CN101758780A - Dual electric hub-driven four-wheeler controller - Google Patents

Dual electric hub-driven four-wheeler controller Download PDF

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Publication number
CN101758780A
CN101758780A CN 200810202659 CN200810202659A CN101758780A CN 101758780 A CN101758780 A CN 101758780A CN 200810202659 CN200810202659 CN 200810202659 CN 200810202659 A CN200810202659 A CN 200810202659A CN 101758780 A CN101758780 A CN 101758780A
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operational amplifier
connected
right
left
speed
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CN 200810202659
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Chinese (zh)
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张海艇
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张海艇
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies for applications in electromobilty
    • Y02T10/642Control strategies of electric machines for automotive applications
    • Y02T10/646With two or more electric drive machines
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7208Electric power conversion within the vehicle
    • Y02T10/7241DC to AC or AC to DC power conversion

Abstract

The invention relates to a dual electric hub-driven four-wheeler controller, which consists of a signal sampling circuit, a signal processing circuit, a pulse-width modulation and motor-driven circuit and left and right controlled motors. The signal sampling circuit comprises a speed pedal, two magnets, a speed Hall element, a steering wheel and two left and right Hall elements. When the speed pedal is stepped, a speed signal can be provided; when a vehicle makes a turn, a turning signal can be provided; two differential operational amplifiers for processing the speed signal and the turning signal are arranged in the signal processing circuit; when the vehicle moves straightly, the controller controls the left and the right motors to rotate at the same speed, so that the vehicle does not deflect; and when the vehicle makes a turn, the controller controls the left and the right motors to rotate at the different speed, so that the vehicle does not turn over.

Description

一种双电动轮毂驱动的四轮车控制器 A dual electric four wheel drive vehicle controller

所属技术领域 Those of skill

[0001] 本发明涉及一种电动车控制器,特别是涉及一种双电动轮毂驱动的四轮车控制器。 [0001] The present invention relates to an electric vehicle controller, and more particularly to a dual electric four wheel drive vehicle controller.

背景技术 Background technique

[0002] 作为电机与车轮组装成一体化的电动轮毂,不但适合用于二轮电动自行车,同时也适合用于四轮车的驱动,由双电动轮毂分别作为左右后轮的四轮车,无须复杂的传动机械结构与差速机构在控制器的控制下可直接驱动车辆行使,然而,用于控制四轮车行使的控制器不同于二轮电动自行车的控制器,这是因为四轮车在转弯时,左右二个轮毂所行使的距离不同,即要求控制器在车辆转弯时能控制左右二个轮毂以不同的速度转动,以保证车辆转弯时不会翻车,而当四轮车直行时,控制器要控制左右二个轮毂以相同速度转动,以保证车辆行使时不偏斜,所以现有的二轮电动自行车控制器不适合用于电动四轮车的控制。 [0002] As the motor and wheel assembly to form an integral electric wheel hub, not only suitable for two electric bicycles, is also suitable for a four wheel drive vehicle, the electric double left and right rear wheels, respectively, as four-wheeled vehicle, without complex mechanical structure and drive the differential mechanism under the control of the controller may be exercised directly drive vehicle, however, a controller for controlling the four-wheeled vehicle different from the exercise bike two controllers, since the four-wheeled vehicle when turning, two different left and right wheel distance exercised, which requires the controller can control when the vehicle turning around two wheels to rotate at different speeds, in order to ensure that no rollover the vehicle is turning, and when the four-wheeled vehicle straight, a controller to control the right and left two wheels rotate at the same speed, to ensure that no deflection of the exercise of the vehicle, so that the two conventional electric bicycle is not suitable for controlling the controller for an electric four-wheeled vehicle.

