CN102627068B - Control method for wheel hub motor type hybrid electric vehicle - Google Patents
Control method for wheel hub motor type hybrid electric vehicle Download PDFInfo
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- CN102627068B CN102627068B CN201210099371.0A CN201210099371A CN102627068B CN 102627068 B CN102627068 B CN 102627068B CN 201210099371 A CN201210099371 A CN 201210099371A CN 102627068 B CN102627068 B CN 102627068B
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Abstract
The invention discloses a control method of a wheel hub motor type hybrid electric vehicle. Both sides of a vehicle rear axle are respectively provided with a carbon brush group. A clutch is arranged between a shell and a rear axle of the wheel hub motor. An axle braking device is mounted on the rear axle. A magnetic induction wheel speed sensor is installed beside each wheel. A gear control device is arranged on an automatic transmission vehicle. Signals of the magnetic induction wheel speed sensors, a steering sensor, a front camera, a front radar, a rear camera, a rear radar, a satellite navigator, a throttle detection device, a brake pedal detection device and the like are input into a wireless internet access computer; and output control lines of the wireless internet access computer are respectively connected to a main controller and a special controller. Output lines of the special controller are respectively connected to a motor controller, an energy recovery converter, an electronically controlled clutch or a hydraulic clutch, the gear control device, the axle braking device, an electric oil pump and the like. An output line of the motor controller is connected to the wheel hub motor, and an output line of the energy recovery converter is connected to an energy recovery relay battery and a storage battery.
Description
Technical field:
The present invention relates to a kind of control method with the Wheel hub motor type hybrid electric vehicle of Function for Automatic Pilot of hybrid vehicle class.
Background technology:
Application number 2011100466154 " Wheel hub motor type hybrid electric vehicle based on orthodox car transformation " application for a patent for invention is pointed out, this hybrid vehicle comprises orthodox car and on orthodox car, adds the dedicated control system of the composition such as throttle and brake pedal position detecting device, nonshared control unit, electric machine controller, energy regenerating relaying battery, energy recovery converter, language prompting apparatus, gear detection device, servo steering device.Increase an electric oil pump, the wheel hub of four wheels uses desk permanent-magnet brushless direct-current double acting wheel hub motor.This hybrid vehicle has three kinds of mode of operations: pure electronic mode of operation, pure engine working mode and hybrid electric working pattern.So-called pure electronic mode of operation refers in such a mode, and nonshared control unit is by the rotation of motor controller controls wheel hub motor.The electric oil pump that battery pack drives when driving engine does not run, can give the operation power of hydraulic braking and hydraulic power-assisted steering.Automobile can realize car deceleration by regenerative braking mode, also can carry out sudden stop by the composite brakig of regenerative braking and hydraulic braking.Regenerative braking controls electric machine controller and energy recovery converter by nonshared control unit, the electric energy that two wheel hub motors are sent, to the charging of energy regenerating relaying battery, then realizes energy regenerating with the electric energy in energy regenerating relaying battery by the charging of energy recovery converter accumulators group.During motor turning, rotation direction sensor sender is to angle signal to nonshared control unit, and nonshared control unit is coordinated by the speed discrepancy that the voltage that electric machine controller adjusts two front wheel hub motors adjusts two front-wheels and turns to, and realizes electronic differential.So-called pure engine working mode refers under this mode of operation, and only with engine-driven car, this runs identical with orthodox car.Be with the difference of orthodox car: under pure engine working mode, can car deceleration made by regenerative braking and carry out sudden stop by the composite brakig of regenerative braking, hydraulic braking.So-called hybrid electric working pattern refers in such a mode, and wheel hub motor and driving engine carry out combination drive according to the job procedure set.Described job procedure refers to that elder generation provides power by wheel hub motor when automobile starting, and this stage belongs to pure electronic mode of operation.After car speed reaches setting value, nonshared control unit transmits start the engine signal to master controller, is switched to pure engine working mode.Automobile can slow down with regenerative braking and use regenerative braking, the composite brakig of hydraulic braking carrys out sudden stop.In each mode handover procedure, realize switching under being controlled by the cooperation of gear detection device, throttle and brake pedal position detecting device, nonshared control unit, language prompting apparatus and display plotter.In addition can also directly with the charging of civil power accumulators group.
