CN104442450B - A kind of method and system of vehicle operating status under judgement traction state - Google Patents
A kind of method and system of vehicle operating status under judgement traction state Download PDFInfo
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- CN104442450B CN104442450B CN201410783813.2A CN201410783813A CN104442450B CN 104442450 B CN104442450 B CN 104442450B CN 201410783813 A CN201410783813 A CN 201410783813A CN 104442450 B CN104442450 B CN 104442450B
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Abstract
The present invention relates to a kind of method and systems of the vehicle operating status under judgement traction state, this method comprises: the output torque T and vehicle wheel rotational speed ω of measurement vehicular electric machine；Estimation adherency torque Td；Calculate output torque changing value △ T, adherency torque changing value △ Td；According to output torque changing value △ T and adherency torque changing value △ TdDetermine vehicle operating status.The present invention only needs to measure that vehicular electric machine transfers to the output torque of wheel and vehicle wheel rotational speed information can determine whether vehicle operating status under traction state, and decision process is simple and reliable, and the output parameter of this method can be used for vehicle slip control process.In addition, required sensor is few, implementation cost is low, reliability is also high.
Description
Technical field
The present invention relates to vehicle operating status detection technique fields, and in particular to a kind of vehicle work judged under traction state
Make the method and system of state.
Background technique
In vehicle running under power or brake control process, when dynamical system pass to tire driving force or brake force it is super
When crossing adhesion strength critical value (maximum static friction force of the vehicle to ground) on tire and road surface, it is existing that the tire of vehicle can send out idle running
As this phenomenon is exactly the unstable working condition of vehicle (vehicle slip state).Once vehicle has skidded phenomenon, vehicle and ground
The maximum static friction force critical value in face can be lower, and the ground kinetic frictional resistances that automobile is subject to will decline, and road surface is to the anti-of vehicle
Active force drastically reduces, and the critical Driving Force of tyre slip is caused to reduce.Either in vehicle traction operational process or brake
In control process, when automobile is in the unstable working condition skidded, the safety of car steering and controllable can be seriously destroyed
Property.Guarantee that wheel of vehicle has very important significance to vehicle in steady-working state in Different Ground.
Traditional intact stability judgement is based primarily upon the judgement of the identification and optimal slip rate of current slip rate, has at present
Many researchers have carried out a large amount of research with regard to slip rate λ, and research achievement can be roughly divided into two types: one kind is directly to pass through
The relationship of the revolving speed (wheel linear speed) of vehicle chassis speed (vehicle actual travel speed) and wheel obtains slip rate λ, leads to
It crosses slip rate and coefficient of friction variation judges the stability of vehicle.By slip rate formula it is found that the slip rate λ of vehicle and wheel turn
The difference of speed and vehicle chassis speed has non-linear relation.Therefore the slip rate parameter for directly obtaining vehicle must accurately obtain wheel
Revolving speed and chassis speed.For vehicle chassis speed, although the measurement method there are many at present, sensors towards ambient
The limitation of susceptibility, high cost and measurement accuracy constrains practical application, at the same automobile vibration measurement result is also had it is larger
It influences.Second class is known as state observer method, and the relationship of vehicle wheel rotational speed and slip rate λ, estimation are obtained by wheel movement equation
Current slip rate judges optimal slip rate under present tire, pavement conditions, and then judges vehicle operating status, this method
This parameter of speed is avoided, but accuracy of this method in vehicle lower-speed state is poor, practicability is not high.Moreover, most
Excellent slip rate is different under different tires, road surface contact conditions, it is difficult to which real-time judge, limitation in practical applications is very
Greatly, practical application effect is bad.
Summary of the invention
For this purpose, technical problem to be solved by the present invention lies in vehicle operating status detection method common at present exists
Vehicle actual travel speed precise measurement or when lower-speed state can not judge that effect is bad and optimal slip rate is difficult to real-time judge
The technical issues of.It can accurately identify and lead to propose that one kind only needs to measure the output torque of vehicular electric machine and vehicle wheel rotational speed
Draw the judgment method that the vehicle under state is in steady-working state either unstable working condition.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of method of vehicle operating status under judgement traction state, comprising:
Measure the output torque T and vehicle wheel rotational speed ω of vehicular electric machine；
Estimation adherency torque Td；
Calculate output torque changing value Δ T and adherency torque changing value Δ Td；
According to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle operation shape under traction state
State.
