines target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; the rotating speed difference value is the difference value between the target rotating speed and the actual rotating speed of the motor; or when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein the ratio of the target rotational speeds of all motors is the same as the ratio of the rotational speed coefficients.
Wherein the target rotational speed is different for each motor in order to achieve the minimum radius steering. The target rotation speed may be greater than the actual rotation speed or may be less than the actual rotation speed; i.e. the motor may be run in acceleration or in deceleration. Accordingly, the target acceleration of the motor may be positive or negative.
Specifically, in each driving cycle, the driver acquires the actual rotation speed of the corresponding motor, for example, determines the actual rotation speed of the motor according to the output value of the encoder, calculates the rotation speed difference between the target rotation speed and the actual rotation speed of the motor, and each driver can obtain the rotation speed difference of all motors. Each driver can determine the target time length according to the rotation speed difference value, can determine the target time length by taking the rotation speed difference value of a certain motor as a reference, can acquire the preset target time length, and calculates the target acceleration of the corresponding motor according to the rotation speed difference value and the target time length of the corresponding motor. The target rotating speeds of different motors are different, the target time length is the same, and then the target acceleration of each motor is different, so that the differential speed operation can be realized. Therefore, the time length for each motor to reach the target rotating speed is the target time length, so that the respective target rotating speeds can be simultaneously reached, and the whole-course differential operation is realized. Therefore, in the steering process, the condition that wheels are dragged due to the fact that some motors reach corresponding target rotating speeds first can be avoided, friction damage between the wheels and the ground can be avoided, and accordingly power consumption is reduced. And the situation that the center of gravity of the vehicle shifts on the ramp to cause rollover can be avoided. The driver can determine the target acceleration of the corresponding motor according to the difference value of the rotation speed of the corresponding motor and the target duration no matter whether the actual rotation speed is zero or not.
The ratio of the target rotational speeds of all motors is the ratio of the motor rotational speed coefficients. For example, each wheel corresponds to one motor, the target rotation speed corresponding to the first motor is V1, and the rotation speed coefficient corresponding to the first motor is P1; the target rotating speed corresponding to the second motor is V2, and the rotating speed coefficient corresponding to the second motor is P2; the target rotating speed corresponding to the third motor is V3, and the rotating speed coefficient corresponding to the third motor is P3; the target rotating speed corresponding to the fourth motor is V4, and the rotating speed coefficient corresponding to the fourth motor is P4. V1: v2: v3: v4=p1: p2: p3: and P4. Therefore, the ratio of the rotation speed coefficients of the motor can be determined from the ratio of the target rotation speeds of the motor.
In some embodiments, when the actual rotation speed is zero, the ratio of the target acceleration may be determined according to the ratio of the rotation speed coefficients, then the preset acceleration is taken as the target acceleration of one of the motors, and then the target acceleration of each motor is calculated according to the preset acceleration and the rotation speed coefficient corresponding to each motor. Therefore, the ratio of the target rotational speeds of all the motors is the same as the ratio of the target acceleration, the differential operation of all the motors can be ensured, the time length that each motor reaches the target acceleration is the same, and the situation that wheels are dragged because some motors reach the corresponding target rotational speeds in the steering process can be avoided. Therefore, when the actual rotation speed of the motor is zero, namely the vehicle starts to turn from rest, the acceleration of each motor can be directly determined according to the ratio of the target rotation speed (or the ratio of the rotation speed coefficients) and the preset acceleration, calculation of the rotation speed difference value and the target time length is not needed, and the efficiency of motor control can be improved.
And the driver periodically determines the target rotating speed and the actual rotating speed of the motor, so that the target acceleration can be periodically adjusted, and the situation that the load of a certain wheel becomes large and the target rotating speed cannot be reached according to the target duration due to the operation working conditions (such as the working conditions of a road surface, the air pressure of the wheels and the like) is avoided.
And S130, driving the corresponding motor to run by the driver according to the corresponding target acceleration.