The trailing wheel of this Wheel hub motor type hybrid electric vehicle employs desk permanent-magnet brushless direct-current double acting wheel hub motor.We know that engine-driven car rear axle rotates and realize automobile back wheel rotation; But the stator of two of Wheel hub motor type hybrid electric vehicle rear-wheel hub motors is fixed on rear axle, rotor is fixed on tire.When two rear-wheel hub motors drive two rear wheel, require that the stator be fixed on rear axle of automobile is static and rotor turns that is that be fixed on rear tyre.Thus be directly unpractical with desk permanent-magnet brushless double acting wheel hub motor automobile back wheel.In any case we know that two rear wheel rotation speed of plug-in hybrid-power automobile are identical.Even if we pass into the direct current (DC) of identical voltage, pass into the direct current (DC) of identical voltage to two rear-wheel hub motors to two front wheel hub motors, if the resistance that the resistance that two front-wheels run into is different, two trailing wheels run into is different, so the rotating speed of two front-wheels or two trailing wheels is just different.Drive this automobile to travel on rugged highway, can right pendulum be shaken on a left side, traffic police sees that also thinking is " drunk driving ".In addition, the carless automatic protection functions of this automobile and Function for Automatic Pilot.But the U.S. has developed driverless operation military truck, and it can follow the running car that outrunner's work is driven.The present invention has the following advantages compared with plug-in hybrid-power automobile: the driving engine of plug-in hybrid-power automobile and two electrical motors are unified into an entirety by power-transfer clutch, and bulky, cost is high.At present, the plug-in hybrid-power automobile price after buying state subsidies adds that the expense in useful life after saving fuel oil is still greater than the fuel cost that the price buying general-utility car adds general-utility car in useful life; Namely buy plug-in hybrid-power automobile uneconomical.
Summary of the invention:
The present invention can overcome the defect of the above-mentioned Wheel hub motor type hybrid electric vehicle based on orthodox car transformation.
Wheel hub motor type hybrid electric vehicle of the present invention, it is transformed by existing Wheel hub motor type hybrid electric vehicle, have the basic structure of existing Wheel hub motor type hybrid electric vehicle.And existing Wheel hub motor type hybrid electric vehicle is transformed by orthodox car, it with the addition of throttle detecting device and brake pedal detecting device, master controller, nonshared control unit, electric machine controller, wheel hub motor, energy regenerating relaying battery, energy recovery converter, electric oil pump, wheel brake equipment, rotation direction sensor, servo steering device, motorized adjustment fuel tap, front camera, front radar, rear camera, rear radar, satellite navigator and wireless Internet access computer on orthodox car.The transmission gear both sides of automobile hind axle are equipped with carbon brush group respectively, and electric control clutch, hydraulic clutch or overriding clutch are housed between the rotor case of wheel hub motor and automobile hind axle.Automobile hind axle is equipped with shaft brake device, and magnetic induction wheel speed sensor is all equipped with on four wheel sides.Automatic catch automobile is equipped with gear controller.Wireless Internet access computer is built with automatic Pilot software.The signals such as magnetic induction wheel speed sensor and rotation direction sensor, front camera, front radar, rear camera, rear radar, satellite navigator, throttle detecting device, brake pedal detecting device are input on wireless Internet access computer.The output control line group of wireless Internet access computer is received on master controller, nonshared control unit respectively.On the device such as electric machine controller, energy recovery converter, electric control clutch or hydraulic clutch, carbon brush group, gear controller, shaft brake device, electric oil pump that the output line of nonshared control unit is received respectively.The output line of electric machine controller is received on wheel hub motor, and the output line of energy recovery converter is received on energy regenerating relaying battery and battery pack.
Magnetic induction wheel speed sensor comprises: be contained in several permanent magnet on wheel and be fixed on car chassis near rear wheel and the magnetic induction electronic element that is fixed near the place of front vehicle wheel on vehicle front axle.
