CN102582416A - Full line control electric vehicle with variable kinetic characteristics - Google Patents
Full line control electric vehicle with variable kinetic characteristics Download PDFInfo
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- CN102582416A CN102582416A CN2012100338023A CN201210033802A CN102582416A CN 102582416 A CN102582416 A CN 102582416A CN 2012100338023 A CN2012100338023 A CN 2012100338023A CN 201210033802 A CN201210033802 A CN 201210033802A CN 102582416 A CN102582416 A CN 102582416A
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Abstract
The invention discloses a full line control electric vehicle with variable kinetic characteristics. The full line control of the electric vehicle is reflected in the operation of the driver and comprises the operations of steering, accelerating and braking. Only the operation signal is generated, and corresponding controller is used for collecting the corresponding signal and controlling a corresponding actuator to act correspondingly according to a certain algorithm. The variable kinetic characteristics of the electric vehicle is reflected in the structure: a wheel hub motor is arranged in each of the mutually independent wheels, the wheel hub motors are mutually independent and provide driving force or braking force for all the wheels, each wheel is provided with a steering motor, the steering motors are mutually independent, an unsprung frame of each wheel is provided an active suspension, and the unsprung frames are mutually independent. The variable kinetic characteristics of the electric vehicle is also reflected in the control algorithm: the relationship of the size of the driving force or braking force of each wheel hub motor, the relationship of the size of the steering angle of each steering motor and the relationship of the size of the stiffness and the damping of each active suspension are decided by the control algorithm without being restricted by the mechanical connection, so that the variable kinetic characteristics of the electric vehicle are realized.
Description
Technical field
The present invention relates to a kind of all fronts control elec. vehicle; More particularly, the present invention relates to a kind of four-wheel individual drive, independent steering, independent brake of all fronts control with variable mechanical characteristic, the elec. vehicle (hereinafter to be referred as controlling battery-driven car completely) of independent active suspension.
Background technology
(with the fuel oil is fuel to traditional automobile; With the vehicle of driving engine as propulsion source) dispatch from the factory become product after; Under trouble-proof situation; Can guarantee that automobile goes according to the wish of chaufeur, promptly vehicle can provide certain output response to the input of chaufeur according to the dynamics of vehicle itself, comprises turning to, adding/slow down, brake.Be after vehicle itself becomes product, under the condition of not considering fault of car own and driving environment, the dynamic response characteristic of automobile should be fixed.But have different driving styles and demand for different chaufeurs, comprise cornering properties, add/decelerating behavior, braking characteristics.Therefore for traditional vehicle, the dynamics of vehicle can't be deacclimatized the driving style and the demand of each chaufeur; Chaufeur must be deacclimatized the different dynamic characteristic of different cars, and characteristic difference is made adaptation and compensation, thereby guarantees that different automobiles can both go by the secure path of considering the chaufeur wish under different working conditions.This has caused very big burden to chaufeur, thereby has influenced the drive safety and the driver comfort of automobile, and can't accomplish the adaptation to driver's personalized driving style and demand.In addition; The suspension system of conventional truck mainly is passive suspension; Aux. controls on the dynam can not be provided for the Stability Control of automobile; And still be centered around at present the stability control method of traditional vehicle for the research of battery-driven car, and the control algorithm of wheel hub motor battery-driven car in fact of new generation and traditional vehicle should have very big difference.Advantage such as more than the constructional feature that the research and development of present battery-driven car do not give full play of battery-driven car of new generation and the controllable degrees of freedom.