Specifically, the driver drives the corresponding motor to gradually accelerate or decelerate according to the corresponding target acceleration, so that the motor reaches the target rotating speed, the vehicle runs according to the target speed, and the control of the vehicle speed is realized. The corresponding target acceleration of different motors is different, and different motors can reach corresponding target rotating speeds simultaneously, so that the situation that wheels are dragged due to the fact that some motors reach corresponding target rotating speeds in the steering process can be avoided.
According to the technical scheme, the target acceleration of the motor is determined according to the target duration and the rotating speed difference value, so that the differential operation of different motors at each moment can be ensured, all motors can reach respective target rotating speeds at the same time, the situation that wheels are dragged due to the fact that some motors reach the corresponding target rotating speeds in the steering process can be avoided, the friction damage between the wheels and the ground can be avoided, and the power consumption can be reduced. And the situation that the gravity center of the vehicle is offset on the ramp to cause rollover can be avoided, and the vehicle running can be controlled better. And when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration, so that the differential operation of different motors at each moment can be ensured, all motors can reach the respective target rotation speeds at the same time, the rotation speed difference value and the target time length are not required to be determined, and the control efficiency is improved. And the driver periodically determines the target rotating speed and the actual rotating speed of the motor, so that the target acceleration can be periodically adjusted, and the situation that the load of a certain wheel becomes large and the target rotating speed cannot be reached according to the target duration due to the operation working conditions (such as the working conditions of a road surface, the air pressure of the wheels and the like) is avoided.
On the basis of the technical scheme, the vehicle further comprises a controller, and the controller is connected with the driver. The target rotation speed of the motor may be calculated by a driver, or may be calculated by a controller, from which the driver obtains the target rotation speed. The manner in which the driver obtains the target rotational speed is described below, but is not a limitation of the present invention.
In some embodiments, the determining, by the driver in step S110, the target rotational speed of the corresponding motor includes:
the driver calculates the target rotating speed of the corresponding motor according to the regulating variable of the speed regulator of the vehicle and the vehicle body parameter; wherein the body parameter comprises a body angle.
The speed regulator can be an operating rod of the vehicle, and when the operating rod is moved, the regulating quantity of the operating rod can be determined according to the direction and the stroke of the operating rod, so that the corresponding target rotating speed is determined according to the regulating quantity. The speed regulator can also be an accelerator pedal, and when the accelerator pedal is pressed or separated, the regulating quantity of the accelerator pedal can be determined according to the direction and the stroke of the accelerator pedal, so that the corresponding target rotating speed is determined according to the regulating quantity. In other embodiments, the speed regulator may be a speed regulating handle, a speed regulating knob, or other speed regulating device on the vehicle, and the present example is not limited.
Specifically, the vehicle body parameter is, for example, a vehicle body angle, and the driver can calculate the target rotation speed of each motor according to the adjustment amount of the speed regulator and the vehicle body parameter, namely, the target rotation speed of the corresponding motor can be obtained, so that the target acceleration of the motor can be conveniently determined according to the target rotation speed of the motor, and the motor is controlled to operate according to the target rotation speed and the target acceleration, so that the vehicle speed is controlled. Wherein, the adjustment amounts of the vehicle body parameter and the speed regulator can be obtained from the controller.
In some embodiments, the determining, by the driver in step S110, the target rotational speed of the corresponding motor includes:
The controller calculates a target rotational speed of the corresponding motor according to the adjustment amount of the speed regulator of the vehicle and the vehicle body parameter, and the driver acquires the target rotational speed of the corresponding motor from the controller.
Specifically, the speed regulator is connected to the controller, and the controller can know the adjustment amount of the speed regulator. The vehicle body parameter is, for example, a vehicle body angle, an on-vehicle angle sensor, which can acquire the vehicle body angle and send the vehicle body angle to the controller. The controller calculates a target rotating speed of the corresponding motor according to the regulating quantity of the speed regulator of the vehicle and the vehicle body parameter, and sends the target rotating speed to the corresponding driver, so that the driver obtains the target rotating speed of the motor.
For example, the controller calculates the motor target rotation speed in the same manner as the driver calculates the motor target rotation speed. The vehicle speed control method will be described below with reference to the determination process of the target rotational speed by taking the driver to calculate the target rotational speed of the corresponding motor as an example, but the present invention is not limited thereto.
