CN112895885A - Modular distributed wheel hub motor driven electric automobile research platform - Google Patents
Modular distributed wheel hub motor driven electric automobile research platform Download PDFInfo
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- CN112895885A CN112895885A CN202110389244.3A CN202110389244A CN112895885A CN 112895885 A CN112895885 A CN 112895885A CN 202110389244 A CN202110389244 A CN 202110389244A CN 112895885 A CN112895885 A CN 112895885A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a modularized distributed wheel hub motor driven electric automobile research platform. The platform comprises a chassis, a plurality of hub motor wheels, a steering motor, a suspension support structure, a wheel base and wheel track adjusting mechanism, a vehicle control unit (HCU), an inverter, a power supply and a wiring harness system; the chassis is fixedly connected with the suspension support structure through a wheel base and wheel track adjusting mechanism, and the wheel hub motor wheel, the steering motor, the vehicle control unit HCU, the inverter and the power supply are connected through a wire harness system. In order to solve the problems that the prior art is limited to a specific structure, the redundancy of a research platform is insufficient, and the research and development cost is high, the modularized structural design is adopted, the research and development cost is reduced, the research and development efficiency is improved, and meanwhile, the stability and the capacity utilization efficiency of the research platform are greatly improved through a good control mode.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a modularized distributed wheel hub motor driven electric automobile research platform.
Background
Compared with the traditional single-motor centralized driving electric automobile, the distributed driving electric automobile has the advantages of reasonable axle load distribution of the automobile, flexible arrangement of the whole automobile, independent and controllable driving force of each wheel of a hub motor, high energy utilization efficiency and the like. The research on the vehicle key algorithms (such as an operation stability system, an energy management system and the like) of the distributed driving electric vehicle has theoretical and practical significance.
At present, related designs of research platforms of distributed drive electric vehicles are mostly limited to a specific structure, the redundancy of the research platforms is insufficient, and the research and development cost is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a modularized distributed type in-wheel motor driven electric automobile research platform.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
a modularized distributed in-wheel motor driven electric automobile research platform comprises a chassis, in-wheel motor wheels, a suspension support structure, a wheel base adjusting mechanism and a vehicle control unit (HCU), wherein the wheel base adjusting mechanism and the vehicle control unit (HCU) are embedded and integrated on the chassis; and the HCU is respectively connected with the wheel hub motor wheel and the wheel base and wheel base adjusting mechanism and controls the wheel hub motor wheel to move and differentially steer and controls the wheel base and wheel base adjusting mechanism to adjust the wheel base and the wheel base.
Furthermore, a trapezoidal sliding rail which is arranged along the longitudinal direction and the lateral direction relative to the chassis is arranged on the wheel track adjusting mechanism, and the trapezoidal sliding rail drives the suspension supporting structure to move along the longitudinal direction and the lateral direction relative to the chassis according to a control signal sent by the vehicle control unit HCU.
Further, the suspension support structure comprises an upper part and a lower part which are connected through a thrust bearing, and the lower part of the suspension support structure is fixedly connected with the wheel of the hub electric motor.
Further, the research platform further comprises a steering motor which is just connected to the upper part of the suspension support structure, wherein the steering motor comprises a servo motor and a steering mechanism, and the steering motor drives the lower part of the suspension support structure to rotate in a controllable angle according to a control signal sent by the vehicle control unit HCU so as to synchronously rotate the wheel of the hub motor to steer in a preset angle.
Furthermore, the research platform further comprises a power device and a wire harness system which are embedded and integrated on the chassis, wherein the power device comprises a power source and an inverter, and the wheel hub motor wheel, the steering motor, the vehicle control unit HCU, the inverter and the power source are connected with each other through the wire harness system.
Furthermore, the research platform further comprises a vehicle axle load adjusting module which is embedded and integrated on the chassis, and the vehicle axle load adjusting module adopts different counterweight forms to adjust the vehicle axle load.
Furthermore, a connecting part for splicing the chassis of the plurality of research platforms is arranged on the chassis.
Further, the HCU adopts a layered structure to control the motion of the research platform, and comprises a target design layer, a motion control layer and a motion distribution layer; the target design layer generates a real-time platform steering control target according to the real-time dynamic state of the research platform, the motion control layer calculates a target direct yaw moment generated by the driving force of the research platform according to the real-time platform steering control target generated by the target design layer, and the motion distribution layer distributes the driving force of each wheel according to the kinematics and the dynamic constraint of the platform.