As optimization, before the output torque T and vehicle wheel rotational speed ω of measurement vehicular electric machine further include:
Inertia the constant J, inertia constant J for initializing vehicle are related to the parameter of vehicle.
As optimization, torque T is adhered in estimationdBefore further include:
Vehicle wheel rotational speed ω is filtered.
As optimization, output torque T is obtained by the input current of measurement motor, under constant current state, output torque T etc.
In the product of torque constant and motor input current.
As optimization, torque T is adhered todIt is according to formulaEstimation gained, whereinIt is to wheel
The derivative of rotational speed omega.
As optimization, according to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition, comprising:
As output torque changing value Δ T > 0 and adherency torque changing value Δ TdWhen>0, or work as output torque changing value Δ T<0
And adherency torque changing value Δ TdWhen < 0, or as output torque changing value Δ T=0 and adherency torque changing value Δ TdWhen >=0, sentence
The vehicle determined under traction state is in steady-working state；
As output torque changing value Δ T > 0 and adherency torque changing value Δ TdWhen < 0, or work as output torque changing value Δ T < 0
And adherency torque changing value Δ TdWhen > 0, or as output torque changing value Δ T=0 and adherency torque changing value Δ TdWhen < 0, determine
The vehicle of traction state is in unstable working condition.
As optimization, according to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition, comprising:
In the case where △ T ≠ 0,
WhenAndWhen, determine that vehicle is non-steady in that will be converted to from steady-working state
Determine the critical transition status of working condition；
WhenAndWhen, determine that vehicle is in steady-working state；
WhenAndWhen, determine that vehicle is in unstable working condition；
WhenAndWhen, stabilization will be entered from unstable working condition by determining that vehicle is in
The Determination of Critical Transition Point of working condition；
In the case where △ T=0,
As △ TdWhen < 0, determine that vehicle is in unstable working state；
As △ TdWhen >=0, determine that vehicle is in steady-working state；
Wherein, Δ T (k) is currently to calculate resulting output torque changing value, and Δ T (k-1) is that last computation is resulting defeated
Torque changing value out, Δ TdIt (k) is currently to calculate resulting adherency torque changing value, Δ TdIt (k-1) is that last computation is resulting viscous
Attached moment variations value.
As optimization, according to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle under traction state
After the step of working condition further include: decided whether in real time according to the vehicle operating status determined real to output torque T
Apply clipping control.
As optimization, decided whether to implement clipping control to output torque T in real time according to the vehicle operating status determined
Include:
When determining that vehicle is in unstable working condition, then clipping control is implemented to output torque T；
When judgement vehicle is in steady-working state, then not to output torque T implementation clipping control.
A kind of system of vehicle operating status under judgement traction state, comprising:
Measurement module, for measuring the output torque T and vehicle wheel rotational speed ω of vehicular electric machine；
Estimation block, for estimating adherency torque Td；
Computing module, for calculating output torque changing value Δ T and adherency torque changing value Δ Td；
Determination module, for according to output torque changing value Δ T and adherency torque changing value Δ TdJudge under traction state
Vehicle operating status.
As optimization, the system of vehicle operating status is judged further include:
Initialization module, for obtaining the inertia constant J of vehicle；And/or
Filter module, for being filtered to the resulting vehicle wheel rotational speed ω of measurement；And/or
Clipping module is implemented to limit when being in unstable working condition for the vehicle under traction state to output torque T
Width control.
The above technical solution of the present invention has the following advantages over the prior art:
The method and system of vehicle operating status under a kind of judgement traction state provided by the invention, is based on vehicle slip
The physical mechanics of process are theoretical, it is only necessary to which measuring vehicular electric machine and transferring to the output torque of wheel and vehicle wheel rotational speed information can determine whether
Vehicle operating status under traction state requires no knowledge about vehicle chassis speed and slip rate value, and decision process is simple and reliable, and
And the output parameter of this method can be used for vehicle slip control process, the reality that this method is very suitable to vehicle control is answered
With.In addition, required sensor is few, implementation cost is low, reliability is also high.It is suitable for using motor-driven 4 wheel driven vapour
Slip state detection when vehicle and the use equipment such as motor-driven various robots, machine ectoskeleton work.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the vehicle operating status under judgement traction state according to an embodiment of the present invention；
Fig. 2 is the relational graph of vehicle slip rate λ and friction coefficient μ at different road surfaces；
Distribution of force schematic diagram when Fig. 3 is wheel work；
Fig. 4 is the method flow diagram of the vehicle operating status under judgement traction state according to another embodiment of the present invention；
Fig. 5 is the system schematic of the vehicle operating status under judgement traction state according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and examples to this hair
Technical solution provided by bright is described in further detail.