Fig. 2 is a flowchart of yet another vehicle speed control method according to an embodiment of the present invention, optionally, referring to fig. 2, the vehicle speed control method includes:
S210, during steering running of the vehicle, the driver determines the maximum target rotating speed according to the adjustment amount in each driving period.
Specifically, the adjustment amount of the speed regulator has a corresponding relation with the motor rotation speed, and when the vehicle is straight, the expected rotation speed of the motor can be determined according to the adjustment amount and the corresponding relation. When the vehicle runs in a non-straight (steering) way, the rotation speed determined according to the adjustment quantity and the corresponding relation is the maximum target rotation speed.
S220, the driver determines the rotation speed coefficient of each motor according to the vehicle body parameters; wherein the body parameter comprises a body angle.
Specifically, when the vehicle body angle is fixed, the ratio of the target rotational speeds of the motors is fixed, that is, the ratio of the rotational speed coefficients of the motors is fixed. The rotation speed coefficient of a certain motor can be set to be 1, and the rotation speed coefficients corresponding to other motors can be determined according to the ratio of the target rotation speeds. For example, the rotation speed coefficient of the motor corresponding to the maximum target rotation speed may be set to 1, the rotation speed coefficient of the motor corresponding to the minimum target rotation speed may be set to 1, or the rotation speed coefficient of the other motors may be set to 1, and the present embodiment is not limited thereto.
S230, the driver takes the maximum target rotating speed as a reference, and calculates the target rotating speed of the corresponding motor according to the rotating speed coefficient and the maximum target rotating speed; wherein the rotation speed coefficient is less than or equal to 1.
Specifically, the drivers take the maximum target rotation speed as a reference, that is, the rotation speed coefficient of the motor corresponding to the maximum target rotation speed is 1, and then the other drivers except the drivers corresponding to the motor with the maximum target rotation speed adjust the rotation speed coefficient of the corresponding motor according to the rotation speed ratio, and the other drivers calculate the target rotation speed of the corresponding motor according to the maximum target rotation speed and the rotation speed coefficient. For example, the vehicle includes four drivers and four motors, the maximum target rotation speed is Vmax, the target rotation speed corresponding to the first motor is V1, and the rotation speed coefficient corresponding to the first motor is P1; the target rotating speed corresponding to the second motor is V2, and the rotating speed coefficient corresponding to the second motor is P2; the target rotating speed corresponding to the third motor is V3, and the rotating speed coefficient corresponding to the third motor is P3; the target rotating speed corresponding to the fourth motor is V4, and the rotating speed coefficient corresponding to the fourth motor is P4. The target rotation speed v1=vmax×p1 of the first motor, the target rotation speed v2=vmax×p2 of the second motor, the target rotation speed v3=vmax×p3 of the third motor, and the target rotation speed v4=vmax×p4 of the fourth motor. For example, if the target rotation speed of the first motor is the maximum target rotation speed, the target rotation speed v1=vmax of the first motor, the rotation speed coefficient P1 corresponding to the first motor is 1, and other rotation speed coefficients can be calculated according to the vehicle body parameters with the rotation speed coefficient corresponding to the first motor as a reference, so as to calculate the target rotation speeds corresponding to the other motors.
S240, each driver determines target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; or when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein the ratio of the target rotational speeds of all motors is the same as the ratio of the rotational speed coefficients.
S250, the driver drives the corresponding motor to operate according to the corresponding target acceleration.
On the basis of the above technical solution, optionally, before each driver determines the target acceleration of the corresponding motor according to the difference value of the rotational speed of the corresponding motor and the target time length, the method further includes:
And each driver determines a rotating speed difference value between the target rotating speed and the actual rotating speed of each motor, and determines the target duration according to the maximum difference value in all the rotating speed difference values.