The invention has the following beneficial effects:
(1) the research platform is simple in mechanical and electrical structure, the chassis is enabled to have the expanding capacity of a multi-wheel driving structure of 6 x 6, 8 x 8 and the like due to the modular design of the chassis, the wheel base, the axle base and the axle load of the vehicle can be freely adjusted, meanwhile, the design of a steering motor system enables the research platform to realize various vehicle steering structural forms, steering is enabled to be more flexible, the expanding capacity of the research platform is greatly improved, research and development cost is reduced, scientific research efficiency is improved, meanwhile, the control system adopts a control method of a layered structure, and the stability and the energy utilization efficiency of the research platform are greatly improved.
(2) The invention adopts an embedded mode to enable each part to be independent on a mechanical mechanism, can be disassembled and replaced, is convenient for the maintenance and system expansion of the whole platform, has the expanding capability of multi-wheel driving structures of 6X 6, 8X 8 and the like due to the modularized design of the chassis, and can freely adjust the wheel track, the wheel base and the vehicle axle load of the vehicle.
(3) The control system adopts a control method with a layered structure, improves the comprehensive performance of the stability, the dynamic property and the high efficiency of the platform operation, further improves the control performance of the whole vehicle motion system, and simultaneously greatly improves the stability and the energy utilization efficiency of the research platform.
Drawings
FIG. 1 is a front view of a research platform structure of a modular distributed in-wheel motor driven electric vehicle according to the present invention;
FIG. 2 is a bottom view of a research platform structure of a modular distributed in-wheel motor driven electric vehicle according to the present invention;
FIG. 3 is a schematic view of the wheel base and wheel track adjusting mechanism structure 5 and displacement mode according to an embodiment of the present invention;
fig. 4 is a schematic view of the turning process of the wheel hub motor wheel 2 and the suspension support mechanism 4 in the embodiment of the invention;
FIG. 5 is a schematic illustration of the chassis 1 interconnected by wedge pins in an embodiment of the present invention;
fig. 6 is a flow chart of the motion control of the HCU6 of the vehicle control unit according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and 2, the invention provides a research platform for a modularized distributed hub motor driven electric vehicle, which comprises a chassis 1, a hub motor wheel 2, a suspension support structure 4, a wheel base and wheel base adjusting mechanism 5 and a vehicle control unit HCU6, wherein the wheel base and wheel base adjusting mechanism 5 and the vehicle control unit HCU6 are embedded and integrated on the chassis 1, the chassis 1 is fixedly connected with the suspension support structure 4 through the wheel base and wheel base adjusting mechanism 5, and the suspension support structure 4 is fixedly connected with the hub motor wheel 2; the vehicle control unit HCU6 is respectively connected with the hub motor wheel 2 and the wheel base and wheel base adjusting mechanism 5 and controls the hub motor wheel 2 to move and perform differential steering and controls the wheel base and wheel base adjusting mechanism 5 to perform wheel base and wheel base adjustment.
In this embodiment, referring to fig. 3, the wheel base and wheel track adjusting mechanism 5 is provided with trapezoidal sliding rails in the longitudinal and lateral directions relative to the chassis 1, and controls the suspension support mechanism 4 and the chassis 1 to move along the trapezoidal sliding rails according to a control signal sent by the vehicle control unit HCU6, so as to drive the suspension support mechanism 4 to move in the longitudinal and lateral directions relative to the chassis 1, and the relative movement distance is accurately controlled by the vehicle control unit HCU; the wheelbase and wheelbase adjusting mechanism 5 is accurately controlled through the vehicle control unit HCU6, and the wheelbase required by a research platform can be set.
In this embodiment, the suspension support structure 4 comprises an upper part and a lower part connected by a thrust bearing and carrying the main load, the lower part of the suspension support structure 4 being fixedly connected to the in-wheel motor wheel 2.
Referring to fig. 4, the research platform further includes a steering motor 3 just connected to the upper part of the suspension support structure 4, the steering motor 3 includes a servo motor and a steering mechanism, and is connected to the in-wheel motor system and the modular chassis to complete steering of each tire of the vehicle, and the vehicle control unit HCU controls the rotation speed of each in-wheel motor wheel 2 to achieve steering in different environments.
Specifically, the steering motor 3 drives the lower part of the suspension support structure 4 to rotate in a controllable angle according to a control signal sent by the vehicle control unit HCU6, and the hub motor wheel 2 rotates synchronously with the lower part so that the modular full-steering wheel vehicle platform performs the predetermined steering. Due to the independent separation design of the upper part and the lower part of the suspension supporting mechanism 4, the wheels can be enabled to be capable of carrying out 360-degree full steering.