发明内容 SUMMARY

[0003] 本发明的目的是提供一种双电动轮毂驱动的四轮车控制器,当车辆转弯时,能控制左右二个轮毂以不同的速度转动,当车辆直行时能控制左右二个轮毂以相同速度转动。 [0003] The object of the present invention is to provide a dual-wheel drive four-wheel motor vehicle controller, when the vehicle turns, can be controlled around two wheels to rotate at different speeds when the vehicle straight hub can be controlled at about two the same rotational speed. [0004] 为达到上述的目的,本发明解决其技术问题所采取的技术方案是:一种双电动轮毂驱动的四轮车控制器由一个信号采样电路,一个信号处理电路,一个脉宽调制与电机驱动电路及被控制的左右电机组成。 [0004] To achieve the above object, the present invention is to solve the technical problem adopted technical solution: a dual electric four wheel drive vehicle is controlled by a signal sampling circuit, a signal processing circuit, and a pulse width modulation and the motor drive circuit is controlled to about motor.

[0005] 所述的信号采样电路中含有一个速度踏板,在速度踏板的中间位置装有一个磁铁,在磁铁的下方设置一个速度霍尔元件,所述的这个速度霍尔元件的一个脚接电源,另一个脚接地线,而输出脚经二个电阻分别与信号处理电路中二个差动放大器的正相输入端连接,当速度踏板未踩下时,速度霍尔元件因离磁铁有一定距离而感应不到磁性,所以速度霍尔元件的输出脚无电压输出,当踩下速度踏板时,速度霍尔元件而感应到磁性,其输出脚有电压输出,电压输出的大小取决于速度踏板踩下的距离,踩下距离小电压输出小,踩下距离大电压输出大,由此根据速度踏板踩下的距离和速度霍尔元件所感应磁性的大小即可采集到速度信号,所述的信号采样电路中还含有一个方向盘,在方向盘轮辐中装有另一个磁铁, 而在方向盘轮辐左右方各设置一个霍尔元 [0005] said signal sampling circuit comprising a pedal speed, a magnet fitted in an intermediate position of the pedal velocity, the speed of a Hall element disposed below the magnet, the speed of one of the Hall element to the power pin another foot ground line, and the output pin via two resistors are connected to the signal processing circuit two-inverting input terminal of the differential amplifier, when the speed of the pedal is not depressed, the speed of the Hall element due to a certain distance from the magnet not induced magnetism, the output speed of the pin is no voltage output of the Hall element, when the pedal depression speed, speed sensed magnetic Hall element, the output voltage output pin, the output magnitude of the voltage depends on the speed of the pedal under the distance, a small distance is small depressed output voltage, a large voltage output from the depressing large, whereby the induced magnetic Hall element according to the distance and the speed of the pedal depression speed to the magnitude of the speed signal acquisition, the signal the sampling circuit further comprises a steering wheel, with the steering wheel spokes in the second magnet, and each side is disposed around a steering wheel spokes Hall element ,即一个左霍尔元件,一个右霍尔元件,左右二个霍尔元件的其中二个脚分别与电源和地线连接,而左霍尔元件的另一个输出脚经一个电阻与信号处理电路中的一个左差动放大器的反相输入端连接,而右霍尔元件的另一个输出脚经一个电阻与信号处理电路中的另一个右差动放大器的反相输入端连接,当车辆直行时,左右霍尔元件因离方向盘轮辐中的磁铁有一定距离,左右霍尔元件的输出脚无电压输出,当车辆左转弯时,左霍尔元件能感应到磁性,因而其输出脚有电压输出,电压输出的大小取决于转弯角度的大小,转弯角度的大,电压输出大,转弯角度的小,电压输出小,同理当车辆右转弯时,右霍尔元件也能感应到磁性,因而其输出脚有电压输出,电压输出的大小也同样取决于转弯角度的大小,由此,根据方向盘转动的角度和左右霍尔元件所感应 , I.e. a left and a Hall element, a Hall element is the right, left and right two Hall elements wherein two pins are connected to power and ground, while the other output through the left leg of a resistor and a Hall element signal processing circuit inverting input terminal of a differential amplifier is connected to the left, while the other output pin of the inverting input terminal via a resistor and a right signal processing circuit in the other Hall element is connected to the right of the differential amplifier, while when the vehicle straight about the Hall element due to the magnet from the steering wheel spokes at a distance from, the left and right feet without the Hall element output voltage output when the vehicle is turning left, the left magnetic Hall element can be sensed, and thus the output pin of the output voltage, depends on the magnitude of the voltage output from the turning angle of the size of large, the output voltage of the large turning angle, small, small turning angle of the output voltage, the same way when the vehicle turns right, and right to the Hall element magnetic sensor can be, and thus the output pin output voltage, the output voltage also depends on the size of the magnitude of the turning angle, whereby, in accordance with the sensed steering wheel angle and the left and right hall elements 到磁性的大小,即可采集到转弯信号。 To the size of the magnetic, the turn signal can be collected.