Specifically, each driver can obtain the rotational speed difference value of all motors, and the rotational speed difference values of all motors are compared to determine the maximum difference value in all the rotational speed difference values. And each driver can determine the target time length according to the maximum difference value, and the driver calculates the target acceleration of the corresponding motor according to the rotating speed difference value of the corresponding motor and the target time length. The target rotating speeds of different motors are different, the target time length is the same, and then the target acceleration of each motor is different, so that the differential speed operation can be realized.
The vehicle speed control method will be described below in connection with a specific implementation of determining the target time period, but is not a limitation of the present invention.
In some implementations, fig. 3 is a flowchart of yet another vehicle speed control method provided by an embodiment of the present invention, optionally, referring to fig. 3, the vehicle speed control method includes:
s310, the driver determines the target rotation speed of the corresponding motor in each driving cycle when the vehicle is steering.
S320, each driver determines a rotation speed difference value between the target rotation speed and the actual rotation speed of the corresponding motor, and sends the corresponding rotation speed difference value to the other drivers.
In particular, all the drives are in the same communication network as the controller, so that each drive can send its corresponding rotational speed difference to the remaining drives, i.e. to other drives than itself. And moreover, communication connection between every two drivers can be set, and a communication protocol between the drivers is increased, so that the level of transmission speed difference between the drivers is higher, and the situation that each driver cannot acquire the speed difference of the other drivers in time when more information is on a communication bus of the controller is avoided. Therefore, the transmission efficiency of the rotating speed difference value can be improved, the efficiency of controlling the rotating speed of the motor is further improved, and the speed of adjusting the vehicle speed is improved.
The vehicle comprises, for example, four drives and four motors, the first drive being connected to the first motor, the second drive being connected to the second motor, the third drive being connected to the third motor, and the fourth drive being connected to the fourth motor. The first driver can calculate the difference between the target rotation speed and the actual rotation speed of the first motor, and can acquire the difference between the rotation speeds of the second driver, the third driver and the fourth driver; the second driver can calculate the difference between the target rotation speed and the actual rotation speed of the second motor, and can acquire the difference between the rotation speeds of the first driver, the third driver and the fourth driver; the third driver can calculate the difference between the target rotation speed and the actual rotation speed of the third motor, and can acquire the difference between the rotation speeds corresponding to the first driver, the second driver and the fourth driver; the fourth driver may calculate a rotational speed difference between the target rotational speed and the actual rotational speed of the fourth motor, and may obtain rotational speed differences corresponding to the first driver, the second driver, and the third driver. Thus, each driver can obtain the corresponding rotating speed difference value of all motors.
S330, each driver determines a maximum difference value according to all the rotating speed difference values, and determines a target duration according to the maximum difference value and a preset acceleration.
Specifically, the driver may acquire a preset acceleration from the controller, where the preset acceleration may be a preset fixed value, or may be an acceleration determined by the controller according to the adjustment amount of the speed regulator, which is not limited in this embodiment. The preset acceleration may be positive or negative. And each driver compares all the rotating speed differences, determines the maximum difference value in all the rotating speed differences, and divides the maximum difference value by the preset acceleration to determine the target duration.
If the vehicle is in acceleration operation, the rotating speed difference value is the target rotating speed of the motor minus the actual rotating speed; if the vehicle is in a decelerating operation, the speed difference is the actual speed of the motor minus the target speed.
For example, the vehicle includes four drivers and four motors, the target rotation speed of the first motor is V1, the actual rotation speed of the first motor is Vd1, and the rotation speed difference of the first motor is vs1=v1-Vd 1 or vs1=vd1-V1. The target rotation speed of the second motor is V2, the actual rotation speed of the second motor is Vd2, and the rotation speed difference of the second motor is vs2=v2-Vd 2 or vs2=vd2-V2. The target rotation speed of the third motor is V3, the actual rotation speed of the third motor is Vd3, and the rotation speed difference of the third motor is v3=v3-Vd 3 or v3=vd3-V3. The target rotation speed of the fourth electrode is V4, the actual rotation speed of the fourth motor is Vd4, and the rotation speed difference of the fourth motor is vs4=v4-Vd 4 or vs4=vd4-V4. Each driver sorts the rotational speed difference Vs1 of the first motor, the rotational speed difference Vs2 of the second motor, the rotational speed difference Vs3 of the third motor and the rotational speed difference Vs4 of the fourth motor to obtain the maximum difference of the four rotational speed differences. For example, the maximum difference is Vsmax, the preset acceleration is Va, and the target time length isFor example, if the difference Vs1 of the rotational speeds of the first motor is the maximum difference, the target acceleration of the first motor is Va, and the target acceleration of the second motor is VaThe target acceleration of the third motor isThe target acceleration of the fourth motor isTherefore, the target acceleration corresponding to each motor can be determined, and the motor operation can be controlled conveniently according to the target acceleration and the target rotating speed.
