DE102021002343A1 - Multi-wheeled vehicle with an engine - Google Patents

Abstract

The vehicle according to the invention comprises a drivable wheel (1), a drive (2) with a motor for driving the drivable wheel, a steering column (3), a measuring device for detecting a steering angle of the steering column (3) and / or inclination angle of the vehicle and a Actual speed of the motor and / or actual speed of the vehicle, as well as a control device (4), wherein the control device is set up in such a way, an acceleration of the motor during a start-up process depending on the steering angle and / or angle of inclination and the actual speed of the motor and / or reduce the actual speed in order to prevent the drivable wheel (1) from spinning.

Description

The invention relates to a motor vehicle.

The US 2014/277888 A1 discloses an electric vehicle having an electric motor and a control device. If a wheel driven by the electric motor spins due to loss of grip, the control device reduces the power of the electric motor.

The multi-wheeled vehicle according to the invention comprises a drivable wheel, a drive with a motor for driving the drivable wheel, a steering column, a measuring device for detecting a steering angle of the steering column ( 3 ) and / or angle of inclination of the vehicle and an actual speed of the motor and / or actual speed of the vehicle, as well as a control device, wherein the control device is set up to accelerate the motor during a start-up process depending on the steering angle and / or angle of inclination and the actual -Reduce the engine speed and / or the actual speed of the vehicle in order to prevent the drivable wheel from spinning.

The fact that the acceleration of the motor is reduced during a starting process depending on the steering angle and / or inclination angle and the actual speed and / or actual speed in order to prevent the drivable wheel from spinning, the invention enables a loss of grip of the motorized wheel counteracting the ground and thus reducing the driver's loss of control over the vehicle, including the risk of falling.

For this purpose, according to a preferred embodiment, the control device is equipped with a torque setpoint controller according to the invention, which reduces the engine output depending on the input variables steering angle and / or inclination angle and actual speed of the motor and / or actual speed of the vehicle.

The vehicle is preferably a two-wheeled or three-wheeled vehicle, such as a scooter, a scooter, a bicycle or a motorcycle. The drivable wheel can be either a front wheel or a rear wheel.

The dependent claims describe further advantageous embodiments of the invention.

• 1 eine erste Ausführung eines erfindungsgemäßen Fahrzeugs,
• 2 eine zweite Ausführung eines erfindungsgemäßen Fahrzeugs,
• 3 eine schematische Darstellung einer Steuerung des Motors des Fahrzeugs, und
• 4 eine schematische Darstellung einer ersten Ausführungsform eines Drehmoment-Sollwert-Reglers zum Mindern des Wunschdrehmoments
• 5 eine schematische Darstellung einer zweiten Ausführungsform eines Drehmoment-Sollwert-Reglers

Preferred exemplary embodiments are explained in more detail with reference to the following figures. It shows

• 1 a first embodiment of a vehicle according to the invention,
• 2 a second embodiment of a vehicle according to the invention,
• 3 a schematic representation of a control of the engine of the vehicle, and
• 4th a schematic representation of a first embodiment of a torque setpoint controller for reducing the desired torque
• 5 a schematic representation of a second embodiment of a torque setpoint controller

1 shows a first, two-wheeled embodiment of a vehicle according to the invention, here a scooter. The scooter includes a rear wheel 1 , a rear-wheel drive 2 with a motor to drive the rear wheel (here an electric motor), a steering column 3 , a running board 8th , a front wheel 9 and a handlebar 10 . The scooter also includes a gas sensor, here a thumb gas sensor 7th , for recognizing an acceleration request (desired torque) of a driver.

Furthermore, the scooter comprises a measuring device for detecting a steering angle of the steering column 3 , an actual speed of the motor and, according to a variant, an actual speed of the scooter, as well as a control device 4th (please refer 3 ). The control device 4th is set up to limit an acceleration of the engine during a starting process as a function of the steering angle and the actual speed of the engine (actual engine speed) in order to prevent the rear wheel from spinning 1 to prevent. In the variant, the actual speed is also taken into account for the limitation.

To detect the steering angle of the steering column, the measuring device comprises a first sensor arrangement. This is a Hall sensor arrangement here 5 with a centrally arranged Hall sensor 5a and two on both sides of the hall sensor 5a arranged magnets 5b .

Furthermore, the measuring device comprises a second sensor device, here also a Hall sensor arrangement. This is integrated in the motor (not shown). The second sensor device enables the actual engine speed and any subsequent calculations such as engine acceleration and / or vehicle speed to be determined from the motorized wheel.