In the following embodiments, d/dt indicates the derivative of variable；△ indicates small signal, refers to the variation of detection moment.
Embodiment 1
Fig. 1 shows the process of the method for the vehicle operating status under judgement traction state according to an embodiment of the present invention
Figure, this method comprises the following steps:
Step S1: the output torque T and vehicle wheel rotational speed ω of vehicular electric machine are measured.Herein, output torque T can pass through survey
The input current for measuring motor obtains, under constant current state, the output torque T of motor be equal to torque constant and motor input current it
Product, vehicle wheel rotational speed ω can be obtained by measuring the revolving speed of motor.
Step S2: estimation adherency torque Td.Herein, torque T is adhered todIt is according to formulaEstimate
Gained is calculated, wherein J is the inertia constant of vehicle,It is the derivative to vehicle wheel rotational speed ω.The inertia constant J of vehicle and the parameter of vehicle
Correlation, value do not change with environment and time, can be obtained by measurement and determine numerical value, parameter J is known under normal conditions
Amount, but for the case where using vehicle for the first time, the inertia constant J of initialization vehicle is also needed to be implemented before step S2
The step of, to determine the value of parameter J.Handling formula to the derivation of vehicle wheel rotational speed ω isWherein Δ t indicates front and back
The time difference measured twice, Δ ω indicate the difference (ω (k)-ω (k-1)) of vehicle wheel rotational speed ω when front and back measures twice.Thus
It can obtain adherency torque Td。
It preferably, can also include: to be filtered to vehicle wheel rotational speed ω before step S2, with when filtering out measurement
Noise jamming improves the accuracy of subsequent derived function result.It is further preferred that low-pass filter can be used to vehicle wheel rotational speed
ω is filtered.
Step S3: output torque changing value Δ T and adherency torque changing value Δ T are calculatedd.Herein, output torque changes
It is worth Δ T and adherency torque changing value Δ TdRespectively indicate output torque T and wheel adherency torque T that motor is transmitted to wheeldContinuously
The difference of survey calculation value twice, its calculation formula is: Δ T=T (k)-T (k-1) and Δ Td=Td(k)-Td(k-1), wherein T
(k) the output torque value of current survey calculation is indicated, T (k-1) indicates the output torque value of motor, T when last time survey calculationd
(k) it indicates currently to estimate resulting adherency moment values, Td(k-1) indicate that last time estimates resulting adherency moment values.As a result,
To calculate output torque changing value △ T and adherency torque changing value △ Td。
Step S4: according to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition.Can specifically there be the following two kinds criterion.
The first criterion is: as output torque changing value Δ T > 0 and adherency torque changing value Δ TdWhen > 0, or when defeated
Torque changing value Δ T < 0 and adherency torque changing value Δ T outdWhen < 0, or when output torque changing value Δ T=0 and adherency torque
Changing value Δ TdWhen >=0, determine that the vehicle under traction state is in steady-working state；When output torque changing value Δ T > 0 and
Adhere to torque changing value Δ TdWhen < 0, or as output torque changing value Δ T < 0 and adherency torque changing value Δ TdWhen > 0, or when defeated
Torque changing value Δ T=0 and adherency torque changing value Δ T outdWhen < 0, determine that the vehicle under traction state is in unstable work
State.
Second of criterion is: in the case where △ T ≠ 0, whenAndWhen, determine vehicle
In the critical transition status of unstable working condition will be converted to from steady-working state；WhenAndWhen, determine that vehicle is in steady-working state；WhenAndWhen, determine vehicle
In unstable working condition；WhenAndWhen, judgement vehicle is in will be from unstable work shape
State enters the Determination of Critical Transition Point of steady-working state；
In the case where △ T=0, as △ TdWhen < 0, determine that vehicle is in unstable working state；As △ TdWhen >=0, sentence
Determine vehicle and is in steady-working state；
Wherein, Δ T (k) is currently to calculate resulting output torque changing value, and Δ T (k-1) is that last computation is resulting defeated
Torque changing value out, Δ TdIt (k) is currently to calculate resulting adherency torque changing value, Δ TdIt (k-1) is that last computation is resulting viscous
Attached moment variations value.