The wheel hub motor wheel 2 is composed of a wheel hub motor driving part, is a power system of a distributed driving electric automobile, is connected with a power supply 8 and an inverter 7 through a wiring harness system 9 to provide power, and is connected with a vehicle control unit HCU6 to carry out communication, so that the motor driving control is completed.
The hub motor wheel 2 and the steering motor 3 are distributed to different hub motor wheels through the vehicle control unit HCU6, steering under different environments can be achieved, the turning radius of the research platform is greatly reduced, and meanwhile the integration of steering forms can be achieved by combining the steering motor 3.
In the embodiment, the research platform further comprises a power device and a wiring harness system 9 which are embedded and integrated on the chassis 1, wherein the power device comprises a power supply 8 and an inverter 7, and the power supply 8 converts direct current into alternating current through the inverter 7 to provide power for the wheel hub motor wheels 2 and the steering motor 3. The wire harness system 9 includes a signal line and a power line, and the vehicle control unit HCU transmits a control signal to each control unit and supplies power to each driving unit from a battery.
The wheel hub motor wheel 2, the steering motor 3, the vehicle control unit HCU6, the inverter 7 and the power supply 8 are connected with each other through a wiring harness system 9, and the vehicle control unit HCU6 transmits a control signal to the wheel hub motor wheel 2 and the steering motor 3 through the wiring harness system 9 so as to drive the modular wheel hub motor wheel vehicle platform to operate.
In this embodiment, research platform still includes embedded integrated vehicle axle load adjusting module on chassis 1, and vehicle axle load adjusting module can be according to different research schemes, and reasonable design installation is maintained, adopts different counter weight forms in order to adjust to vehicle platform barycenter, realizes that vehicle axle load adjusts.
In the present embodiment, the chassis 1 is provided with a connecting part for splicing the chassis 1 of a plurality of research platforms, so that the chassis has the expanding capability of a multi-wheel driving structure of 6 × 6, 8 × 8 and the like.
Referring to fig. 5, specifically, the connecting component uses a wedge-shaped groove, and when an expansion test is performed, a plurality of modularized chassis 1 may be spliced and fixed by a wedge-shaped pin having the same shape. Each chassis 1 may be pre-loaded with two hub motor wheels 2. Therefore, the invention can be expanded to 6 × 6, 8 × 8 and other types of full-steering wheel vehicle platforms.
Other systems of the research platform, such as a hub motor driving system, a steering motor system, a vehicle control unit (HCU), an inverter, a power supply, a wiring harness system and a vehicle axle load adjusting module, are integrated on the modularized chassis in an embedded mode, and the embedded integrated mode enables the systems to be independent in mechanical structure, can be detached and replaced, and is convenient for maintenance and system expansion of the whole platform.
In this embodiment, referring to fig. 6, the vehicle control unit HCU6 adopts a layered structure to perform motion control on the research platform, and includes a target design layer, a motion control layer, and a motion distribution layer; the target design layer generates a real-time platform steering control target according to the real-time dynamic state of the research platform, the motion control layer calculates a target direct yaw moment generated by the driving force of the research platform according to the real-time platform steering control target generated by the target design layer, and the motion distribution layer distributes the driving force of each wheel according to the kinematics and dynamics constraint of the platform, so that the improvement of the comprehensive performance of the stability, the dynamic property and the high efficiency of the platform operation is realized, the control performance of the whole vehicle motion system is further improved, and the maximum utilization of energy is realized.
When executing a steering target design layer, setting a vehicle state equation according to a two-degree-of-freedom vehicle improved model of a vehicle lateral dynamics equation as follows:
wherein the state quantity
The mass center slip angle and the yaw angular velocity;
the input quantity is:
in the formula FxflIs the front wheel driving force of the vehicle, FxflDelta is a rotation angle transmitted from the vehicle control unit 6 to the steering motor 3 as a rear wheel driving force, CflFor the current front wheel tire stiffness to be observed by the state observer, CfrThe rear wheel tire stiffness, M the mass of the vehicle, and u the current vehicle speed;
a is a state matrix
Wherein B is the track width of the wheel, IzThe moment of inertia of the vehicle along the z-axis direction;
M＝Mzis the moment of the vehicle in the z-axis direction.