Summary of the invention
The present invention is intended to solve the dynamics of conventional truck, the drawback that comprise adding/decelerating behavior, cornering properties, braking characteristics, suspension performance can not change according to the driving style and the demand of chaufeur.To these drawbacks, the present invention proposes four-wheel individual drive, independent steering, the independent brake of a kind of all fronts control, the brand-new battery-driven car of independent active suspension.It only is to produce corresponding operation signal that the control of all fronts of battery-driven car is embodied in the turning to of chaufeur, acceleration, brake operation; Do not directly act on corresponding actuating unit; For steering swivel system, collect the input corner of chaufeur by rotary angle transmitter, and pass to steering controller;, control four steer motor and realize certain corner according to predetermined algorithm by steering controller.For drive system, by the pedal displacement that driving governor is gathered electronic accelerator pedal, controller is controlled four wheel hub motors and is realized certain drive current according to predetermined algorithm.For brake system, by the pedal displacement signal of brake controller collection electronic brake pedal, controller is controlled four braking motors (being the drive hub motor during driving) and is realized certain braking force according to predetermined algorithm.The variable mechanical characteristic of battery-driven car is on the physical construction basis of the uniqueness of battery-driven car, to realize.The present invention mainly is based on traditional vehicle can only front-wheel steering; And transmitting ratio is fixed; Accelerating performance also can't change after dispatching from the factory; Braking characteristics can't be made adaptive change to the chaufeur style, and suspension performance can't provide the shortcoming of dynam aux. controls to vehicle stability control, has proposed four-wheel individual drive, independent steering, the independent brake of a kind of all fronts control, the brand-new elec. vehicle of independent active suspension.
Battery-driven car proposed by the invention can be made up of a plurality of wheels; Wheel hub motor is all arranged in each wheel; Each wheel hub motor is used for driving battery-driven car, braking battery-driven car, and propulsive effort between each wheel or braking force is big or small separate, can be according to the propulsive effort or the braking force of each wheel of demand for control reasonable distribution; It is the relation of propulsive effort of displacement and four wheels of acceleration pedal; The relation of brake pedal displacement and wheel braking force all can be adjusted according to demand for control at any time, has reached the driving effect that battery-driven car more meets individual requirements.Each wheel all is connected on the vehicle frame through axletree and stub; All connect a steer motor on each stub axle, the axle of each steer motor is coaxial with corresponding stub axle, and couples together through attaching parts; Each steer motor is also separate; Can distribute the corner of four steer motor according to the driving demand arbitrarily, promptly steering handwheel is to require to change at any time according to control to each angular drive ratio of each wheel, to accomplish the driving effect that chaufeur is liked.The active suspension of rigidity and Adjustable Damping is installed under the stub axle.The rigidity of this active suspension and damping can adjust by the control requirement at any time.This shows; The mentioned all fronts control battery-driven car of the present invention passes through aforesaid mechanical design structure; The angular drive of having realized each wheel is than the damping of the suspension of the braking force of the propulsive effort of, each wheel, each wheel, each wheel and the real-time control of rigidity; Realized controlling the multiple degree of freedom control of battery-driven car completely,, realized the variable mechanical characteristic that conventional truck can't realize through the co-operative control of above a plurality of amounts and control in real time.
The concrete structure characteristics:
The all fronts control battery-driven car that the present invention discussed adopts a plurality of independent wheels, and each wheel all has a wheel hub motor, and the motion of each wheel hub motor all is separate, and each wheel hub motor provides propulsive effort or braking force for the wheel that belongs to separately.
The all fronts control battery-driven car that the present invention discussed adopts a plurality of independent wheels, and each wheel all has a steer motor, and the motion of each steer motor all is separate, and each steer motor all is used to provide the steering angle that belongs to wheel separately.
The all fronts control battery-driven car that the present invention discussed adopts a plurality of independently wheels; Each wheel all has the active suspension of rigidity and Adjustable Damping; The rigidity of each suspension and the size of damping all are separate, and the rigidity of each suspension and damping can require according to the control of vehicle for the wheel at place suitable rigidity and damping to be provided.
The wheel of automobile and stub orientation angle all are designed to zero, stub is worn the place and passed through wheel center.
The present invention has following beneficial effect:
For the cornering properties of battery-driven car, can freely design the force transfering characteristic and the angle transmission characteristic of the steering swivel system of battery-driven car, brought very big development space for the cornering properties design of automobile, a lot of control algorithms are development thereupon also.