In brief, for △ T ≠ 0 the case where, when output torque with adherency the variation tendency of torque it is identical, i.e., all become larger
Or when all becoming smaller, vehicle is in steady-working state, on the contrary then be in unstable working condition.And the case where for Δ T=0,
Vehicle this moment is in more special motion state, and the output torque of vehicle does not change, and this epidemic situation comparison is rare.This moment
If Δ Td> 0, then illustrate that the adherency torque on wheel and ground is increasing, illustrates that vehicle is in steady-working state or Δ Td=
0, then illustrate that the adherency torque on wheel and ground is stablized constant, vehicle is in steady-working state；Conversely, illustrating at vehicle
In unstable working condition.
For Δ T ≠ 0 and Δ Td=0 the case where, since the torque T that the motor of vehicle is transferred to wheel is wheel and ground
The reason of adhering to moment variations, the T as Δ T ≠ 0dIt necessarily changes, therefore Δ T when Δ T ≠ 0d=0 state can not be sent out
It is raw, therefore the state is without considering.
The following detailed description of the original of the method for the vehicle operating status under judgement traction state according to an embodiment of the present invention
Reason.
Frictional force of the driving force from wheel and ground that vehicle advances, dynamical system are converted into vehicle to the driving force of wheel
The driving force advanced and wheel and ground friction are generated heat.Therefore vehicle speed under traction state is lower than the revolving speed (vehicle of wheel
Take turns linear velocity)；Under in the braking state, speed is greater than the revolving speed (wheel linear velocity) of wheel.The expression formula of vehicle slip rate λ are as follows:
λ={ (ω r- ν)/max (ω r, ν, ε) }
Wherein: ω indicates that angular speed of wheel, r refer to radius of wheel, and ν indicates speed, ε be prevent formula denominator be zero it is small often
Number.
The method of judgement vehicle operating status provided in this embodiment is only applicable to the vehicle under traction state, therefore
λ={ (ω r- ν)/ω r }, wherein r ≠ 0 ω (1)
The slip rate λ of automobile reflects vehicle tyre and contacts the interaction relationship on ground, passes through slip rate λ and friction
The variation relation of factor muIt may determine that stability when vehicle operation.Research shows that: on different ground, (dry ground has
Water route face and ice face) on, there are regular non-linear relations by the slip rate λ and friction coefficient μ of automobile.As shown in Fig. 2, being vapour
The relation schematic diagram of vehicle λ-μ at different road surfaces, it can be seen that under three kinds of road environments, the frictional force of vehicle and slip rate
There are similar variation tendencies for variation pass: in stable region, the slip rate of vehicle increases the increase along with frictional force, and frictional force is
Vehicle provides adhesion strength and enables the vehicle to work normally；And when automotive service is in critical state and unstable region, vehicle rubs
After wiping power reaches maximum value, frictional force is not following vehicle slip rate to increase, and the wheel of vehicle has skidded at this time.
Vehicle slip coefficient lambda and the correlation of friction coefficient μ can be divided into 2 regions, and a region is stable region
Domain, another part are known as unstable region (skidding region).
If slip rate λ and frictional force factor mu meet formulaThis illustrates that vehicle operates in steady-working state,
The frictional force of automobile follows the variation of slip rate and changes at this time.
If slip rate λ and friction are that μ meets formulaThen illustrate automobilism in critical state, automobile at this time
Frictional force reach maximum value, not followed by the variation of slip rate.
If slip rate λ and friction are that μ meets formulaThen illustrate that automotive service (is beaten in unstable working condition
Sliding state), the frictional force of wheel reduces instead with slip rate increase at this time.
Wheel change in friction force and slip rate variation and the direct causality of stability when automotive service, can pass through
It is rightStringent analytical derivation is carried out to obtain, shown in derivation process such as formula (2):
Wherein: N indicates that automotive wheel is constant to the method phase pressure on ground；FdIndicate that the adhesion strength on wheel and ground (rubs
Wipe power).