[0006] 所述的信号处理电路中含有二个运算放大器,其中一个运算放大器与四个电阻接成一个右差动运算放大器,用于对速度信号和右转弯信号的处理,所述的四个电阻中的一个反馈电阻的二端分别与运算放大器反相输入端和输出端连接,所述的四个电阻中的另一个电阻被接在运算放大器反相输入端和右霍尔元件输出脚之间,所述的四个电阻中的另二个电阻的一端与运算放大器正相输入端连接,而这二个电阻中的另一端分别与地线和速度霍尔元件的输出脚连接,所述的信号处理电路中的另一个运算放大器与四个电阻接成一个左差动运算放大器,用于对速度信号和左转弯信号的处理,所述的四个电阻中的一个反馈电阻的二端分别与这个运算放大器反相输入端和输出端连接,所述的四个电阻中的另一个电阻被接在这个运算放大器反相输入端和左霍尔元件 [0006] The signal processing circuit comprising two operational amplifiers, wherein an operational amplifier and four resistors connected as a right-differential operational amplifier for processing of the right turn signal and the velocity signal, the four a feedback resistor of the two-terminal resistors are connected to the operational amplifier inverting input terminal and an output terminal, said further resistor being connected to the four resistors of the operational amplifier and the inverting input terminal of the right foot of the Hall element output between the four resistances of the resistors of the other end of the positive-phase input terminal of the operational amplifier is connected to the other end of the resistors respectively connected to the output pin and the ground speed of the Hall element, the the signal processing circuit of the operational amplifier and the other four resistors connected as a left-differential operational amplifier for processing the speed signal and the left turn signal, a second end of the feedback resistor of the four resistors, respectively an inverting input terminal and an output terminal connected to the operational amplifier, the resistance of the other four resistances of the operational amplifier is connected to the inverting input terminal of the Hall element and the left 输出脚之间,所述的四个电阻中的另二个电阻的一端与运算放大器正相输入端连接,而这二个电阻中的另一端分别与地线和速度霍尔元件的输出脚连接,所述的信号处理电路中的二个运算放大器的增益相同,信号处理电路的工作方式是这样的:当车辆直行时,二个运算放大器的正相输入端同时接受到速度霍尔元件所输出的电压,由于二个运算放大器的增益相同和接受到电压相同,所以二个运算放大器输出电压也相同。 Between the output pins, the four resistances of the resistors of the other end of the operational amplifier noninverting input terminal is connected to the other end of the resistors respectively connected to the output pin and the ground speed of the Hall element , the same signal processing circuit according to the gain of the two operational amplifiers, the operational mode signal processing circuit is such that: when the vehicle straight, two of the operational amplifier positive input terminal simultaneously receives the Hall element output speed voltage, the same as the gain of the operational amplifier and two receive the same voltage, so that two of the operational amplifier output voltage is the same. 当车辆转弯时,如右转弯时,右差动运算放大器的正反二个输入端同时接受到速度霍尔元件和右霍尔元件的电压信号,经差动放大后,其输出的电压小于左运算放大器的输出电压,反之,当车辆左转弯时,左差动运算放大器的输出电压小于右差动运算放大器的电压。 When the vehicle turns, such as turn right, the right front and back two input terminals of the differential operational amplifier receives the speed while the Hall element and the voltage signal to the right of the Hall element, the differential amplifier, the output voltage is less than the left the output voltage of the operational amplifier, whereas, when the vehicle is turning left, the output voltage of the differential operational amplifier is less than the left and right of the differential voltage of the operational amplifier.