S340, each driver determines the target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor.
S350, the driver drives the corresponding motor to operate according to the corresponding target acceleration.
In some implementations, fig. 4 is a flowchart of yet another vehicle speed control method provided by an embodiment of the present invention, optionally, referring to fig. 4, the vehicle speed control method includes:
s410, the driver determines the target rotation speed of the corresponding motor in each driving cycle when the vehicle is steering.
S420, each driver acquires target rotation speeds and actual rotation speeds of all motors.
Specifically, each driver may transmit the actual rotational speed of the corresponding motor to the controller, the controller may calculate the target rotational speeds of the motors, and each driver may acquire the target rotational speeds and the actual rotational speeds of all the motors from the controller. Or each driver calculates the target rotating speed of the corresponding motor, so that each driver can acquire the target rotating speed and the actual rotating speed of other motors from other drivers, the target rotating speed and the actual rotating speed do not need to be acquired from the controller, the situation that the target rotating speed and the actual rotating speed cannot be acquired in time when more information is on the communication bus of the controller can be avoided, and the motor control efficiency is improved.
S430, each driver determines a rotation speed difference value between the target rotation speed and the actual rotation speed of each motor, determines a maximum difference value according to all rotation speed difference values, and determines a target time length according to the maximum difference value and a preset acceleration.
Specifically, after each driver obtains the target rotation speed and the actual rotation speed of all motors, each driver can calculate the rotation speed difference value corresponding to each motor, sort all the rotation speed difference values according to the order of magnitude, determine the maximum difference value, and divide the maximum difference value by the preset acceleration to obtain the target time length. Therefore, the target acceleration of each motor is conveniently determined according to the target duration and the rotating speed difference value of each motor, the corresponding motors are driven to operate according to the target acceleration, differential operation among different motors is realized, the corresponding target rotating speeds are reached when the target duration is reached, and the situation that wheels are dragged when some motors reach the corresponding target rotating speeds in the steering process can be avoided.
S440, each driver determines the target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor.
S450, the driver drives the corresponding motor to operate according to the corresponding target acceleration.
On the basis of the above technical solution, optionally, in step S120, when the actual rotation speed is zero, each driver determines a target acceleration of the corresponding motor according to a rotation speed coefficient of the corresponding motor and a preset acceleration, including:
when the actual rotation speed is zero, the driver takes the preset acceleration as a reference, and determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor.
Specifically, the ratio of the target accelerations of the motors is determined according to the ratio of the rotation speed coefficients of all the motors, the target acceleration of one of the motors is set to be the preset acceleration, and the target acceleration of each motor can be determined according to the ratio of the preset acceleration to the target acceleration (the ratio of the rotation speed coefficients).