As shown in figure 3, distribution of force schematic diagram when being wheel of vehicle work.Pass through the distribution of force to wheel model point
Analysis is it is found that the driving force that wheel and the adhesion strength and wheel drive vehicle on ground advance when vehicle wheel rotation is a Thermodynamic parameters
Power, when the output driving power of vehicular electric machine is greater than the maximal friction of wheel and ground, wheel will be had skidded.It beats
When sliding state, the revolving speed of wheel be will increase at this time, the resistance of wheel by wheel and ground adhesion strength and vehicle wheel rotation inertia
Power composition.According to wheel rotary motion kinetic theory, moment distribution when wheel works meets formula (3):
I.e.
Wherein: J is the inertia constant of tire；The output torque of T expression motor；FdIndicate the adhesion strength of wheel and ground；Td
Indicate the torque that wheel and frictional ground force generate wheel, i.e. wheel adheres to torque, due to the reciprocity of power, moment of friction
It is the driving moment for driving wheel to advance；The output torque of motor is subtracted to the torque of frictional force generation, difference is exactly when being greater than 0
The slipping torque of wheel, the i.e. frictional force of wheel are less than the driving force of wheel, and wheel has skidded, and excess energy passes through the hair that skids
Heat loss is fallen.Wheel-slip torque can be calculated using the inertia force and angular speed of wheel change rate product of wheel.
Automobile longitudinal moves dynamic formula are as follows:
MV=(Fd-Fdr)t (4)
Wherein: M indicates car mass；V indicates speed；FdrInertia resistance when being vehicle wheel rotation is constant.
The driving force calculation formula that wheel accelerates are as follows:
Fd=μ * N (5)
The relation curve of μ-λ according to fig. 2 indicates the slope of curve at curve operating point with g, it is assumed that μ-λ curve
Linear relationship is presented in a small distance, the value of slope of a curve g can indicate at the i of operating point are as follows:
That is Δ μ=g* Δ λ (6)
In operating point when i, by the available following equation of slip rate:
This is the small signal linearization formula in control.
It can be obtained by formula (3):
It can be obtained by formula (4):
It can be obtained by formula (5) and (6): Δ Fd=N* Δ μ=N*g* Δ λ (10)
From formula (7):
From formula (1) and (10):
Vi=(1- λi)rωi； (12)
Δ λ=Δ Fd/g*N； (13)
So the expression formula of Δ ω can be converted are as follows:
From formula (8), formula (9) and formula (14):
It can be obtained after carrying out Laplace transform to formula (15):
Finally, the linear open loop transmission function of our the available vehicle stabilization factors:
K is a static gain parameter, it shows that, in slip rate increase, the driving moment of motor reduces ability, the expression of K
Formula are as follows:
The value of time parameter τ are as follows:
It is assumed that the variable quantity △ T an of step has occurred to the torque that wheel applies for motor near some operating point,
Amplitude is ε, then just having:
△ T=ε 1 (t) (20)
Wherein, 1 (t) a unit step signal is indicated.
It can be obtained according to formula (17) and formula (20) and inverse Laplace transformation principle:
It can be obtained by formula (21):
By formula (3) it is found that TdThe calculation formula of value are as follows:
From formula (18) (19) (22) and formula (23):
WhenValue less than 0 when, then 1-e-t/τ< 0, so certain having time constant, τ is less than 0；Parameter g affirmative at this time
It is less than 0, final we can release:
It follows that the working condition of vehicle is unstable working condition.
Similarly:
WhenValue when being greater than 0, then 1-e-t/τ< 0, so certain having time constant, τ is greater than 0；Parameter g affirmative at this time
It is greater than 0, final we can release:
It follows that the working condition of vehicle is steady-working state.
Therefore, by above-mentioned derivation it can be concluded that, pass throughValue can obtain vehicle operating status.
Analysis is when the Δ T=0 the case where: at this time cannot be directly with the above-mentioned operation being divided by, therefore this special circumstances need
Individually consider.When Δ T=0, indicate that motor exports a constant torque size, i.e. variable quantity is zero.At this point, in transient condition
Under, when being in stability region, have Δ Td> 0, it should have Δ Td=0.In addition, being adhered to when road surface changes suddenly by height
When road surface becomes low attachment road surface, even if motor output torque is constant, i.e. Δ T=0, we can also observe that adhesive force reduces,
That is Δ Td< 0, so when unstable region, Δ Td<0.Therefore in summary judge, provide the criterion under this special case:
If Δ T=0 and Δ Td< 0, then vehicle is in unstable working state；
If Δ T=0 and Δ Td>=0, then it is steady-working state that vehicle, which is in,.