[0007] 所述的脉宽调制与电机驱动电路中含有一个右脉宽调制电路, 一个右电机驱动电路,一个左脉宽调制电路,一个左电机驱动电路,所述的右脉宽调制电路可根据右差动运算放大器的输出电压的大小进行脉宽调制,输出电压大,脉宽占空比大,反之脉宽占空比小, 所述的右电机驱动电路根据脉宽占空比大小向右电机提供不同的电压驱动右电机以不同的速度转动,同理,所述的左脉宽调制电路可根据左差动运算放大器的输出电压的大小进行脉宽调制,输出电压大,脉宽占空比大,反之脉宽占空比小,所述的左电机驱动电路根据脉宽占空比大小向左电机提供不同的电压驱动电机以不同的速度转动。 Pulse width modulated motor drive circuit [0007] according to the right contains a pulse width modulation circuit, a motor driving circuit is a right, a left pulse width modulation circuit, a left motor drive circuit, the pulse width modulation circuit may be right pulse width modulating the output voltage according to the magnitude of the right differential operational amplifier, the output voltage is large, a large pulse duty cycle, pulse duty cycle small and vice versa, the right motor driving circuit according to the size of the pulse duty cycle Right motor provides different voltages for driving the right motor to rotate at different speeds, Similarly, the left pulse width modulation circuit may be a pulse width modulation according to the magnitude of the output voltage of the differential operational amplifier left, the output voltage of the large pulse width representing air ratio, whereas small pulse duty cycle, said left motor drive circuit to provide different voltage drive pulse duty cycle according to the size of the motor to the left motor is rotating at different speeds.

[0008] 本发明的优点是:当车辆直行时,控制器可控制左右二个电机以相同的速度转动, 使车辆不偏斜,当车辆转弯时,控制器可控制左右二个电机以不同的速度转动,保证车辆不翻车。 [0008] The advantage of the present invention is that: when the vehicle is straight, the controller may control the motor to rotate about two at the same speed, the vehicle is not skewed, when the vehicle is turning, the motor controller may control around two different speeds rotation, to ensure that the vehicle does not overturn.

附图说明 BRIEF DESCRIPTION

[0009] 附图是本发明的一种双电动轮毂驱动的四轮车控制器的电路结构图具体实施方式 [0009] The accompanying drawings is a circuit configuration diagram of a dual electric wheel hub drive according to the present invention, the four-wheeled vehicle controller DETAILED DESCRIPTION