Hydraulic clutch forms by determining friction lining, movable friction plate, power-transfer clutch base, annular hydraulic jack, clutch spring, moving sheet, connection pipe, Hydraulic Pump, rubber hydraulic pressure oil sac, check valve, two-bit triplet electromagnetic valve, micro-switch and clutch outer member.The structure of hydraulic clutch is as follows: determine friction lining and be fixed on wheel hub motor rotor case, and determining the automobile hind axle outside friction lining fixes power-transfer clutch base, movable friction plate is enclosed within power-transfer clutch base, friction face is pressed in and determines on friction lining.Being fixed on by the oil cylinder of annular hydraulic jack leaves on the power-transfer clutch base of certain distance outside movable friction plate, the side of moving sheet is fixedly connected with the piston of annular hydraulic jack, moving sheet is enclosed within power-transfer clutch base, clutch spring is enclosed within annular hydraulic jack, one end of clutch spring is fixed on the oil cylinder of annular hydraulic jack, the other end is pressed in outside movable friction plate, connection pipe is enclosed within clutch spring, connection pipe one end is fixed on movable friction plate, the other end is fixed on moving sheet, on the automobile hind axle outside moving sheet, micro-switch is housed, Hydraulic Pump and rubber hydraulic pressure oil sac are also fixed on automobile hind axle, the parts of hydraulic clutch are covered on the inside by clutch outer member.
Carbon brush group is made up of bucket case, stabilizing spring, brush-box, multiple carbon brush, multiple carbon-brush spring, multiple copper ring and bench insulator.Bucket case is contained on car chassis.Epimere and the bucket case mouth of brush-box are suitable, stabilizing spring is pressed in bucket case by brush-box.Brush-box is furnished with a carbon-brush spring built with each carbon brush of multiple carbon brush.Multiple copper ring is contained on bench insulator insulated from each otherly, and bench insulator is enclosed within rear axle regularly, and each carbon brush of carbon brush group is pressed on corresponding copper ring respectively.
Gear controller is made up of the gear motor with reducing gearbox, output gear, arc-shaped rack, gear lever and driving switch.The output gear of the gear case of gear motor engages with the arc-shaped rack be fixed on gear lever, and the rotation of the output gear of the gear case of gear motor drives the arc-shaped rack be fixed on gear lever to rotate thus drives gear lever to rotate.The rotation of gear lever drives driving switch to rotate.
Wheel hub motor type hybrid electric vehicle has three kinds of mode of operations: pure electronic mode of operation, pure engine working mode, hybrid electric working pattern.Wheel hub motor type hybrid electric vehicle control method has pilot steering and automatic Pilot.
So-called pure electronic mode of operation refers in such a mode, and chaufeur sends instruction by wireless Internet access computer to nonshared control unit, and nonshared control unit is by the rotation of motor controller controls wheel hub motor.Shaft brake device energising is by rear axle locking.Make the rotor of the wheel hub motor of energising can around the stator rotation be fixed on rear axle by the energising adhesive of the conduction electric control clutch of carbon brush group or overriding clutch; Or the hydraulic oil in rubber hydraulic pressure oil sac is extracted out by the Hydraulic Pump energising of hydraulic clutch, and the normal closed gate opening two-bit triplet electromagnetic valve from energising through check valve is pressed into hydraulic oil in the oil cylinder of annular hydraulic jack.Annular piston promotion moving sheet moves, by connection pipe, movable friction plate is left determines friction lining.Moving sheet stops the electricity of Hydraulic Pump after encountering micro-switch, check valve stops the hydraulic oil in the oil cylinder of annular hydraulic jack to flow back to rubber hydraulic pressure oil sac, makes the rotor of the wheel hub motor of energising around the stator rotation be fixed on rear axle.The electric oil pump that battery pack drives when driving engine does not run, can give the operation power of hydraulic braking and hydraulic power-assisted steering.Automobile can realize car deceleration by regenerative braking mode, also can carry out sudden stop by regenerative braking and the composite brakig of the hydraulic braking of wheel brake equipment.Regenerative braking controls electric machine controller and energy recovery converter by nonshared control unit, the electric energy that wheel hub motor is sent, to the charging of energy regenerating relaying battery, then realizes energy regenerating with the electric energy in energy regenerating relaying battery by the charging of energy recovery converter accumulators group.During motor turning rotation direction sensor sender to angle signal to wireless Internet access computer, wireless Internet access computer sends instruction to nonshared control unit, the speed discrepancy that nonshared control unit adjusts two front vehicle wheels by the voltage that electric machine controller adjusts two front wheel hub motors coordinates motor turning, realizes electronic differential.In the electronic differential process that automobile travels under the driving of wheel hub motor, regenerative braking and cooperation turn to, all can use magnetic induction wheel speed sensor detect each wheel rotating speed and signal transmission to wireless Internet access computer; Wireless Internet access computer, through nonshared control unit, the rotating speed adjusting each wheel hub motor again through electric machine controller, realizes automobile balance and travels or stop.
