CN102582416B - 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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- CN102582416B CN102582416B CN201210033802.3A CN201210033802A CN102582416B CN 102582416 B CN102582416 B CN 102582416B CN 201210033802 A CN201210033802 A CN 201210033802A CN 102582416 B CN102582416 B CN 102582416B
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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 and control elec. vehicle, more particularly, the present invention relates to the elec. vehicle (hereinafter referred to as controlling battery-driven car completely) of a kind of four motorized wheels of all fronts control with variable mechanical characteristic, independent steering, independent brake, independent active suspension.
Background technology
Traditional automobile (take fuel oil as fuel, using driving engine as the vehicle of propulsion source) after dispatching from the factory and becoming product, in trouble-proof situation, can guarantee that automobile travels according to the wish of chaufeur, namely vehicle can provide certain output response according to the input of the dynamics of vehicle to chaufeur itself, comprise turn to, plus/minus speed, braking.Namely, after vehicle itself becomes product, under the condition not considering the fault of car own and driving environment, the dynamic response of automobile should be fixing.But for different chaufeurs, there is different driving styles and demand, comprise cornering properties, plus/minus speed characteristic, braking characteristics.Therefore, for traditional vehicle, the dynamics of vehicle cannot deacclimatize driving style and the demand of each chaufeur; Chaufeur must deacclimatize the different dynamic characteristic of different car, and makes adaptation to characteristic difference and compensate, thus ensures that different automobiles can by considering that the secure path of chaufeur wish travels under different operating modes.This causes very large burden to chaufeur, thus have impact on drive safety and the driver comfort of automobile, and cannot accomplish the adaptation to driver's personalized driving style and demand.In addition, the suspension system mainly passive suspension of conventional truck, can not control to provide auxiliary control kinetically for the stability of automobile, and the current research for battery-driven car is still centered around the stability control method of traditional vehicle, and the control algorithm of wheel hub motor battery-driven car in fact of new generation and traditional vehicle should have very large difference.Current battery-driven car research and development do not give full play of the constructional feature of battery-driven car of new generation and the advantage such as controllable degrees of freedom is many.
Summary of the invention
The present invention is intended to solve the dynamics of conventional truck, comprises plus/minus speed characteristic, drawback that cornering properties, braking characteristics, suspension performance can not change according to the driving style of chaufeur and demand.For these drawbacks, the present invention proposes the brand-new battery-driven car of the four motorized wheels of a kind of all fronts control, independent steering, independent brake, independent active suspension.The all fronts control of battery-driven car is embodied in the turning to of chaufeur, accelerates, brake operation is only produce corresponding operation signal, do not directly act on corresponding actuating unit, for steering swivel system, the input corner of chaufeur is collected by rotary angle transmitter, and pass to steering controller, by steering controller according to predetermined algorithm, control four steer motor and realize certain corner.For drive system, gathered the pedal displacement of electronic accelerator pedal by driving governor, controller, according to predetermined algorithm, controls four wheel hub motors and realizes certain drive current.For brake system, gathered the pedal displacement signal of electronic brake pedal by brake controller, controller, according to predetermined algorithm, controls four braking motors (being drive hub motor during driving) and realizes certain braking force.The variable mechanical characteristic of battery-driven car realizes on the physical construction basis of the uniqueness of battery-driven car.The present invention mainly can only front-wheel steering based on traditional vehicle, and transmitting ratio is fixed, accelerating performance also cannot change after dispatching from the factory, braking characteristics cannot make adaptive change to chaufeur style, suspension performance cannot provide dynam to assist the shortcoming of control to vehicle stabilization control, proposes the brand-new elec. vehicle of the four motorized wheels of a kind of all fronts control, independent steering, independent brake, independent active suspension.