[0010] 参照附图将详细叙述本发明的具体实施方案,在附图中示出了信号采样电路l,信号处理电路2,脉宽调制与电机驱动电路3,电源4,磁铁5、 10,速度踏板6,速度霍尔元件7, 左霍尔元件8,方向盘9,右霍尔元件ll,右运算放大器14,左运算放大器19,电阻12、13、 15、16、17、18、20、21,右脉宽调制电路22,右电机驱动电路23,左脉宽调制电路24,左电机驱动电路25,右电机26,左电机27的连接关系。 [0010] will be described in detail with reference to the accompanying drawings embodiments of the invention, shown in the drawings a signal sampling circuit is L, the signal processing circuit 2, a pulse width modulated motor drive circuit 3, a power supply 4, magnet 5, 10, 6 pedal speed, the speed of the Hall element 7, the Hall element 8 left, the steering wheel 9, and right hall elements ll, the operational amplifier 14 and right and left operational amplifier 19, resistors 12, 13, 15,16,17,18,20, 21, the right pulse-width modulation circuit 22, 23, 24, 25, 26, a motor drive circuit connected to the left and right relation pulse width modulation circuit the left and right motor drive circuit of the motor 27 left motor. [0011] 本发明的一种双电动轮毂驱动的四轮车控制器由一个信号采样电路l,一个信号处理电路2,一个脉宽调制与电机驱动电路3及被控制的左右电机26、27组成。 [0011] A dual electric wheel hub drive according to the present invention, the four-wheeled vehicle is controlled by a signal sampling circuit L, a signal processing circuit 2, a pulse width modulated motor drive circuit 3 and the left and right motors 26 and 27 are controlled composition . [0012] 信号采样电路1中含有一个速度踏板6,在速度踏板6的中间位置装有一个磁铁5,在磁铁的下方设置一个速度霍尔元件7,霍尔元件7的一个脚接电源,另一个脚接地线, 而输出脚分别经电阻16、21与二个差动放大器14、19的正相输入端连接,信号采样电路1 中还含有一个方向盘9,在方向盘轮辐中装有另一个磁铁IO,而在方向盘轮辐左右方各设置一个霍尔元件,即一个左霍尔元件8, 一个右霍尔元件11,左右二个霍尔元件8、 11的其中二个脚分别与电源4和地线连接,而左霍尔元件8的输出脚经电阻17与左差动放大器19 的反相输入端连接,而右霍尔元件11的输出脚经电阻12与右差动放大器14的反相输入端连接。 [0012] 1 signal sampling circuit comprising a speed pedal 6, the magnet 5 is provided with a velocity in the intermediate position of the pedal 6, the magnet is provided in a speed below the Hall element 7, a pin of the Hall element 7 is connected to the power supply, the other a pin ground line, respectively, while the output pin by normal phase input terminal of the two resistors 16 and 21 connected to the differential amplifier 14, 19, a signal sampling circuit further comprises a steering wheel 9, provided with a further magnet in the steering wheel spokes the IO, the left and right side of each of the steering wheel spokes provided a Hall element, i.e., a left Hall element 8, a Hall element 11 the right, the left and right two Hall elements 8, respectively, wherein the two legs 11 and the power supply ground 4 line, and the left output pin of the Hall element 17 via a resistor 8 is connected to the inverting input terminal of the differential amplifier 19 of the left and the right of the Hall output pin 12 via a resistor 11 and a right member of the differential amplifier 14 to the inverting input terminal.