So-called pure engine working mode refers under this mode of operation, and only with engine-driven car, this runs identical with orthodox car.Be with the difference of orthodox car: getting online without being tethered to a cable before automobile starting, computer makes shaft brake device dead electricity by nonshared control unit, the rear axle of locking unclamps, electric control clutch or the release of hydraulic clutch dead electricity, clutch spring or overriding clutch make the rotor of wheel hub motor and rear axle be integrated.Hydraulic oil in the oil cylinder of annular hydraulic jack flows back to rubber hydraulic pressure oil sac by the normally open valve door of the two-bit triplet electromagnetic valve of dead electricity.Under pure engine working mode, can car deceleration be made by regenerative braking and carry out sudden stop by the composite brakig of the hydraulic braking of regenerative braking, wheel brake equipment.Automobile do regenerative braking slow down or regenerative braking, wheel brake equipment the composite brakig of hydraulic braking carry out sudden stop time, all detect the rotating speed of each wheel with magnetic induction wheel speed sensor, and by signal transmission to wireless Internet access computer; Wireless Internet access computer adjusts the rotating speed of each wheel through nonshared control unit and electric machine controller, ensures that automobile balance slows down and stops.
So-called hybrid electric working pattern refers in such a mode, and the job procedure that wheel hub motor and driving engine utilize wireless Internet access computer software to set carries out combination drive.Described job procedure refers to that elder generation provides power by wheel hub motor when automobile starting, and this stage belongs to pure electronic mode of operation; After car speed reaches setting value, wireless Internet access computer transmits start the engine signal to master controller, is switched to pure engine working mode.When automobile is climbed with In-wheel motor driving two front vehicle wheels, drive two rear wheels by low engine speed.Automobile can slow down with regenerative braking and use the composite brakig of the hydraulic braking of regenerative braking, wheel brake equipment to carry out sudden stop, and electronic differential also can be utilized to assist motor turning.
So-called pilot steering refers to that automobile computer of getting online without being tethered to a cable under driver's operation controls automotive operation by master controller and nonshared control unit, and hand behaviour wheel steering, pin step on the accelerator or brake pedal, pull gear lever.Automobile under driver's operation can be pure electronic mode of operation, pure engine working mode and hybrid electric working pattern.
After so-called automatic Pilot refers to the destination that chaufeur inputs running car and drive manner, the information such as information and the front camera of automobile, front radar, rear camera, rear radar, driving switch, car speed sensor, magnetic induction wheel speed sensor, rotation direction sensor, throttle detecting device and brake pedal detecting device of the automobile position that wireless Internet access computer provides according to the electronic communication figure in city, place, traffic congestion road information, satellite navigator, carrys out autonomous driving vehicle by master controller, nonshared control unit, electric machine controller and energy recovery converter.Satellite navigator provides the position of automobile departure place, from electronic communication figure, find destination, and can select according to traffic congestion road information wireless Internet access computer the optimum line arriving destination.The traffic light signal image of the traffic warning board of ' seeing ', guideboard and cross roads can be input in wireless Internet access computer by the front camera of automobile top.The images such as the Road on the road surface of ' seeing ', zebra crossing, single yellow line, double amber lines, turning sign can be input in wireless Internet access computer by the lower front camera of automobile, and the information such as the distance of the speed of front and back automobile and maintenance can be passed to wireless Internet access computer by front radar and rear radar.Automatic gear car is got online without being tethered to a cable computer according to traffic warning board speed limit scope, utilize gear controller to shift gears and adjust motorized adjustment fuel tap to control the speed of running car.Wireless Internet access computer, according to guideboard and sign of turning, utilizes servo steering device and electronic differential speed steering.Wireless Internet access computer selects regenerative braking or sudden stop according to the information of front radar and lower front camera.