Battery-driven car proposed by the invention can be made up of multiple wheel, wheel hub motor is had in each wheel, each wheel hub motor is used for driving battery-driven car, braking battery-driven car, and the size of propulsive effort between each wheel or braking force is separate, can according to the propulsive effort of each wheel of demand for control reasonable distribution or braking force, the i.e. relation of the displacement of acceleration pedal and the propulsive effort of four wheels, the relation of brake pedal displacement and wheel braking force, all can adjust at any time according to demand for control, reach the driving effect that battery-driven car more meets individual requirements.Each wheel is all connected on vehicle frame by axletree and stub, each stub axle connects a steer motor, the axle of each steer motor is coaxial with corresponding stub axle, and coupled together by attaching parts, each steer motor is also separate, can distribute arbitrarily the corner of four steer motor according to driving demand, namely steering handwheel is can change at any time according to control overflow to each angular drive ratio of each wheel, to complete the driving effect that chaufeur is liked.Rigidity and the adjustable active suspension of damping are installed under stub axle.The rigidity of this active suspension and damping can adjust by control overflow at any time.This shows, all fronts control battery-driven car mentioned by the present invention is by mechanical design structure as above, achieve the angular drive ratio of each wheel, the propulsive effort of each wheel, the braking force of each wheel, the damping of the suspension of each wheel and the real-time control of rigidity, achieve the multifreedom controlling of control battery-driven car completely, by the cooperation control of above multiple amount and control in real time, achieve the variable mechanical characteristic that conventional truck cannot realize.
Concrete structure feature:
The all fronts control battery-driven car that the present invention discusses adopts multiple independent wheel, and each wheel has a wheel hub motor, and the motion of each wheel hub motor is separate, and the wheel that each wheel hub motor is respective place provides propulsive effort or braking force.
The all fronts control battery-driven car that the present invention discusses adopts multiple independent wheel, and each wheel has a steer motor, and the motion of each steer motor is separate, and each steer motor is used to provide the steering angle of respective place wheel.
The all fronts control battery-driven car that the present invention discusses adopts multiple independently wheel, each wheel has a rigidity and the adjustable active suspension of damping, the rigidity of each suspension and the size of damping are separate, and the wheel that the rigidity of each suspension and damping can be place according to the control overflow of vehicle provides applicable rigidity and damping.
The wheel of automobile and stub orientation angle are all designed to zero, stub is worn place and passed through wheel center.
The present invention has following beneficial effect:
For the cornering properties of battery-driven car, freely can design force transfering characteristic and the angle transmission characteristic of the steering swivel system of battery-driven car, bring very large development space to the design of the cornering properties of automobile, a lot of control algorithm also develops thereupon.
For the plus/minus speed characteristic of battery-driven car, the characteristic relation between the acceleration pedal displacement of battery-driven car, cireular frequency and car speed, vehicle acceleration freely can be designed.
For the braking characteristics of battery-driven car, the relation between the brake pedal displacement of battery-driven car, cireular frequency and vehicle braking force, braking response speed freely can be designed.
Due to the cornering properties of completely control battery-driven car, plus/minus speed characteristic, braking characteristics completely variable, not by the restriction of traditional vehicle mechanical system, the design concept of " car adapts to people " can be realized, the automobile dynamic quality characteristic of chaufeur hobby is met under " car adaptation people " refers to normal driving cycle, namely there is personalized automobile characteristic, can mate according to different driver characteristics.
The present invention ensure that the minimal consumption of energy from structural point, for drive motor is energy-conservation, suspension energy regenerative, regenerative brake and minimize tire force control etc. control policy is energy-conservation and provide ideal platform.
Battery-driven car four wheels proposed by the invention vertical/longitudinal direction/side force is all controlled amounts, so can the driving/braking of 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 mode.
For studying the stability control criterion of battery-driven car of new generation, the real-time dynamic assignment of weight of stability and Regulation mechanism, the car load state of kinematic motion realizing stability indicator and power demand, provide desirable test and application platform.