In actually detected, the motor of automobile is transmitted to the output torque of wheel and the detection of wheel adhesion strength torque is all
Discrete, therefore Δ TdIndicate that motor is transmitted to the output torque T and wheel adherency torque T of wheel with Δ TdIt detects twice in succession
The difference of calculated value.Its calculation formula is: Δ Td=Td(k)-Td(k-1) and Δ T=T (k)-T (k-1).Therefore practical application
In, vehicle operation stability judging method is described as follows:
(1) works as Δ TdWhen > 0 and Δ T > 0, thenAssuming that dT (s) > 0, so dTd(s) > 0, i.e., wheel is over the ground
The adhesion strength in face increases with the increase of motor output torque, illustrates that vehicle is in steady-working state.
(2) works as Δ TdWhen < 0 and Δ T < 0, thenWheel reduces the adhesion strength on ground with motor output torque
And reduce, illustrate that vehicle is in steady-working state.
(3) works as Δ Td<when 0 and Δ T>0, thenWheel is to the adhesion strength on ground with vehicular electric machine output torque
Increase reduce instead, illustrate that slipping phenomenon occurs in wheel, vehicle is in unstable working condition.
(4) works as Δ TdWhen>0 and Δ T<0, thenI.e. wheel subtracts the adhesion strength on ground with motor output torque
It is small and increase, illustrate that vehicle is in unstable workspace, vehicle operating status is mobile to stability region.
(5) for as Δ T=0, vehicle this moment is in more special motion state, and the output torque of vehicle does not become
Change, this epidemic situation comparison is rare.This moment if Δ Td>=0 then illustrates that the adherency torque on wheel and ground is increasing or balancing,
Illustrate that vehicle is in steady-working state；Conversely, illustrating that vehicle is in unstable working condition.
Therefore, can judge to draw by the adherency torque changing value of the output torque changing value of vehicular electric machine and wheel
Vehicle operating status under state requires no knowledge about vehicle chassis speed and slip rate value, and decision process is simple and reliable, and should
The output parameter of method can be used for vehicle slip control process, and this method is very suitable to the practical application of vehicle control.This
Outside, required sensor is few, implementation cost is low, reliability is also high.
Embodiment 2
Fig. 4 shows the stream of the method for the vehicle operating status under judgement traction state according to another embodiment of the present invention
Cheng Tu, this method comprises the following steps:
Step S21: the inertia constant J of vehicle is initialized.
Step S22: the output torque T and vehicle wheel rotational speed ω of vehicular electric machine are measured.
Step S23: being filtered vehicle wheel rotational speed ω, preferably can be used low-pass filter to vehicle wheel rotational speed ω into
Row filtering processing.
Step S24: estimation adherency torque Td.According to formulaTo estimate adherency torque Td, whereinIt is the derivative to vehicle wheel rotational speed ω.
Step S25: output torque changing value Δ T and adherency torque changing value Δ T are calculatedd。
Step S26: according to output torque changing value Δ T and adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition.
Step S27: according to the vehicle operating status determined, deciding whether to implement clipping control to output torque T in real time,
It specifically includes: when vehicle is in unstable working condition, then determining to implement clipping control to the output torque T of vehicular electric machine,
So that vehicle returns to steady-working state；When vehicle is in steady-working state, then the output torque T not to vehicular electric machine is determined
Implement clipping control.Clipping control is implemented to output torque T, i.e., the value of output torque T is limited in a lesser value, with drop
Low wheel rotational speed omega, no longer skids so that vehicle slowly settles out, and finally stablizes traveling under lower-speed state.