For example, the vehicle includes four drivers and four motors, the maximum target rotation speed is Vmax, the target rotation speed corresponding to the first motor is V1, and the rotation speed coefficient corresponding to the first motor is P1; the target rotating speed corresponding to the second motor is V2, and the rotating speed coefficient corresponding to the second motor is P2; the target rotating speed corresponding to the third motor is V3, and the rotating speed coefficient corresponding to the third motor is P3; the target rotating speed corresponding to the fourth motor is V4, and the rotating speed coefficient corresponding to the fourth motor is P4. The target rotation speed v1=vmax×p1 of the first motor, the target rotation speed v2=vmax×p2 of the second motor, the target rotation speed v3=vmax×p3 of the third motor, and the target rotation speed v4=vmax×p4 of the fourth motor. If differential speed at any time is to be realized, the ratio Vd1 of the actual rotation speed Vd1 of the first motor, the actual rotation speed Vd2 of the second motor, the actual rotation speed Vd3 of the third motor and the actual rotation speed Vd4 of the fourth motor: vd2: vd3: vd4=p1: p2: p3: and P4, namely, at any moment, the rotation speed ratio of all motors is kept unchanged. When the actual rotational speed of the motor is zero, that is, when the motor starts to turn from 0, the actual rotational speed of the motor is the product of the time Th and the corresponding target acceleration of the motor at any time Th. Thus, by setting the ratio of the target acceleration Va1 of the first motor, the target acceleration Va2 of the second motor, the target acceleration Va3 of the third motor, and the target acceleration Va4 of the fourth motor to satisfy Va1: va2: va3: va4 = P1: p2: p3: p4, can realize meeting Vd1: vd2: vd3: vd4=p1: p2: p3: and P4. In this way, by setting the target acceleration of a certain motor as the preset acceleration, and according to the ratio P1 of the four rotation speed coefficients: p2: p3: and P4, the target acceleration of each motor can be determined, so that calculation of target duration is not needed, and the motor control efficiency is improved.
The embodiment of the invention also provides a vehicle driving system, fig. 5 is a schematic circuit diagram of the vehicle driving system provided by the embodiment of the invention, and referring to fig. 5, the vehicle driving system includes: at least two motors 101 and at least two drivers 102, the drivers 102 being connected to the motors 101;
the driver 102 is configured to acquire a target rotation speed of the corresponding motor 101 at each driving cycle when the vehicle is traveling in a steering direction; each driver 102 is configured to determine a target acceleration of the corresponding motor 101 according to the rotational speed difference value and the target duration of the corresponding motor 101; or when the actual rotation speed of the motor is zero, each driver 102 determines the target acceleration of the corresponding motor 101 according to the rotation speed coefficient of the corresponding motor 101 and the preset acceleration; wherein the ratio of the target rotational speeds of all the motors 101 is the same as the ratio of the rotational speed coefficients; the driver 102 is further configured to drive the corresponding motor 101 to operate according to the corresponding target acceleration.
Specifically, when the vehicle needs to turn, during each driving cycle, the driver 102 determines a target rotational speed of the corresponding motor 101, obtains an actual rotational speed of the motor 101, calculates a rotational speed difference between the target rotational speed and the actual rotational speed of the motor 101, calculates a target acceleration of the corresponding motor 101 according to the rotational speed difference and the target duration of the corresponding motor 101, and drives the corresponding motor 101 to run according to the corresponding target acceleration. The target rotational speeds of the different motors 101 are different, and the target time lengths are the same, so that the target acceleration of each motor 101 is different, and the differential operation can be realized. Thus, the time length for each motor 101 to reach the target rotation speed is the target time length, so that the respective target rotation speeds can be simultaneously reached, and the whole-course differential operation can be realized. Therefore, the situation that wheels are dragged due to the fact that some motors 101 reach corresponding target rotating speeds in the steering process can be avoided, friction damage between the wheels and the ground can be avoided, and power consumption can be reduced. And the situation that the center of gravity of the vehicle shifts on the ramp to cause rollover can be avoided. The driver 102 may determine the target acceleration of the corresponding motor according to the difference between the rotational speeds of the corresponding motors 101 and the target time period, regardless of whether the actual rotational speed is zero.
In some embodiments, when the actual rotation speed is zero, the ratio of the target acceleration may be determined according to the ratio of the rotation speed coefficients, then the preset acceleration is taken as the target acceleration of one of the motors 101, then the target acceleration of each motor is calculated according to the preset acceleration and the rotation speed coefficient corresponding to each motor, and the corresponding motor 101 is driven to run according to the corresponding target acceleration. In this way, the ratio of the target rotational speeds of all the motors 101 is the same as the ratio of the target accelerations, so that the differential operation of all the motors 101 can be ensured, and the time period for each motor 101 to reach the target acceleration is the same, so that the situation that wheels are dragged due to the fact that some motors 101 reach the corresponding target rotational speeds in the steering process can be avoided. Therefore, when the actual rotation speed of the motor 101 is zero, that is, when the vehicle starts to turn from rest, the acceleration of each motor can be determined directly according to the ratio of the target rotation speed (or the ratio of the rotation speed coefficients) and the preset acceleration, calculation of the rotation speed difference and the target time length is not needed, and the efficiency of motor control can be improved.