In vehicle operation dynamics, the method of zero mass center slip angle can improve the operation stability of the vehicle and improve the riding comfort of a driver and passengers, thereby designing a control target beta of the mass center slip angle betadAnd a control target gamma of the yaw rate gammad。
In the actual running process of the vehicle, the stability of the motion control system is the most important index for measuring the whole control system. Some important state parameters (yaw rate, centroid and side slip angle) of the vehicle during running can well represent the stability of the vehicle during running.
When the centroid slip angle is 0 or is maintained at a small value, the actual moving direction of the vehicle is consistent with the longitudinal direction of the vehicle, the vehicle has the optimal tracking capability, the yaw rate of the vehicle can represent the turning capability of the vehicle, and when the yaw rate starts to increase, the turning speed of the vehicle is increased, and the corresponding turning radius is reduced. In the vehicle dynamics control problem, the mass center slip angle of the vehicle is controlled to be a small value as much as possible, the driver inputs the vehicle through the steering wheel angle and the like to realize neutral steering and stable over-bending, and the yaw rate of the vehicle is maintained at a steady value at the moment.
Substituting the control target of the centroid slip angle and the control target of the yaw rate into the state equation, and calculating the feedforward moment Mff as follows:
the response model of the desired vehicle is obtained by calculation:
wherein xdAt the desired centroid yaw angle and yaw rate, AdIs an ideal state matrix, udIs input in an ideal state.
Defining M as a feedback control error by taking a difference between an actual vehicle state and a target vehicle statefbIn order to calculate the feedback torque, an excessive feedback amount is not introduced while reducing an error, so that the feedback torque needs to be restricted. An optimal objective function is designed, an infinite time optimal control Riccati equation is established, and the Riccati equation is solved to obtain an optimal feedback moment.
The parameters are adjusted in the feedback controller according to different stability states of the vehicle, specifically, when the mass center slip angle of the vehicle is small, the tracking capability of the vehicle is strong, the yaw rate of the vehicle can basically represent the stability of the vehicle, the weight coefficient corresponding to the mass center slip angle is small, and the system mainly follows the yaw rate control target. When the centroid slip angle of the vehicle is large, the tracking capability of the vehicle is poor, the yaw velocity of the vehicle does not represent the stability of the vehicle any more, the weight coefficient corresponding to the centroid slip angle is increased, and the system mainly follows the centroid slip angle control target.
When the design of a motion distribution layer of the steering controller is executed, the design is carried out according to the target required longitudinal force and the control distribution constraint condition of the driving torque of each wheel, and the target longitudinal force is designed into a PID controller according to the target speed of the vehicle, so that differential steering and steering of the vehicle are realized by controlling different rotating speeds and even reverse rotation of the left and right hub motor wheels.
The longitudinal moment of the vehicle is controlled in consideration of the fact that the sum of the resultant force of the driving forces of the wheels in the longitudinal direction and the yaw moment generated by the driving torque of the wheels is equal to the target longitudinal force, i.e., the target yaw moment. Meanwhile, the limit of the road adhesion and the performance of the driving motor to the longitudinal force is considered, so that the driving torque converted from the motor to the wheels is fully utilized, and the driving slip phenomenon is not generated. The torque of each driving wheel is reasonably distributed by a multi-objective optimization method, and the comprehensive improvement of the motion control performance is realized.
The working principle of the invention is further explained below:
the vehicle control unit HCU6 transmits a control signal to the hub motor wheel 2 and the steering motor 3 through the wiring harness system 9 to drive the modularized hub motor wheel vehicle platform to operate, the power supply 8 converts direct current into alternating current through the inverter 7 to provide power for the hub motor wheel 2 and the steering motor 3, meanwhile, the suspension supporting mechanism 4 and the chassis 1 can move along a trapezoidal sliding rail arranged on the wheel base and wheel base adjusting mechanism 5, the wheel base and wheel base adjusting mechanism 5 is accurately controlled through the vehicle control unit HCU6, and the required wheel base and wheel base can be set.
When the vehicle travels, the vehicle control unit HCU6 transmits control signals such as speed and acceleration to the in-wheel motor wheel 2 through a preset program, the power supply 8 transmits alternating current as a power source to the in-wheel motor wheel 2 through the inverter 7, and the in-wheel motor wheel 2 rotates to drive the vehicle platform to move in a plane.