Step S22 to S27 is repeated, wherein in step s 27, when finding the vehicle under traction state from steady operation
When state is converted into unstable working condition, then clipping control is implemented to output torque；When detecting next time, if the vehicle is still
When in unstable working condition, then continue to implement clipping control to output torque, if the vehicle is from unstable working condition
When being converted to steady-working state, then cancels and the clipping of output torque is controlled, so that driver can take over control, otherwise,
The vehicle adheres to road surface amplitude limit value before will maintaining always carrys out the output torque of limiting motor, even if being changed into height on road surface
Behind adhesion strength road surface, the clipping control of output torque can not also be cancelled, and cause the vehicle can not be using the attached of high adhesion force road surface
Put forth effort the normal acceleration of realization vehicle.The method of vehicle operating status under a kind of judgement traction state provided in this embodiment,
Physical mechanics based on vehicle slip process are theoretical, it is only necessary to measure output torque and vehicle wheel rotational speed that vehicular electric machine transfers to wheel
Information is the vehicle operating status that can determine whether under traction state, requires no knowledge about vehicle chassis speed and slip rate value, determined
Journey is simple and reliable, and the output parameter of this method can be used for vehicle slip control process, and this method is very suitable to vehicle
The practical application of control.In addition, required sensor is few, implementation cost is low, reliability is also high.It is suitable for using motor
Slipping state inspection when the 4 wheel driven automobile of driving and the use equipment such as motor-driven various robots, machine ectoskeleton work
It surveys.
Embodiment 3
As shown in figure 5, the present invention also provides a kind of systems of the vehicle operating status under judgement traction state, comprising:
Measurement module 32, for measuring the output torque T and vehicle wheel rotational speed ω of vehicular electric machine；
Estimation block 34, for estimating adherency torque Td；
Computing module 35, for calculating output torque changing value Δ T and adherency torque changing value Δ Td；
Determination module 36, for according to output torque changing value Δ T and adherency torque changing value Δ TdJudge traction state
Under vehicle operating status.
The system of vehicle operating status under a kind of judgement traction state provided in this embodiment, it is only necessary to measure vehicle electrical
Machine transfers to the output torque of wheel and vehicle wheel rotational speed information can determine whether vehicle operating status under traction state, requires no knowledge about
Vehicle chassis speed and slip rate value, decision process is simple and reliable, and the output parameter of this method can be used for vehicle slip
Control process is very suitable to the practical application of vehicle control.
Other than above-mentioned module, which can also include: initialization module 31, for obtaining the inertia constant of vehicle
J.Initialization module 31 usually only enables when using vehicle for the first time, to determine the value of parameter J, and for the subsequent of vehicle
For use, since inertia constant J is given value, then no longer need to enable initialization module 31.
Preferably, which can also include: filter module 33, for being filtered to the resulting vehicle wheel rotational speed ω of measurement
Processing, to filter out noise jamming when measurement, improves the accuracy of subsequent derived function result.It is further preferred that can be used
Low-pass filter is filtered vehicle wheel rotational speed ω.
Optimally, which can also include: clipping module 37, be used for when vehicle is in unstable working condition to vehicle
The output torque of motor implements clipping control.I.e. when vehicle is in unstable working condition, output torque T is limited in one
A lesser value, vehicle wheel rotational speed reduces, so that vehicle gradually gets rid of slipping state, in the steady operation shape run at a low speed
State.
The system of vehicle operating status under a kind of judgement traction state provided in this embodiment, it is only necessary to measure vehicle electrical
Machine transfers to the output torque of wheel and vehicle wheel rotational speed information can determine whether vehicle operating status under traction state, requires no knowledge about
Vehicle chassis speed and slip rate value, decision process is simple and reliable, and the output parameter of this method can be used for vehicle slip
Control process, this method are very suitable to the practical application of vehicle control.In addition, required sensor is few, implementation cost is low, reliable
Property is also high.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of method of the vehicle operating status under judgement traction state characterized by comprising
Measure the output torque T and vehicle wheel rotational speed ω of vehicular electric machine；
Estimation adherency torque Td；
Calculate output torque changing value △ T and adherency torque changing value △ Td；
According to the output torque changing value Δ T and the adherency torque changing value △ TdJudge the vehicle operation under traction state
State；
It is described according to the output torque changing value Δ T and the adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition, comprising:
As output torque changing value Δ T > 0 and the adherency torque changing value Δ TdWhen > 0, or when the output torque changes
It is worth Δ T < 0 and the adherency torque changing value Δ TdWhen < 0, or work as the output torque changing value Δ T=0 and the adhesion strength
Square changing value Δ TdWhen >=0, determine that the vehicle under traction state is in steady-working state；
As output torque changing value Δ T > 0 and the adherency torque changing value Δ TdWhen < 0, or when the output torque changes
It is worth Δ T < 0 and the adherency torque changing value Δ TdWhen > 0, or work as the output torque changing value Δ T=0 and the adhesion strength
Square changing value Δ TdWhen < 0, determine that the vehicle under traction state is in unstable working condition.