In fig. 5, the vehicle drive system includes four motors 101 and four drivers 102, but is not limited thereto.
Alternatively, referring to fig. 5, the driver 102 is connected to a controller 103 of the vehicle, and the driver 102 is configured to send the actual rotation speed of the corresponding motor to the controller 103 and acquire the target rotation speed of the corresponding motor from the controller 103 or acquire the adjustment amount of the speed regulator and the vehicle body parameter from the controller 103.
Optionally, referring to fig. 5, any two drivers 102 are communicatively connected, and the drivers 102 are configured to transmit the target rotation speed and the actual rotation speed of the corresponding motor to the other drivers 102; or a rotational speed difference value between the target rotational speed and the actual rotational speed of the corresponding motor 101 is transmitted to the other driver 102.
Specifically, the drivers 102 transmit the target rotational speeds and the actual rotational speeds of the corresponding motors to the other drivers 102 except for themselves, so that each driver 102 can acquire the target rotational speeds and the actual rotational speeds of all motors, and further calculate the rotational speed differences of all motors. The driver 102 may only calculate the rotation speed difference of the motor corresponding to itself, and then transmit the rotation speed difference to other drivers 102 except itself. In this way, each driver 102 obtains the rotational speed difference values of all the motors 101, so that the maximum difference value in all the rotational speed difference values is conveniently determined, the target duration is calculated according to the maximum difference value and the preset acceleration, and then all the motors 101 are enabled to run to the corresponding target rotational speeds according to the target time duration, and the situation that wheels are dragged due to the fact that the motors reach the target rotational speeds first is avoided.
According to the technical scheme of the embodiment, by setting any two drivers 102 for communication connection, the communication protocol between the drivers is increased, so that the level of the transmission rotation speed difference between the drivers is higher, and the situation that each driver cannot acquire the rotation speed difference of the other drivers in time when more information is on the communication bus of the controller is avoided. Therefore, the transmission efficiency of the rotating speed difference value can be improved, the efficiency of controlling the rotating speed of the motor is further improved, and the speed of adjusting the vehicle speed is improved.
The embodiment of the invention also provides a vehicle, which comprises the vehicle driving system provided by any embodiment, and the vehicle can be an electric vehicle. The vehicle may be a road vehicle or a non-road vehicle. Since the vehicle of the present embodiment includes the vehicle drive system provided by any of the above embodiments, the same advantageous effects as those provided by any of the above embodiments are provided, and will not be described in detail herein.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (6)

1. A vehicle speed control method, characterized in that the vehicle comprises at least two electric motors and at least two drives, which drives are connected with the electric motors; the method comprises the following steps:
The driver determines a target rotation speed of a corresponding motor in each driving period when the vehicle is driven in a steering mode;
Each driver determines the target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; the rotating speed difference value is the difference value between the target rotating speed and the actual rotating speed of the motor; or when the actual rotation speed is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein, the ratio of the target rotating speeds of all motors is the same as the ratio of the rotating speed coefficients;
The driver drives the corresponding motor to operate according to the corresponding target acceleration;
the vehicle further comprises a controller, wherein the controller is connected with the driver; the driver determining a target rotational speed of a corresponding motor, comprising:
The driver calculates the target rotating speed of the corresponding motor according to the regulating quantity of the speed regulator of the vehicle and the vehicle body parameter; wherein the body parameters include a body angle;
or the controller calculates the target rotating speed of the corresponding motor according to the regulating quantity of the speed regulator of the vehicle and the vehicle body parameter, and the driver acquires the target rotating speed of the corresponding motor from the controller;
the driver calculates a target rotational speed of a corresponding motor according to an adjustment amount of a speed regulator of the vehicle and a vehicle body parameter, including:
The driver determines a maximum target rotating speed according to the adjustment quantity;
The driver takes the maximum target rotating speed as a reference, and determines the rotating speed coefficient of each motor according to the vehicle body parameters; wherein the rotation speed coefficient is less than or equal to 1;
The driver calculates the target rotating speed of the corresponding motor according to the rotating speed coefficient and the maximum target rotating speed;
Before each driver determines the target acceleration of the corresponding motor according to the rotation speed difference value of the corresponding motor and the target duration, the method further comprises the following steps:
each driver determines a rotation speed difference value between a target rotation speed and an actual rotation speed of each motor, and determines the target duration according to a maximum difference value in all rotation speed difference values;
when the actual rotation speed is zero, each driver determines a target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and a preset acceleration, and the method comprises the following steps:
And when the actual rotating speed is zero, the driver takes the preset acceleration as a reference, and determines the target acceleration of the corresponding motor according to the rotating speed coefficient of the corresponding motor.