For adding/decelerating behavior of battery-driven car, can freely design acceleration pedal displacement, cireular frequency and the car speed of battery-driven car, the characteristic relation between the vehicle acceleration.
For the braking characteristics of battery-driven car, can freely design brake pedal displacement, cireular frequency and the car brakeing power of battery-driven car, the relation between the braking response speed.
Since control completely battery-driven car cornering properties, add/decelerating behavior, braking characteristics variable fully; Do not receive the restriction of traditional vehicle mechanical system; Can realize the design concept of " car adapts to the people "; " car adapts to the people " is meant the automobile dynamic quality characteristic that meets the chaufeur hobby under the cruising operating mode, promptly has personalized automobile characteristic, can mate according to different driver characteristics.
The present invention has guaranteed the minimal consumption of energy from the structure angle,, suspension energy regenerative, regenerative brake energy-conservation for drive motor and minimize the energy-conservation ideal platforms that provide of control policy such as tire force control.
Four wheels of battery-driven car proposed by the invention vertical/vertically/side force all is a controlled amounts; So driving that can each wheel of reasonable distribution; The deflection angle of each wheel, the vertical load of each wheel is that battery-driven car all has maximum stability margin under various operating modes.
For studying the Stability Control criterion of battery-driven car of new generation, the weight Real-time and Dynamic of stability is distributed and adjustment is machine-processed, the car load state of kinematic motion and the power demand of realization stability indicator, and desirable test and application platform is provided.
Because the present invention has realized multiple degree of freedom control, so in desirable automobile dynamic quality characteristic, minimal energy consumption on the basis of stability and safety control method, can be realized coordination, the fusion of above control algorithm, realizes integrated control theory of car load and method.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described:
Fig. 1 a is depicted as the constructional drawing of controlling completely battery-driven car (view direction for A shown in Fig. 1 b to);
Fig. 1 b is the lateral plan of controlling completely battery-driven car (view direction for B shown in Fig. 1 a to);
Fig. 2 is the control principle figure of variable steering characteristic;
Fig. 3 is variable adding/decelerating behavior (driving operating mode) control principle figure;
Fig. 4 is variable braking characteristics (damped condition) control principle figure;
Fig. 5 is the stiffness variable of active suspension and the control principle figure of damping
The specific embodiment
Physical construction below in conjunction with 1 pair of battery-driven car proposed by the invention of accompanying drawing is done further detailed explanation.Among Fig. 1,1 is the near front wheel of battery-driven car, and 2 is the wheel hub motor in 1.The near front wheel 1 is coaxial with the near front wheel wheel hub motor 2, and the near front wheel 1 is captiveed joint with the outer rotor of the near front wheel wheel hub motor 2.18 carry vehicle frame (comprising stub axle and axletree) for non-spring, carry vehicle frame 18 through non-spring and couple together the active suspension 4 of the steer motor 3 of the near front wheel 1, the near front wheel inner wheel hub motor 2 and the near front wheel, the near front wheel, car load vehicle frame 5.The internal stator of the near front wheel wheel hub motor 2 is connected with the horizontal fixed axle that non-spring carries on the vehicle frame 18.3 is the steer motor of the near front wheel 1, and 4 is the active suspension of the near front wheel scalable rigidity and damping, and 5 is the car load vehicle frame, and the near front wheel steer motor 3 axially perpendicular to the ground is coaxial with stub, and the center through the near front wheel 1.
8 is the off front wheel of battery-driven car, and 6 is the steer motor of off front wheel 8, and 7 are damping and the adjustable active suspension of rigidity, and 9 is the wheel hub motor in the off front wheel 8.Off front wheel wheel hub motor 9 is coaxial with off front wheel 8; Off front wheel 8 is captiveed joint with the outer rotor of off front wheel wheel hub motor 9; The internal stator of off front wheel wheel hub motor 9 is connected with the horizontal fixed axle that non-spring carries vehicle frame 18, carries vehicle frame 18 through non-spring car load vehicle frame 5, off front wheel steer motor 6, off front wheel active suspension 7, off front wheel 8, off front wheel wheel hub motor 9 are coupled together, and guarantee the axially perpendicular to the ground of off front wheel steer motor 6; Coaxial with stub, and the center through off front wheel 8.