[0013] 信号处理电路2中含有二个运算放大器,其中一个运算放大器与四个电阻12、13、 15、16接成一个右差动运算放大器14,用于对速度信号和右转弯信号的处理,反馈电阻13 的二端分别与运算放大器反相输入端和输出端连接,另一个电阻12被接在运算放大器反相输入端和右霍尔元件11的输出脚之间,另二个电阻15、16的一端与运算放大器正相输入端连接,电阻15的另一端与地线连接,电阻16的另一端与速度霍尔元件7的输出脚连接, 信号处理电路1中的另一个运算放大器与四个电阻17、18、20、21接成一个左差动运算放大器19,用于对速度信号和左转弯信号的处理,反馈电阻18的二端分别与这个运算放大器反相输入端和输出端连接,另一个电阻17被接在这个运算放大器反相输入端和左霍尔元件8 的输出脚之间,另二个电阻20、21的一端与运算放大器正相输入端连 [0013] The signal processing circuit contains two operational amplifiers 2, wherein an operational amplifier and four resistors 12, 13, 15, 16 are connected to a right-differential operational amplifier 14 for processing of the right turn signal and the speed signal , two ends of the feedback resistor 13 are connected to the inverting input terminal of the operational amplifier and an output terminal, a further resistor 12 is connected between the inverting input terminal of the operational amplifier and the output of the right foot of the Hall element 11, and the other two resistors 15 one end 16 of the operational amplifier inverting input terminal connected to the other end of the resistor 15 is connected to the ground, the other end of the resistor 16 and the speed of the Hall element output pin 7 is connected to the other of the operational amplifier 1 and the signal processing circuit 17,18,20,21 four resistors connected as a left-differential operational amplifier 19 for processing of the left turn signal and the speed signal, the two ends of the feedback resistor 18, respectively, and the inverting input terminal of the operational amplifier and an output terminal connection, another resistor 17 is connected between the output pin of the operational amplifier and the inverting input terminal of the Hall element 8 is left, the other end of the resistors 20 and 21 and the operational amplifier noninverting input terminal is connected ,电阻20的另一端与地线连接,电阻21与速度霍尔元件7的输出脚连接,信号处理电路2中的二个差动运算放大器14、19的增益相同,信号处理电路2的工作方式是这样的:当车辆直行时,二个差动运算放大器14、19的正相输入端同时接受到速度霍尔元件7所输出的电压,由于二个差动运算放大器14、19的增益和接受到输入电压相同,所以二个差动运算放大器14、19的输出电压也相同,当车辆转弯时,如右转弯时,右差动运算放大器14的正反二个输入端同时接受到速度霍尔元件7和右霍尔元件11的电压信号,经差动放大后,其输出的电压小于左运算放大器19的输出电压,反之,当车辆左转弯时,左差动运算放大器的19输出电压小于右差动运算放大器14的电压。 , The other end of the resistor 20 is connected to the ground, the resistor 21 and the gain of the speed same as the Hall element output pin 7 is connected to the signal processing circuit 2 in the two differential operational amplifiers 14 and 19, operations of the signal processing circuit 2 is such that: when the vehicle straight, two voltage-inverting input terminal of the differential operational amplifier 14, 19 is received while the speed of the Hall elements 7 output, since the gain of the two differential operational amplifiers 14, 19 and receiving identical to the input voltage, the output voltage of the two differential operational amplifiers 14, 19 are the same, when the vehicle turns, such as turn right, two positive and negative input terminal of the operational amplifier 14 of the right differential speed while receiving the Hall element 7 and the right element 11 of the Hall voltage signal, after the differential amplifier, the output voltage is less than the output voltage of the operational amplifier 19 to the left, and vice versa, when the vehicle is turning left, the output voltage 19 is less than the left and right of the differential operational amplifier voltage differential operational amplifier 14.

[0014] 脉宽调制与电机驱动电路3中的左右脉宽调制电路22、23可根据左右差动运算放大器14、19的输出电压的大小分别进行脉宽调制并输出不同脉宽占空比的电压,经左右电机驱动电路23、25可分别驱动左右二个电机26、27转动,运算放大器14、 19的输出电压的增减可分别改变左右二个电机26、27的转速。 In [0014] the pulse width modulated motor drive circuit 3 and about 22, 23 may be a pulse width modulation pulse width modulation circuit respectively depending on the magnitude of the output voltage differential of about 14, 19 and the operational amplifier output pulse duty cycle of different voltage, the motor drive circuits 23 and 25 may be of about the right and left two motors 26 and 27 are rotated, the increase or decrease in the output voltage of the operational amplifier 14, 19, respectively, may change the speed of the motor 26, 27 is about two.

Claims (4)

