分布式电动汽车驱动防滑控制C代码

抱死判断

int slip = 0; // 是否抱死，0表示未抱死，1表示已抱死
double wheelSpeed[4] = {0}; // 四个车轮的速度
double wheelTorque[4] = {0}; // 四个车轮的扭矩
double wheelRpm[4] = {0}; // 四个车轮的转速
double wheelSlip[4] = {0}; // 四个车轮的滑动率
double wheelPower[4] = {0}; // 四个车轮的功率
double wheelEnergy[4] = {0}; // 四个车轮的能量
double brakeTorque[4] = {0}; // 四个车轮的制动扭矩
double regenTorque[4] = {0}; // 四个车轮的再生制动扭矩

// 计算四个车轮的速度、扭矩、转速、滑动率、功率和能量
for (int i = 0; i < 4; i++) {
    wheelSpeed[i] = vehicleSpeed * gearRatio[i] * finalDriveRatio[i] * tireRadius[i];
    wheelTorque[i] = motorTorque[i] * gearRatio[i] * finalDriveRatio[i] * efficiency[i];
    wheelRpm[i] = wheelSpeed[i] / (tireRadius[i] * 2 * PI) * 60;
    wheelSlip[i] = (wheelRpm[i] - motorRpm[i]) / wheelRpm[i];
    wheelPower[i] = wheelTorque[i] * wheelSpeed[i];
    wheelEnergy[i] = wheelPower[i] * deltaT;
}

// 判断是否抱死
for (int i = 0; i < 4; i++) {
    if (wheelSpeed[i] == 0 && motorTorque[i] > 0) {
        slip = 1;
        break;
    }

    if (wheelSpeed[i] > 0 && motorTorque[i] < 0) {
        slip = 1;
        break;
    }

    if (wheelSlip[i] > 1) {
        slip = 1;
        break;
    }
}

// 如果抱死，施加制动扭矩，否则施加电机扭矩
if (slip == 1) {
    for (int i = 0; i < 4; i++) {
        brakeTorque[i] = brakeForce[i] * tireRadius[i];
    }
    // 控制制动力分配，实现防侧滑
} else {
    for (int i = 0; i < 4; i++) {
        regenTorque[i] = regenForce[i] * tireRadius[i];
        motorTorque[i] = motorTorque[i] - regenTorque[i];
    }
}

制动力分配

double brakeTorque[4] = {0}; // 四个车轮的制动扭矩
double brakeForce[4] = {0}; // 四个车轮的制动力
double brakeEnergy[4] = {0}; // 四个车轮的制动能量
double brakeEnergySum = 0; // 制动能量总和
double brakeForceSum = 0; // 制动力总和
double brakeForceRatio[4] = {0}; // 四个车轮的制动力分配比例

// 计算制动扭矩、制动力和制动能量
for (int i = 0; i < 4; i++) {
    brakeTorque[i] = brakeForce[i] * tireRadius[i];
    brakeEnergy[i] = brakeForce[i] * wheelSpeed[i] * deltaT;
    brakeEnergySum += brakeEnergy[i];
    brakeForceSum += brakeForce[i];
}

// 计算制动力分配比例
for (int i = 0; i < 4; i++) {
    brakeForceRatio[i] = brakeEnergy[i] / brakeEnergySum;
}

// 控制制动力分配，实现防侧滑
for (int i = 0; i < 4; i++) {
    motorTorque[i] = motorTorque[i] - regenTorque[i] + brakeTorque[i] * brakeForceRatio[i];
}