Owing to present invention achieves multifreedom controlling, so in desirable automobile dynamic quality characteristic, minimal energy consumption, on the basis of stability and safety control method, can realize the coordination of above control algorithm, fusion, realizes car load integrating control Theories and methods.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 a is depicted as the constructional drawing (view direction for A shown in Fig. 1 b to) of control battery-driven car completely;
Fig. 1 b is the lateral plan (view direction for B shown in Fig. 1 a to) of control battery-driven car completely;
Fig. 2 is the control principle drawing of variable steering characteristic;
Fig. 3 is variable plus/minus speed characteristic (driving operating mode) control principle drawing;
Fig. 4 is variable braking characteristics (damped condition) control principle drawing;
Fig. 5 is the stiffness variable of active suspension and the control principle drawing of damping
Detailed description of the invention
Be described in further detail below in conjunction with the physical construction of accompanying drawing 1 to battery-driven car proposed by the invention.In Fig. 1,1 is the near front wheel of battery-driven car, and 2 is the wheel hub motor in 1.Coaxially, the near front wheel 1 is fixedly connected with the outer rotor of the near front wheel wheel hub motor 2 for the near front wheel 1 and the near front wheel wheel hub motor 2.18 carry vehicle frame (comprising stub axle and axletree) for non-spring, carry vehicle frame 18 steer motor 3 of the near front wheel 1, the near front wheel inner wheel hub motor 2 and the near front wheel, the active suspension 4 of the near front wheel, car load vehicle frame 5 are coupled together by non-spring.The horizontal axletree that internal stator and the non-spring of the near front wheel wheel hub motor 2 carry on vehicle frame 18 is fixedly connected with.3 is the steer motor of the near front wheel 1, and 4 is the active suspension of the adjustable rigidity of the near front wheel and damping, and 5 is car load vehicle frame, and the axis of the near front wheel steer motor 3 is perpendicular to the ground, coaxial with stub, and by the center of 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 is the adjustable active suspension of damping and rigidity, and 9 is the wheel hub motor in off front wheel 8.Off front wheel wheel hub motor 9 is coaxial with off front wheel 8, off front wheel 8 is fixedly connected with the outer rotor of off front wheel wheel hub motor 9, the horizontal axletree that internal stator and the non-spring of off front wheel wheel hub motor 9 carry vehicle frame 18 is fixedly connected with, carry vehicle frame 18 by 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 ensure that the axis of off front wheel steer motor 6 is perpendicular to the ground, coaxial with stub, and pass through the center of 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 is the adjustable active suspension of damping and rigidity, and 13 is the wheel hub motor in off hind wheel 12.Off hind wheel wheel hub motor 13 is coaxial with off hind wheel 12, off hind wheel 12 is fixedly connected with off hind wheel wheel hub motor 13 outer rotor, the horizontal axletree that off hind wheel wheel hub motor 13 internal stator and non-spring carry on vehicle frame 18 is fixedly connected with, carry vehicle frame 18 by non-spring 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 are coupled together, and ensure that the axis of off hind wheel steer motor 10 is perpendicular to the ground, coaxial with stub, and pass 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 left rear wheel 15.Left rear wheel wheel hub motor 14 is coaxial with left rear wheel 15, left rear wheel 15 is fixedly connected with the outer rotor of left rear wheel wheel hub motor 14, the horizontal axletree that internal stator and the non-spring of left rear wheel wheel hub motor 14 carry vehicle frame 18 is fixedly connected with, 16 is damping and the adjustable active suspension of rigidity, 17 is the steer motor of left rear wheel 15, vehicle frame 18 is carried by car load vehicle frame 5 by non-spring, left rear wheel wheel hub motor 14, left rear wheel 15, left rear wheel active suspension 16, left rear wheel steer motor 17 couples together, and ensure that the axis of left rear wheel steer motor 17 is perpendicular to the ground, coaxial with stub, and by the center of left rear wheel 15.
Each several part is coupled together by the last stub carried on vehicle frame 18 by four non-springs by car load vehicle frame 5, constitute the battery-driven car of the four-wheel independent steering of a control completely, individual drive, independent brake, because it has special constructional feature, so battery-driven car proposed by the invention has multiple controllable degrees of freedom.
Be further elaborated below in conjunction with the movement relation of accompanying drawing 1 to battery-driven car each several part of the present invention.