  1. 一种双电动轮毂驱动的四轮车控制器由一个信号采样电路1,一个信号处理电路2,一个脉宽调制与电机驱动电路3及被控制的左右电机26、27组成,其特征是:信号处理电路2中含有二个运算放大器,其中一个运算放大器与四个电阻12、13、15、16接成一个右差动运算放大器14,用于对速度信号和右转弯信号的处理,反馈电阻13的二端分别与运算放大器反相输入端和输出端连接,另一个电阻12被接在运算放大器反相输入端和右霍尔元件11的输出脚之间,另二个电阻15、16的一端与运算放大器正相输入端连接,电阻15的另一端与地线连接,电阻16的另一端与速度霍尔元件7的输出脚连接,信号处理电路1中的另一个运算放大器与四个电阻17、18、20、21接成一个左差动运算放大器19,用于对速度信号和左转弯信号的处理,反馈电阻18的二端分别与这个运算放大器反相输入 A dual electric four wheel drive vehicle is controlled by a signal sampling circuit 1, a signal processing circuit 2, a pulse width modulated motor drive circuit 3 and the left and right motors 26 and 27 are controlled composition, wherein: a signal processing circuit 2 contains two operational amplifiers, wherein an operational amplifier and four resistors 12,13,15,16 connected to a right-differential operational amplifier 14, a signal processing speed and the right turn signal, a feedback resistor 13 the two ends are connected to the inverting input terminal of the operational amplifier and an output terminal, a further resistor 12 is connected between the inverting input terminal of the operational amplifier and the output of the Hall element 11 of the right foot, the other end of the resistors 15 and 16 the operational amplifier noninverting input terminal is connected to the other end of the resistor 15 is connected to the ground, the other end of the resistor 16 and the speed of the Hall element is connected to the output pin 7, the signal processing circuit 1 in another operational amplifier 17 and four resistors , 18, 20, 19 connected to, for processing a left velocity signal of the differential operational amplifier and left turn signals, the two ends of the feedback resistor 18 are respectively connected the inverting input of the operational amplifier 端和输出端连接,另一个电阻17被接在这个运算放大器反相输入端和左霍尔元件8的输出脚之间,另二个电阻20、21的一端与运算放大器正相输入端连接,电阻20的另一端与地线连接,电阻21与速度霍尔元件7的输出脚连接。 And an output connected to a further resistor 17 is connected between the output pin of the operational amplifier and the inverting input terminal of the Hall element 8 is left, the other end of the resistors 20 and 21 and the operational amplifier noninverting input terminal is connected, the other end of resistor 20 is connected to the ground, the resistor 21 is connected to the output speed of the Hall element 7 feet.
  2. 2. 根据权利要求书1所述的二个差动运算放大器14、 19的增益相同。 2. The book according to the same gain two differential operational amplifier 1 as claimed in claim 14, 19.
  3. 3. 根据权利要求书1所述的二个差动运算放大器14、19当车辆直行时正相输入端同时接受到速度霍尔元件7所输出的电压,由于二个差动运算放大器14、 19的增益和接受到输入电压相同,所以二个差动运算放大器14、 19的输出电压也相。 The claims of the two differential operational amplifiers 14, 19 when the vehicle 1 is straight while the positive input voltage terminal receives an output speed of the Hall element 7, since the two differential operational amplifiers 14, 19 receives the same gain and input voltage, the two differential operational amplifier 14, the output voltage 19 is also phase.
  4. 4. 根据权利要求书1所述的二个差动运算放大器14、 19当车辆转弯时,如右转弯时,右差动运算放大器14的正反二个输入端同时接受到速度霍尔元件7和右霍尔元件11的电压信号,经差动放大后,其输出的电压小于左运算放大器19的输出电压,反之,当车辆左转弯时,左差动运算放大器的19输出电压小于右差动运算放大器14的电压。 The book of claim 1 two differential operational amplifier as claimed in claim time when the vehicle turns, such as turn right, the right front and back two input terminals of the differential operational amplifier 14 simultaneously receive 14, the speed of the Hall element 7 19 Hall voltage signal and the right element 11, after the differential amplifier, the output voltage is less than the output voltage of the operational amplifier 19 to the left, and vice versa, when the vehicle is turning left, the output voltage 19 of the differential operational amplifier is less than the left and right differential voltage of the operational amplifier 14.
CN 200810202659 2008-11-13 2008-11-13 Dual electric hub-driven four-wheeler controller CN101758780A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9108675B2 (en) 2012-11-30 2015-08-18 Deere & Company Single pedal propulsion system for straight travel of work vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9108675B2 (en) 2012-11-30 2015-08-18 Deere & Company Single pedal propulsion system for straight travel of work vehicle
US9643648B2 (en) 2012-11-30 2017-05-09 Deere & Company Single pedal propulsion system for straight travel of work vehicle

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