According to a second, three-wheeled embodiment of a vehicle according to the invention, here also a scooter, see 2 , the measuring device additionally comprises a third Sensor arrangement for detecting the angle of inclination of the vehicle. This third sensor arrangement is here also a Hall sensor arrangement 11 with centrally arranged Hall sensor 11a and magnets on both sides 11b .

To detect the actual speed of the vehicle (that is, independently of the actual engine speed) according to the variant, the measuring device comprises a fourth sensor device, here a further Hall sensor arrangement (not shown). This is on a non-motorized wheel, here the front wheel 9 , arranged.

3 shows a schematic representation of the control unit 4th . In addition to a torque regulator common for control units 12th includes the control unit 4th a torque setpoint controller 6th . The torque setpoint controller 6th converts the driver's desired torque as a function of the input variables steering angle and / or inclination angle, desired torque, actual engine speed and, if applicable, actual vehicle speed into a reduced setpoint torque in order to prevent the motorized wheel from spinning.

4th shows a schematic representation of a first embodiment of a torque setpoint controller 6th . The prerequisite here is the presence of a measuring device for detecting the actual vehicle speed from the non-motorized wheel, here the fourth sensor device.

The calculated actual vehicle speed from the non-motorized wheel is compared with the vehicle speed calculated from the actual engine speed of the motorized wheel and a deviation is determined therefrom.

At the same time, depending on the variant, depending on the steering angle and / or the angle of inclination, a maximum permissible deviation is determined from a stored characteristic map.

If the specified deviation is greater than the maximum permissible deviation, the deviation is passed on to a PID controller. The output of the PID controller is converted into a reduction factor based on a characteristic curve, which reduces the desired torque and from this a limited target torque as an input for the torque controller 12th pretends. The output of the torque controller 12th is a correspondingly reduced current strength for the operation of the motor depending on the limited setpoint torque.

5 shows a schematic representation of a second embodiment of a torque setpoint controller 6th . In this case, a measuring device for detecting the actual vehicle speed from the non-motorized wheel is not provided.

Depending on the steering angle and / or the angle of inclination, a maximum permitted engine acceleration is determined in a stored characteristic map

The actual motor acceleration is compared with the maximum permitted motor acceleration and a deviation is determined from the comparison.

At the same time, depending on the steering angle and / or the angle of inclination, a maximum permissible deviation is determined from a stored characteristic diagram.

If the deviation from the actual motor acceleration to the maximum permitted motor acceleration is greater than the maximum permitted deviation, the deviation is passed on to a PID controller. The PID controller output is converted into a reduction factor based on a characteristic curve, which reduces the desired torque and from this a limited target torque for the torque controller 12th pretends.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2014277888 A1 [0002]

Claims (10)

Multi-wheeled vehicle, comprising a drivable wheel (1), a drive (2) with a motor for driving the drivable wheel, a steering column (3), a measuring device for detecting a steering angle of the steering column (3) and / or an angle of inclination of the vehicle and a Actual speed of the motor and / or actual speed of the vehicle, as well as a control device (4), wherein the control device is set up to accelerate the motor during a start-up process depending on the steering angle and / or angle of inclination and the actual speed and / or actual -Reduce the speed to prevent the drivable wheel from spinning. Vehicle according to one of the preceding claims, wherein one or more acceleration limit values or a function is stored in the control device (4) which specify the limitation of the acceleration or specify it as a function of the steering angle and / or the angle of inclination. Vehicle according to one of the preceding claims, wherein in the control device (4) the deviation between vehicle speed, measured from the motorized wheel, and vehicle speed, measured from the non-motorized wheel, is used as a guide variable for limiting the engine acceleration. Vehicle according to one of the preceding claims, wherein the control device (4) is set up in such a way that as the actual speed increases, the influence of the steering angle and / or the angle of inclination on the limitation of the acceleration of the motor decreases. Vehicle according to one of the preceding claims, wherein the measuring device comprises a first sensor device (5) for detecting the steering angle. Vehicle according to one of the preceding claims, wherein the measuring device comprises a second sensor device for detecting an actual engine speed. Vehicle according to one of the preceding claims, wherein the measuring device comprises a third sensor device (11) for detecting the angle of inclination. Vehicle according to one of the preceding claims, wherein the control device (4) is set up with a torque setpoint controller (6) which, depending on the input variables steering angle and / or inclination angle and acceleration request of a driver, reduces a requested torque in the event of a limit value being exceeded . Vehicle according to one of the preceding claims, comprising a gas sensor (7) for recognizing a driver's desire to accelerate. A vehicle according to any one of the preceding claims, wherein the motor is an electric motor.

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