When the vehicle needs to turn, the HCU6 transmits control signals such as a turning angle and a turning speed to the turning motor 3, and the turning motor 3 responds accordingly. The suspension support mechanism 4 is connected with an upper part and a lower part through a thrust bearing and bears main load, and the steering motor 3 is just connected with the upper half part of the suspension support mechanism 4 and drives the lower half part to rotate at a controllable angle. The in-wheel motor wheel 2 rotates synchronously therewith to cause the modular full-steer vehicle platform to make a predetermined turn. Due to the independent separation design of the upper part and the lower part of the suspension supporting mechanism 4, the wheels can be enabled to be capable of carrying out 360-degree full steering.
On the other hand, when the research platform needs to steer, the vehicle control unit HCU6 transmits the speed signal to the hub motor wheel 2, the steering motor 3 does not perform motion control, differential steering is realized by controlling different rotating speeds and even reverse rotation of the left and right hub motor wheels, the turning radius of the vehicle is reduced, and in-situ steering can be realized under special conditions.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (8)
1. The utility model provides a modularization distributing type in-wheel motor drive electric automobile research platform which characterized in that: the wheel hub motor vehicle comprises a chassis (1), a wheel hub motor vehicle wheel (2), a suspension supporting structure (4), a wheel base and wheel track adjusting mechanism (5) and a vehicle control unit (HCU) (6), wherein the wheel base and wheel track adjusting mechanism (5) and the vehicle control unit (6) are embedded and integrated on the chassis (1), the chassis (1) is fixedly connected with the suspension supporting structure (4) through the wheel base and wheel track adjusting mechanism (5), and the suspension supporting structure (4) is fixedly connected with the wheel hub motor vehicle wheel (2); and the vehicle control unit HCU (6) is respectively connected with the hub motor wheel (2) and the wheel base and wheel base adjusting mechanism (5) and controls the hub motor wheel (2) to move and perform differential steering and controls the wheel base and wheel base adjusting mechanism (5) to adjust the wheel base and the wheel base.
2. The modular distributed in-wheel motor driven electric vehicle research platform of claim 1, wherein: the wheelbase and wheel track adjusting mechanism (5) is provided with trapezoidal sliding rails which are arranged along the longitudinal direction and the lateral direction relative to the chassis (1), and the trapezoidal sliding rails drive the suspension supporting structure (4) to move along the longitudinal direction and the lateral direction relative to the chassis (1) according to a control signal sent by the vehicle control unit HCU (6).
3. The modular distributed in-wheel motor driven electric vehicle research platform of claim 1, wherein: the suspension support structure (4) comprises an upper part and a lower part which are connected through a thrust bearing, and the lower part of the suspension support structure (4) is fixedly connected with the hub motor wheel (2).
4. The research platform for the modular distributed in-wheel motor driven electric vehicle as claimed in claim 3, wherein: the research platform further comprises a steering motor (3) which is just connected to an upper part of the suspension supporting structure (4), wherein the steering motor (3) comprises a servo motor and a steering mechanism, and the steering motor drives a lower part of the suspension supporting structure (4) to rotate in a controllable angle according to a control signal sent by the vehicle control unit HCU (6) so as to synchronously rotate the hub motor wheel (2) to steer in a preset angle.
5. The modular distributed in-wheel motor driven electric vehicle research platform of claim 4, wherein: the research platform further comprises a power device and a wire harness system (9) which are embedded and integrated on the chassis (1), wherein the power device comprises a power source (8) and an inverter (7), and the wheel hub motor wheel (2), the steering motor (3), the vehicle control unit HCU (6), the inverter (7) and the power source (8) are connected with each other through the wire harness system (9).
6. The modular distributed in-wheel motor driven electric vehicle research platform of claim 1, wherein: the research platform further comprises a vehicle axle load adjusting module which is embedded and integrated on the chassis (1), and the vehicle axle load adjusting module adopts different counterweight forms to adjust the vehicle axle load.
7. The modular distributed in-wheel motor driven electric vehicle research platform of claim 1, wherein: the chassis (1) is provided with a connecting part for splicing the chassis (1) of the plurality of research platforms.
8. The modular distributed in-wheel motor driven electric vehicle research platform of claim 1, wherein: the HCU (6) of the vehicle control unit controls the motion of the research platform by adopting a layered structure, and comprises a target design layer, a motion control layer and a motion distribution layer; the target design layer generates a real-time platform steering control target according to the real-time dynamic state of the research platform, the motion control layer calculates a target direct yaw moment generated by the driving force of the research platform according to the real-time platform steering control target generated by the target design layer, and the motion distribution layer distributes the driving force of each wheel according to the kinematics and the dynamic constraint of the platform.
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