12 is the off hind wheel of battery-driven car, and 10 is the steer motor of off hind wheel 12, and 11 are damping and the adjustable active suspension of rigidity, and 13 is the wheel hub motor in the off hind wheel 12.Off hind wheel wheel hub motor 13 is coaxial with off hind wheel 12; Off hind wheel 12 is captiveed joint with off hind wheel wheel hub motor 13 outer rotors; Off hind wheel wheel hub motor 13 internal stators are connected with the horizontal fixed axle that non-spring carries on the vehicle frame 18; Carrying vehicle frame 18 through non-spring couples together car load vehicle frame 5, off hind wheel steer motor 10, off hind wheel active suspension 11, off hind wheel 12, off hind wheel wheel hub motor 13; And assurance off hind wheel steer motor 10 is axially perpendicular to the ground, coaxial with stub, and passes through the center of off hind wheel 12.
15 is the left rear wheel of battery-driven car, and 14 is the wheel hub motor in the left rear wheel 15.Left rear wheel wheel hub motor 14 is coaxial with left rear wheel 15; Left rear wheel 15 is captiveed joint with the outer rotor of left rear wheel wheel hub motor 14; The internal stator of left rear wheel wheel hub motor 14 is connected with the horizontal fixed axle that non-spring carries vehicle frame 18, and 16 are damping and the adjustable active suspension of rigidity, and 17 is the steer motor of left rear wheel 15; Carrying vehicle frame 18 through non-spring couples together car load vehicle frame 5, left rear wheel wheel hub motor 14, left rear wheel 15, left rear wheel active suspension 16, left rear wheel steer motor 17; And assurance left rear wheel steer motor 17 is axially perpendicular to the ground, coaxial with stub, and passes through the center of left rear wheel 15.
Each several part is coupled together through the stub that four non-springs carry on the vehicle frame 18 by car load vehicle frame 5 at last; Four-wheel independent steering, the individual drive of a control completely, the battery-driven car of independent brake have been formed; Because it has special structural characteristics, so battery-driven car proposed by the invention has a plurality of controllable degrees of freedom.
Movement relation below in conjunction with 1 pair of battery-driven car each several part of the present invention of accompanying drawing is further set forth.
In the accompanying drawing 1; The near front wheel 1 is coaxial with the near front wheel wheel hub motor 2; When driving, the near front wheel wheel hub motor 2 provides drive torque for the near front wheel 1, and the outer rotor of the near front wheel 1 and the near front wheel wheel hub motor 2 rotates around the horizontal axletree that non-spring carries on the vehicle frame 18; Produce propulsive effort between the near front wheel 1 and the ground, realize the driving of the near front wheel 1.At glancing impact, the near front wheel wheel hub motor 2 provides lock torque for the near front wheel 1, the near front wheel 1 just can and ground between produce braking force, realize the braking of the near front wheel 1.When turning to, the near front wheel 1, the near front wheel wheel hub motor 2, non-spring carry vehicle frame 18, the near front wheel active suspension 4 under the drive of the near front wheel steer motor 3, can rotate around stub (with the near front wheel steer motor 3 rotor coaxials), realize turning to of the near front wheel 1.
Off front wheel 8 is coaxial with off front wheel wheel hub motor 9; When driving; Off front wheel wheel hub motor 9 provides drive torque for off front wheel 8; The outer rotor of off front wheel 8 and off front wheel wheel hub motor 9 carries the horizontal axletree rotation on the vehicle frame 18 around non-spring, produces propulsive effort between off front wheel 8 and the ground, realizes the driving of off front wheel 8.At glancing impact, off front wheel wheel hub motor 9 provides lock torque for off front wheel 8, produces braking force between off front wheel 8 meetings and the ground, realizes the braking of off front wheel 8.When turning to, off front wheel wheel hub motor 9, off front wheel 8, non-spring carry vehicle frame 18, off front wheel active suspension 7 under the drive of off front wheel steer motor 6, can rotate around stub (with off front wheel steer motor 6 rotor coaxials), realize turning to of off front wheel 8.
