Method for controlling wheel slip of vehicle

1. A method for controlling wheel slip of a vehicle, the method comprising:

observing and estimating, by a controller, equivalent inertia information of a driving system in real time based on operation information of the driving system by receiving the operation information of the driving system for driving the vehicle;

calculating, by the controller, a compensated amount for compensating a torque command of a driving device from the equivalent inertia information of the driving system observed and estimated by the controller;

compensating, by the controller, the torque command of the driving device by using the calculated compensated amount; and

performing, by the controller, a control of a torque applied to a driving wheel according to the compensated torque command;

wherein the operation information of the driving system is a torque command of a previous control cycle for the driving device which drives the vehicle and speed information of the driving system detected by a speed detector.

2. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein the equivalent inertia information of the driving system for calculating the compensated amount is an equivalent inertia change amount, the equivalent inertia change amount being a difference between an equivalent inertia of the driving system and a predetermined basic equivalent inertia.

3. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein the equivalent inertia information of the driving system for calculating the compensated amount is an inverse equivalent inertia change amount, the inverse equivalent inertia change amount being a difference between an inverse equivalent inertia of the driving system, which is the inverse of the equivalent inertia of the driving system, and a predetermined basic inverse equivalent inertia.

4. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein the equivalent inertia information of the driving system for calculating the compensated amount is one of the equivalent inertia of the driving system, the inverse of the equivalent inertia of the driving system, an error value of the equivalent inertia of the driving system, or a squared value of the equivalent inertia of the driving system.

5. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein the speed information of the driving system is one of an engine speed, a motor speed, a rotational speed of a transmission input shaft, a rotational speed of a transmission output shaft, or a rotational speed of a starter generator connected to an engine.

6. The method for controlling the wheel slip of the vehicle of claim 1 , wherein the observing and estimating, by the controller, of the equivalent inertia information of the driving system in real time based on the operation information of the driving system comprises:

converting, by an acceleration converter of the controller, the torque command of the previous control cycle into a wheel acceleration;

obtaining, by a speed converter of the controller, a measured wheel speed by converting the speed of the driving system into a wheel speed;

calculating, by an error calculator of the controller, a feedback speed error between an observed wheel speed, which is a feedback wheel speed measured value obtained from the wheel acceleration, and the measured wheel speed; and

obtaining, by a feedback error controller of the controller, the equivalent inertia information of the driving system, which is the real-time observed and estimated value, from the calculated feedback speed error.

7. The method for controlling the wheel slip of the vehicle of claim 6 ,

wherein in the converting of the torque command of the previous control cycle into the wheel acceleration,

the acceleration converter converts the torque command of the previous control cycle into the wheel acceleration by using the input equivalent inertia value or inverse equivalent inertia value by receiving the equivalent inertia value or the inverse equivalent inertia value of the equivalent inertia information obtained by the feedback error controller.

8. The method for controlling the wheel slip of the vehicle of claim 6 , further comprising:

summing, by the controller, the wheel acceleration and a feedback control value by receiving the feedback control value obtained from the feedback speed error as feedback information in the feedback error controller, while receiving the wheel acceleration converted by the acceleration converter as feedforward information; and

calculating, by the controller, the observed wheel speed, which is the feedback wheel speed observed value, by integrating the acceleration value summed and input by the summer.

9. The method for controlling the wheel slip of the vehicle of claim 8 ,

wherein the feedback control value is a feedback control value for converging the observed wheel speed to the measured wheel speed.

10. The method for controlling the wheel slip of the vehicle of claim 6 ,

wherein, once it is recognized and determined that a driving wheel is in a wheel slip state when the feedback speed error obtained by the error calculator of the controller is equal to or greater than a predetermined setting value, or out of a predetermined setting range, the controller performs the calculating of the compensated amount, the compensating of the torque command, and the control of the torque according to the compensated torque command.

11. The method for controlling the wheel slip of the vehicle of claim 6 ,

wherein in the compensating of the torque command of the driving device,

the controller decreases the torque command of the driving device by the calculated compensated amount.

12. The method for controlling the wheel slip of the vehicle of claim 6 ,

wherein the controller sets the compensated amount by using a function of the feedback speed error.

13. The method for controlling the wheel slip of the vehicle of claim 6 ,

wherein the compensated amount is set in the controller by using a function of the feedback speed error calculated by the controller and the equivalent inertia information observed and estimated by the controller.

14. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein a limit value of the equivalent inertia value or the inverse equivalent inertia value is set in the controller, the equivalent inertia value or the inverse equivalent inertial value being the equivalent inertia information observed and estimated by the controller.

15. The method for controlling the wheel slip of the vehicle of claim 14 ,

wherein the limit value is set as the equivalent inertia value or the inverse equivalent inertia value based on a maximum acceleration of the vehicle on a flat road.

16. The method for controlling the wheel slip of the vehicle of claim 1 ,

wherein in the compensating of the torque command of the driving device,

the controller decreases the torque command of the driving device by the calculated compensated amount.