In accompanying drawing 1, the near front wheel 1 and the near front wheel wheel hub motor 2 coaxial, when driving, the near front wheel wheel hub motor 2 provides drive torque for the near front wheel 1, the horizontal axletree that the outer rotor of the near front wheel 1 and the near front wheel wheel hub motor 2 carries on vehicle frame 18 around non-spring rotates, produce propulsive effort between the near front wheel 1 and ground, realize the driving of the near front wheel 1.When braking, 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 coaxial), realize turning to of the near front wheel 1.
Off front wheel 8 and off front wheel wheel hub motor 9 coaxial, when driving, off front wheel wheel hub motor 9 provides drive torque for off front wheel 8, the horizontal axletree that the outer rotor of off front wheel 8 and off front wheel wheel hub motor 9 carries on vehicle frame 18 around non-spring rotates, produce propulsive effort between off front wheel 8 and ground, realize the driving of off front wheel 8.When braking, off front wheel wheel hub motor 9 provides lock torque for off front wheel 8, produces braking force between off front wheel 8 meeting and 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 coaxial), 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 vehicle frame 18 around non-spring, produce propulsive effort between off hind wheel 12 and ground, realize the driving of off hind wheel 12.When braking, off hind wheel wheel hub motor 13 provides lock torque for off hind wheel 12, produces braking force between off hind wheel 12 and 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 coaxial), realize turning to of off hind wheel 12.
Left rear wheel wheel hub motor 14 and left rear wheel 15 coaxial, when driving, left rear wheel wheel hub motor 14 provides drive torque for left rear wheel 15, the horizontal axletree that the outer rotor of left rear wheel 15 and left rear wheel wheel hub motor 14 carries on vehicle frame 18 around non-spring rotates, produce propulsive effort between left rear wheel 15 and ground, realize the driving of left rear wheel 15.When braking, 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 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 coaxial), realize turning to of left rear wheel 15.
Be described further below in conjunction with accompanying drawing 2 pairs of variable steering characteristic principles.During operation, chaufeur is by the corner of bearing circle input certain value, consider the Comprehensive Control factor such as the cornering properties that driver personal characteristic is liked and car load road-holding property, steering controller, by reasonably setting according to certain algorithm and assign direction dish corner transmitting ratio K1, K2, K3, K4 to the corner of four wheels, realizes four wheels target rotation angle separately.
Below in conjunction with accompanying drawing 3, variable plus/minus speed characteristic principle is described further.During operation, chaufeur inputs certain pedal displacement, consider the Comprehensive Control factor such as the accelerating performance that driver personal is liked and car load road-holding property, driving governor, by being displaced to proportionate relationship K5, K6, K7, K8 of the propulsive effort of four wheels according to certain algorithm reasonable set and distribution acceleration pedal, realizes the target drive force of four wheels.
Be described further below in conjunction with accompanying drawing 4 pairs of variable braking characteristic principles.During operation, chaufeur inputs certain brake pedal displacement, consider the Comprehensive Control factor such as the braking characteristics that driver personal is liked and car load road-holding property, brake controller, by reasonably setting according to certain algorithm and distributing braking pedal displacement to the proportionate relationship K9 of four wheel braking forces, K10, K11, K12, realizes the target braking force of four wheels.
Principle below in conjunction with the active suspension of accompanying drawing 5 pairs of stiffness variables and damping is described further.During operation, four wheels can bear certain car weight load and the impact from road surface, consider the driving of the traveling comfort of chaufeur and four wheels, braking (propulsive effort of four wheels and braking force are directly subject to the impact of four analysis of wheel vertical load), the control factors such as car load lateral deviation, Active suspension control device can reasonably set and distribute rigidity and the damping of four active suspensions according to certain algorithm, realize the optimal value of four active suspension rigidity and damping.