2. The method according to claim 1, wherein each of the drivers determines a rotational speed difference between a target rotational speed and an actual rotational speed of each of the motors, and determines a target time period based on a maximum difference among all the rotational speed differences, comprising:
Each driver determines a rotation speed difference value between a target rotation speed and an actual rotation speed of a corresponding motor, and sends the corresponding rotation speed difference value to other drivers;
And each driver determines a maximum difference value according to all the rotating speed difference values, and determines the target duration according to the maximum difference value and preset acceleration.
3. The method according to claim 1, wherein each of the drivers determines a rotational speed difference between a target rotational speed and an actual rotational speed of each of the motors, and determines a target time period based on a maximum difference among all the rotational speed differences, comprising:
each driver obtains target rotating speeds and actual rotating speeds of all motors;
and each driver determines a rotating speed difference value between the target rotating speed and the actual rotating speed of each motor, determines a maximum difference value according to all the rotating speed difference values, and determines the target duration according to the maximum difference value and a preset acceleration.
4. A vehicle drive system, characterized by comprising: at least two motors and at least two drivers, the drivers being connected to the motors; the driver for performing the vehicle speed control method according to any one of claims 1 to 3;
The driver is used for acquiring the target rotating speed of the corresponding motor in each driving period when the vehicle is in steering running; each driver determines the target acceleration of the corresponding motor according to the rotating speed difference value and the target duration of the corresponding motor; the rotating speed difference value is the difference value between the target rotating speed and the actual rotating speed of the motor; or when the actual rotation speed of the motor is zero, each driver determines the target acceleration of the corresponding motor according to the rotation speed coefficient of the corresponding motor and the preset acceleration; wherein, the ratio of the target rotating speeds of all motors is the same as the ratio of the rotating speed coefficients; the driver is also used for driving the corresponding motor to run according to the corresponding target acceleration.
5. The vehicle drive system of claim 4, wherein any two of the drives are communicatively coupled, the drives being configured to transmit the target rotational speed and the actual rotational speed of the corresponding motor to the other drives; or the rotation speed difference value between the target rotation speed and the actual rotation speed of the corresponding motor is transmitted to other drivers.
6. A vehicle comprising the vehicle drive system according to claim 4 or 5.
CN202410503512.3A 2024-04-25 2024-04-25 Vehicle speed control method, vehicle driving system and vehicle Active CN118182172B (en)

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Citations (1)

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CN108382268A (en) * 2018-03-02 2018-08-10 北京经纬恒润科技有限公司 A kind of control method and system of brake boost motor

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US7004018B2 (en) * 2002-08-27 2006-02-28 Nissan Motor Co., Ltd. Vehicle driving force control apparatus
US20150088380A1 (en) * 2013-09-24 2015-03-26 Ford Global Technologies, Llc Active torque steer compensation during negative powertrain torque for hybrid and electric vehicles

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CN108382268A (en) * 2018-03-02 2018-08-10 北京经纬恒润科技有限公司 A kind of control method and system of brake boost motor

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