Off hind wheel wheel hub motor 13 is coaxial with off hind wheel 12; When driving; Off hind wheel wheel hub motor 13 provides drive torque for off hind wheel 12; The outer rotor of off hind wheel 12 and off hind wheel wheel hub motor 13 carries the horizontal rotational shaft on the vehicle frame 18 around non-spring, produces propulsive effort between off hind wheel 12 and the ground, realizes the driving of off hind wheel 12.At glancing impact, off hind wheel wheel hub motor 13 provides lock torque for off hind wheel 12, produces braking force between off hind wheel 12 and the ground, realizes the braking of off hind wheel 12.When turning to, off hind wheel active suspension 11, off hind wheel 12, off hind wheel wheel hub motor 13, non-spring carry vehicle frame 18 under the drive of off hind wheel steer motor 10, can rotate around stub (with off hind wheel steer motor 10 rotor coaxials), realize turning to of off hind wheel 12.
Left rear wheel wheel hub motor 14 is coaxial with left rear wheel 15; When driving; Left rear wheel wheel hub motor 14 provides drive torque for left rear wheel 15; The outer rotor of left rear wheel 15 and left rear wheel wheel hub motor 14 carries the horizontal axletree rotation on the vehicle frame 18 around non-spring, produces propulsive effort between left rear wheel 15 and the ground, realizes the driving of left rear wheel 15.At glancing impact, left rear wheel wheel hub motor 14 provides lock torque for left rear wheel 15, and left rear wheel 15 will produce braking force between the ground, realizes the braking of left rear wheel 15.When turning to, left rear wheel wheel hub motor 14, left rear wheel 15, left rear wheel active suspension 16, non-spring carry vehicle frame 18 under the drive of left rear wheel steer motor 17, can rotate around stub (with left rear wheel steer motor 17 rotor coaxials), realize turning to of left rear wheel 15.
Be described further below in conjunction with 2 pairs of variable steering characteristics of accompanying drawing principle.During operation; The corner of chaufeur direction of passage dish input certain value; Comprehensive Control factors such as the cornering properties of consideration driver personal characteristic hobby and car load road-holding property; Steering controller will reasonably be set and transmitting ratio K1, K2, K3, the K4 of the corner of assign direction dish corner to four wheel according to certain algorithm, realize four wheels target rotation angle separately.
Be described further below in conjunction with 3 pairs of variable adding of accompanying drawing/decelerating behavior principle.During operation; The pedal displacement that the chaufeur input is certain; Comprehensive Control factors such as the accelerating performance of consideration driver personal hobby and car load road-holding property; Driving governor will be displaced to proportionate relationship K5, K6, K7, the K8 of the propulsive effort of four wheels according to setting rationally of certain algorithm and distribution acceleration pedal, realize the target drive force of four wheels.
Be described further below in conjunction with 4 pairs of variable braking characteristics of accompanying drawing principle.During operation; The brake pedal displacement that the chaufeur input is certain; Comprehensive Control factors such as the braking characteristics of consideration driver personal hobby and car load road-holding property; Proportionate relationship K9, K10, K11, the K12 of braking pedal displacement to four wheel braking force will reasonably set and distribute to brake controller according to certain algorithm, realize the target braking force of four wheels.
Principle below in conjunction with the active suspension of 5 pairs of stiffness variables of accompanying drawing and damping is described further.During operation; Four wheels can bear certain car weight load and impact from ground-surface; Consider driving, the braking (propulsive effort of four wheels and braking force directly receive the influence of four wheel vertical loads) of traveling comfort and four wheels of chaufeur; Control factors such as car load lateral deviation, the rigidity and the damping of four active suspensions can reasonably set and distribute to the active suspension controller according to certain algorithm, realizes the optimal value of four active suspension rigidity and damping.