2. the method as described in claim 1, which is characterized in that turn in the output torque T and wheel of the measurement vehicular electric machine
Before the step of fast ω further include:
Inertia the constant J, the inertia constant J for initializing vehicle are related to the parameter of vehicle.
3. the method as described in claim 1, which is characterized in that adhere to torque T in the estimationdThe step of before further include:
The vehicle wheel rotational speed ω is filtered.
4. the method as described in claim 1, which is characterized in that the output torque T is obtained by measuring the input current of motor
, under constant current state, the output torque T is equal to the product of torque constant and motor input current.
5. the method as described in claim 1, which is characterized in that the adherency torque TdIt is according to formulaEstimation gained, whereinIt is the derivative to the vehicle wheel rotational speed ω.
6. the method as described in claim 1, which is characterized in that described according to the output torque changing value Δ T and described viscous
Attached moment variations value Δ TdJudge the vehicle operating status under traction state, comprising:
In the case where △ T ≠ 0,
WhenAndWhen, unstable work will be converted to from steady-working state by determining that vehicle is in
Make the critical transition status of state；
WhenAndWhen, determine that vehicle is in steady-working state；
WhenAndWhen, determine that vehicle is in unstable working condition；
WhenAndWhen, steady operation will be entered from unstable working condition by determining that vehicle is in
The Determination of Critical Transition Point of state；
In the case where △ T=0,
As △ TdWhen < 0, determine that vehicle is in unstable working state；
As △ TdWhen >=0, determine that vehicle is in steady-working state；
Wherein, Δ T (k) is currently to calculate resulting output torque changing value, and Δ T (k-1) is that the resulting output of last computation turns
Square changing value, Δ TdIt (k) is currently to calculate resulting adherency torque changing value, Δ TdIt (k-1) is the resulting adhesion strength of last computation
Square changing value.
7. such as method of any of claims 1-6, which is characterized in that described according to the output torque changing value Δ
The T and adherency torque changing value Δ TdAfter the step of judging the vehicle operating status under traction state further include: according to institute
The vehicle operating status of judgement decides whether to implement clipping control to the output torque T in real time.
8. the method for claim 7, which is characterized in that it is described determined in real time according to the vehicle operating status determined be
It is no to include: to output torque T implementation clipping control
When determining that vehicle is in unstable working condition, then clipping control is implemented to the output torque T；
When judgement vehicle is in steady-working state, then not to output torque T implementation clipping control.
9. a kind of system of the vehicle operating status under judgement traction state characterized by comprising
Measurement module, for measuring the output torque T and vehicle wheel rotational speed ω of vehicular electric machine；
Estimation block, for estimating adherency torque Td；
Computing module, for calculating output torque changing value Δ T and adherency torque changing value Δ Td；
Determination module, for according to the output torque changing value Δ T and the adherency torque changing value Δ TdJudge traction state
Under vehicle operating status；
It is described according to the output torque changing value Δ T and the adherency torque changing value Δ TdJudge the vehicle under traction state
Working condition, comprising:
As output torque changing value Δ T > 0 and the adherency torque changing value Δ TdWhen > 0, or when the output torque changes
It is worth Δ T < 0 and the adherency torque changing value Δ TdWhen < 0, or work as the output torque changing value Δ T=0 and the adhesion strength
Square changing value Δ TdWhen >=0, determine that the vehicle under traction state is in steady-working state；
As output torque changing value Δ T > 0 and the adherency torque changing value Δ TdWhen < 0, or when the output torque changes
It is worth Δ T < 0 and the adherency torque changing value Δ TdWhen > 0, or work as the output torque changing value Δ T=0 and the adhesion strength
Square changing value Δ TdWhen < 0, determine that the vehicle under traction state is in unstable working condition.
10. system as claimed in claim 9, which is characterized in that further include:
Initialization module, inertia the constant J, the inertia constant J for obtaining vehicle are related to the parameter of vehicle；And/or
Filter module, for being filtered to the resulting vehicle wheel rotational speed ω of measurement；And/or
Clipping module is implemented to limit when being in unstable working condition for the vehicle under traction state to the output torque T
Width control.
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