Above discussion is only the preferred embodiments of the present invention, and being to explain and illustrating, is not the restriction to the present invention itself.The present invention is not limited to specific embodiment disclosed herein, and is determined by claim below.In addition, the record relevant with specific embodiment in the description above can not be interpreted as the restriction of the definition to the term used in scope of the present invention or claim.Other different embodiment various of disclosed embodiment and various different distortion it will be apparent to those skilled in the art that.But all do not deviate from basic conception of the present invention these embodiments, change and distortion be all in the scope of claims.
Claims (4)
1. one kind has all fronts control battery-driven car of variable mechanical characteristic, it comprises multiple wheel, multiple wheel hub motor, multiple steer motor, multiple active suspension, a car load vehicle frame and multiple non-spring and carries vehicle frame, it is characterized in that, described battery-driven car for take turns individual drive, independent steering, independent brake, independent active suspension more, and it has multiple controllable degrees of freedom;
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);
Described each wheel and stub orientation angle are all designed to zero, stub is worn place and passed through wheel center; The near front wheel assembly arrangement structure is: the near front wheel (1) is coaxial with the near front wheel wheel hub motor (2), all being installed on non-spring carries on the horizontal axletree of vehicle frame (18), the near front wheel wheel hub motor (2) outer rotor is fixedly connected with the near front wheel (1), internal stator is fixedly connected with horizontal axletree, the near front wheel (1) can rotate freely around horizontal axletree, realizes driving and the braking of the near front wheel (1); The stub axle that non-spring carries vehicle frame (18) is connected on car load vehicle frame (5), and can rotate freely around stub axle; The near front wheel steer motor (3) external stator is fixed on car load vehicle frame (5), and internal rotor is coaxial with stub axle, and is coupled together by attaching parts, drives stub axle to rotate, realizes turning to of the near front wheel (1); The near front wheel active suspension (4) is arranged on below stub axle, and its rigidity and damping can adjust size according to control overflow.
2. battery-driven car is controlled in all fronts as claimed in claim 1, it is characterized in that, off front wheel assembly comprises off front wheel (8), off front wheel wheel hub motor (9), off front wheel steer motor (6), off front wheel active suspension (7), and off front wheel assembly is arranged in non-spring in the mode identical with the near front wheel assembly and carries on vehicle frame (18) and car load vehicle frame (5);
Off hind wheel assembly comprises off hind wheel (12), off hind wheel wheel hub motor (13), off hind wheel steer motor (10), off hind wheel active suspension (11), and off hind wheel assembly is arranged in non-spring in the mode identical with the near front wheel assembly and carries on vehicle frame (18) and car load vehicle frame (5);
Left rear wheel assembly comprises left rear wheel (15), left rear wheel wheel hub motor (14), left rear wheel steer motor (17), left rear wheel active suspension (16), and left rear wheel assembly is arranged in non-spring in the mode identical with the near front wheel assembly and carries on vehicle frame (18) and car load vehicle frame (5).
3. battery-driven car is controlled in all fronts as claimed in claim 1, it is characterized in that, each wheel vertical/longitudinal direction/side force is controlled amounts, and each controlling quantity can freely control, so can the driving/braking of each wheel of reasonable distribution, the deflection angle of each wheel, the vertical load of each wheel, makes battery-driven car all have maximum stability margin under various operating mode.
4. battery-driven car is controlled in all fronts as claimed in claim 1, it is characterized in that, the cornering properties of described all fronts control battery-driven car, plus/minus speed characteristic, vertical force characteristic completely variable, not by the restriction of traditional vehicle mechanical system, makes the design concept of Full Vehicle Dynamics characteristic conforms " car adapts to people ".
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN102582416A CN102582416A (en) | 2012-07-18 |
| CN102582416B true CN102582416B (en) | 2015-05-13 |
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| CN201210033802.3A Expired - Fee Related CN102582416B (en) | 2012-02-16 | 2012-02-16 | Full line control electric vehicle with variable kinetic characteristics |
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| WO2020160718A1 (en) * | 2019-02-07 | 2020-08-13 | Schaeffler Technologies AG & Co. KG | Method for carrying out an emergency braking function of a vehicle |
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| 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 |
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