Suddenly blow out when driving under so-called protection automatically refers to running car, automobile can be turned to the side of blowing out, and will have an accident if the too fast chaufeur of the speed of a motor vehicle has little time to beat bearing circle.Now according to lower front camera, wireless Internet access computer ' can see ' that automobile departs from the situation of the Road on road surface, utilize electronic differential to regulate the rotating speed of two front vehicle wheels to adjust automobile steering, situation about simultaneously providing according to front radar and rear radar adopts wheel brake equipment hydraulic braking and regenerative braking to carry out sudden stop to two rear wheels.Have people or thing nearby before jejune chaufeur is found when the speed of a motor vehicle is fast, should touch on the brake but step on the accelerator, to thrust into or thing causes the accident.Front camera now in the present invention, front radar input to wireless Internet access computer there being the signal of people or thing above, and wireless Internet access computer will cut off oil circuit and sudden stop by master controller and nonshared control unit, avoid the generation of accident.After being detected by rear radar and rear camera during reversing automobile and observing, with In-wheel motor driving two front vehicle wheels, chaufeur steering wheel rotation servo steering device turns to and by rotation direction sensor electronic differential speed steering.
Driving engine in the present invention is common engine, and volume is little, technology maturation, and production lot is large, and the simple cost of structure is low; Produce the technology maturation of wheel hub motor, cost is also low.
Accompanying drawing illustrates:
Below in conjunction with the drawings and specific embodiments, concrete detailed description is further done to the present invention.
Fig. 1 is structure principle chart of the present invention.
Fig. 2 is A-A cutaway view of the present invention.
Fig. 3 is B-B cutaway view of the present invention.
Fig. 4 is the constructional drawing of gear controller of the present invention.
Fig. 5 is electric control theory figure of the present invention.
Detailed description of the invention:
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Wheel hub motor type hybrid electric vehicle of the present invention, it is transformed by existing Wheel hub motor type hybrid electric vehicle, have the basic structure of existing Wheel hub motor type hybrid electric vehicle.And existing Wheel hub motor type hybrid electric vehicle is transformed by orthodox car, it with the addition of throttle detecting device 18 and brake pedal detecting device 19, master controller 2, nonshared control unit 3, electric machine controller 4, wheel hub motor 14, energy regenerating relaying battery 15, energy recovery converter 5, electric oil pump 12, takes turns brake equipment 10, rotation direction sensor 20, servo steering device 9, motorized adjustment fuel tap 13, front camera 21, front radar 22, rear camera 23, rear radar 24, satellite navigator 17 and wireless Internet access computer 1 on orthodox car.The transmission gear both sides of automobile hind axle 27 are equipped with carbon brush group 7 respectively, and electric control clutch 6 ', hydraulic clutch 6 or overriding clutch are housed between the rotor case of wheel hub motor 14 and automobile hind axle 27.Automobile hind axle 27 is equipped with shaft brake device 11, magnetic induction wheel speed sensor 25 is all equipped with on four wheel 26 sides.Gear controller 8 automatic catch automobile is equipped with.Wireless Internet access computer 1 is built with automatic Pilot software.The signals such as magnetic induction wheel speed sensor 25 and rotation direction sensor 20, front camera 21, front radar 22, rear camera 23, rear radar 24, satellite navigator 17, throttle detecting device 18, brake pedal detecting device 19 are input on wireless Internet access computer 1.The output control line group of wireless Internet access computer 1 is received on master controller 2, nonshared control unit 3 respectively.On the device such as electric machine controller 4, energy recovery converter 5, electric control clutch 6 ' or hydraulic clutch 6, carbon brush group 7, gear controller 8, shaft brake device 11, electric oil pump 12 that the output line of nonshared control unit 3 is received respectively.The output line of electric machine controller 4 is received on wheel hub motor 14, and the output line of energy recovery converter 5 is received on energy regenerating relaying battery 15 and battery pack 16.
Shown in Fig. 1, Fig. 2, Fig. 3, magnetic induction wheel speed sensor 25 comprises: be contained in several permanent magnet on 26 wheels and be fixed on car chassis 28 near rear wheel 26 and the magnetic induction electronic element that is fixed near the place of front vehicle wheel 26 on vehicle front axle.