Above argumentation only is the preferred embodiments of the present invention, is in order to explain and to explain, is not the restriction to the present invention itself.The present invention is not limited to specific embodiment disclosed herein, and is confirmed by following claim.In addition, the record relevant with certain embodiments in front the description can not be interpreted as the restriction to the definition of the term that uses in scope of the present invention or the claim.Various other various embodiment and the various distortion of disclosed embodiment it will be apparent to those skilled in the art that.But all do not deviate from these embodiment, change and distortion that the present invention conceives basically all in the scope of accompanying claims.
Claims (10)
1. battery-driven car is controlled in all fronts with variable mechanical characteristic; It comprises that a plurality of wheels, a plurality of wheel hub motor, a plurality of steer motor, a plurality of active suspension, a car load vehicle frame and a plurality of non-spring carry vehicle frame; It is characterized in that; Said battery-driven car is many wheel individual drive, independent steering, independent brake, independent active suspension, and it has a plurality of controllable degrees of freedom.
2. control battery-driven car in all fronts as claimed in claim 1 is characterized in that,
Described wheel comprises the near front wheel (1), off front wheel (8), left rear wheel (15), off hind wheel (12);
Described wheel hub motor comprises the near front wheel wheel hub motor (2), off front wheel wheel hub motor (9), left rear wheel wheel hub motor (14), off hind wheel wheel hub motor (13);
Described steer motor comprises the near front wheel steer motor (3), off front wheel steer motor (6), left rear wheel steer motor (17), off hind wheel steer motor (10);
Described active suspension comprises the near front wheel active suspension (4), off front wheel active suspension (7), left rear wheel active suspension (16), off hind wheel active suspension (11).
3. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that the near front wheel (1) is coaxial with the near front wheel wheel hub motor (2), all be installed on non-spring and carry on the horizontal axletree of vehicle frame (18); The near front wheel wheel hub motor (2) outer rotor is captiveed joint with the near front wheel (1); Internal stator is connected with horizontal fixed axle, and the near front wheel (1) can rotate freely around horizontal axletree, realizes the driving and the braking of the near front wheel (1); The stub axle that non-spring carries vehicle frame (18) is connected on the car load vehicle frame (5), and can rotate freely around the stub axle; The near front wheel steer motor (3) external stator is fixed on the car load vehicle frame (5), and internal rotor is coaxial with the stub axle, and couples together through attaching parts, drives the rotation of stub axle, realizes turning to of the near front wheel (1); The near front wheel active suspension (4) is installed in stub axle below, and its rigidity and damping can require the adjustment size according to control.
4. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that off front wheel (8) is coaxial with off front wheel wheel hub motor (9), all be installed on non-spring and carry on the horizontal axletree of vehicle frame (18); Off front wheel wheel hub motor (9) outer rotor is captiveed joint with off front wheel (8); Internal stator is connected with horizontal fixed axle, and off front wheel (8) can rotate freely around horizontal axletree, realizes the driving of off front wheel (8) and turns to; The stub axle that non-spring carries vehicle frame (18) is connected on the car load vehicle frame (5), and can rotate freely around the stub axle; The near front wheel steer motor (6) external stator is fixed on this vehicle carriage (5), and internal rotor is coaxial with the stub axle, and couples together through attaching parts, drives the rotation of stub axle, realizes turning to of off front wheel (8); Off front wheel active suspension (7) is installed in stub axle below, and its rigidity and damping can require the adjustment size according to control.
5. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that off hind wheel (12) is coaxial with off hind wheel wheel hub motor (13), all be installed on non-spring and carry on the horizontal axletree of vehicle frame (18); Off hind wheel wheel hub motor (13) outer rotor is captiveed joint with off hind wheel (12); Internal stator is connected with horizontal fixed axle, and off hind wheel (12) can rotate freely around horizontal axletree, realizes the driving of off hind wheel (12) and turns to; The stub axle that non-spring carries vehicle frame (18) is connected on the car load vehicle frame (5), and can rotate freely around the stub axle; Off hind wheel steer motor (10) external stator is fixed on this vehicle carriage (5), and internal rotor is coaxial with the stub axle, and couples together through attaching parts, drives the rotation of stub axle, realizes turning to of off hind wheel (12); Off hind wheel active suspension (11) is installed in stub axle below, and its rigidity and damping can require the adjustment size according to control.
6. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that left rear wheel (15) is coaxial with left rear wheel wheel hub motor (14), all be installed on non-spring and carry on the horizontal axletree of vehicle frame (18); Left rear wheel wheel hub motor (14) outer rotor is captiveed joint with left rear wheel (15); Internal stator is connected with horizontal fixed axle, and left rear wheel (15) can rotate freely around horizontal axletree, realizes the driving of left rear wheel (15) and turns to; The stub axle that non-spring carries vehicle frame (18) is connected on the car load vehicle frame (5), and can rotate freely around the stub axle; Left rear wheel steer motor (17) external stator is fixed on this vehicle carriage (5), and internal rotor is coaxial with the stub axle, and couples together through attaching parts, drives the rotation of stub axle, realizes turning to of left rear wheel (15); Left rear wheel active suspension (16) is installed in stub axle below, and its rigidity and damping can require the adjustment size according to control.
7. control battery-driven car in all fronts as claimed in claim 1 is characterized in that, that each wheel and stub orientation angle all are designed to is zero, stub is worn the place and passed through wheel center.
8. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that; Each wheel vertical/vertically/side force is controlled amounts, so driving that can each wheel of reasonable distribution, the deflection angle of each wheel; The vertical load of each wheel makes battery-driven car under various operating modes, all have maximum stability margin.
9. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that; The cornering properties of said all fronts control battery-driven car, add/decelerating behavior, braking characteristics variable fully, do not receive the restriction of traditional vehicle mechanical system, can realize the design concept of " car adapts to the people ".
10. control battery-driven car in all fronts as claimed in claim 1; It is characterized in that each wheel of said all fronts control battery-driven car is coaxial with corresponding wheel hub motor, all is installed on non-spring and carries on the horizontal axletree of vehicle frame (18); Wheel wheel hub motor outer rotor is captiveed joint with wheel; Internal stator is connected with horizontal fixed axle, and wheel can rotate freely around horizontal axletree, realizes the driving of wheel and turns to; The stub axle that non-spring carries vehicle frame (18) is connected on the car load vehicle frame (5), and can rotate freely around the stub axle; Wheel steering motor external stator is fixed on this vehicle frame (5), and internal rotor is coaxial with the stub axle, and couples together through attaching parts, drives the rotation of stub axle, realizes turning to of each wheel; The active suspension of wheel is installed in stub axle below, and its rigidity and damping can require the adjustment size according to control.
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| CN201210033802.3A CN102582416B (en) | 2012-02-16 | 2012-02-16 | Full line control electric vehicle with variable kinetic characteristics |
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| CN105292251A (en) * | 2015-11-11 | 2016-02-03 | 吉林大学 | Four-wheel steering system for automobile |
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| CN112477853A (en) * | 2020-11-11 | 2021-03-12 | 南京航空航天大学 | Vehicle longitudinal-vertical integrated control system and method equipped with non-inflatable wheels |
| CN112477853B (en) * | 2020-11-11 | 2022-06-28 | 南京航空航天大学 | Vehicle vertical-vertical integrated control system and method provided with non-inflatable wheels |
| CN114683867A (en) * | 2020-12-25 | 2022-07-01 | 阿里巴巴集团控股有限公司 | Wheel hub motor, tire, vehicle and braking method thereof |
| CN115158455A (en) * | 2022-08-23 | 2022-10-11 | 奇瑞汽车股份有限公司 | Control method and device of rear wheel active steering system, vehicle and storage medium |
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