Shown in Fig. 1, Fig. 2, Fig. 3, hydraulic clutch 6 forms by determining friction lining, movable friction plate, power-transfer clutch base, annular hydraulic jack, clutch spring, moving sheet, connection pipe, Hydraulic Pump, rubber hydraulic pressure oil sac, check valve, two-bit triplet electromagnetic valve, micro-switch and clutch outer member.The structure of hydraulic clutch is as follows: determine friction lining and be fixed on wheel hub motor 14 rotor case, the automobile hind axle 27 determined outside friction lining fixes power-transfer clutch base, movable friction plate is enclosed within power-transfer clutch base, friction face is pressed in and determines on friction lining.Being fixed on by the oil cylinder of annular hydraulic jack leaves on the power-transfer clutch base of certain distance outside movable friction plate, the side of moving sheet is fixedly connected with the piston of annular hydraulic jack, moving sheet is enclosed within power-transfer clutch base, clutch spring is enclosed within annular hydraulic jack, one end of clutch spring is fixed on the oil cylinder of annular hydraulic jack, the other end is pressed in outside movable friction plate, connection pipe is enclosed within clutch spring, connection pipe one end is fixed on movable friction plate, the other end is fixed on moving sheet, on the automobile hind axle 27 outside moving sheet, micro-switch is housed, Hydraulic Pump and rubber hydraulic pressure oil sac are also fixed on automobile hind axle 27, the parts of hydraulic clutch 6 are covered on the inside by clutch outer member.
Shown in Fig. 1, Fig. 2, carbon brush group 7 is made up of bucket case, stabilizing spring, brush-box, multiple carbon brush, multiple carbon-brush spring, multiple copper ring and bench insulator.Bucket case is contained on car chassis 28.Epimere and the bucket case mouth of brush-box are suitable, stabilizing spring is pressed in bucket case by brush-box.Brush-box is furnished with a carbon-brush spring built with each carbon brush of multiple carbon brush.Multiple copper ring is contained on bench insulator insulated from each otherly, and bench insulator is enclosed within rear axle 27 regularly, and each carbon brush of carbon brush group 7 is pressed on corresponding copper ring respectively.
Shown in Fig. 4, gear controller 8 forms by being with the gear motor of reducing gearbox, output gear, arc-shaped rack, gear lever and driving switch.The output gear of the gear case of gear motor engages with the arc-shaped rack be fixed on gear lever, and the rotation of the output gear of the gear case of gear motor drives the arc-shaped rack be fixed on gear lever to rotate thus drives gear lever to rotate.The rotation of gear lever drives driving switch to rotate.
Wheel hub motor type hybrid electric vehicle has three kinds of mode of operations: pure electronic mode of operation, pure engine working mode, hybrid electric working pattern.Wheel hub motor type hybrid electric vehicle control method has pilot steering and automatic Pilot.
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5, so-called pure electronic mode of operation refers in such a mode, and chaufeur sends instruction to nonshared control unit 3 by wireless Internet access computer 1, and nonshared control unit 3 controls the rotation of wheel hub motor 14 by electric machine controller 4.Shaft brake device 11 is energized rear axle 27 locking.Directly make the rotor of the wheel hub motor 14 of energising can around the stator rotation be fixed on rear axle 27 by the energising adhesive of the conduction electric control clutch 6 ' of carbon brush group 7 or overriding clutch; Or the hydraulic oil in rubber hydraulic pressure oil sac is extracted out by the Hydraulic Pump energising of hydraulic clutch 6, and the normal closed gate opening two-bit triplet electromagnetic valve from energising through check valve is pressed into hydraulic oil in the oil cylinder of annular hydraulic jack.Annular piston promotion moving sheet moves, by connection pipe, movable friction plate is left determines friction lining.Moving sheet stops the electricity of Hydraulic Pump after encountering micro-switch, check valve stops the hydraulic oil in the oil cylinder of annular hydraulic jack to flow back to rubber hydraulic pressure oil sac, makes the rotor of the wheel hub motor 14 of energising around the stator rotation be fixed on rear axle 27.The electric oil pump 12 that battery pack 16 drives when driving engine does not run, can give the operation power of hydraulic braking and hydraulic pressure assisted steering device 9.Automobile can realize car deceleration by regenerative braking mode, also can carry out sudden stop by regenerative braking and the composite brakig of the hydraulic braking of wheel brake equipment 10.Regenerative braking controls electric machine controller 4 and energy recovery converter 5 by nonshared control unit 3, the electric energy that wheel hub motor 14 is sent charges to energy regenerating relaying battery 15, then realizes energy regenerating with the electric energy of 15 li, energy regenerating relaying battery by the charging of energy recovery converter 5 accumulators group 16.During motor turning rotation direction sensor 20 sender to angle signal to wireless Internet access computer 1, wireless Internet access computer 1 sends instruction to nonshared control unit 3, the speed discrepancy that nonshared control unit 3 adjusts two front vehicle wheels 26 by the voltage that electric machine controller 4 adjusts two front wheel hub motors 14 coordinates motor turning, realizes electronic differential.In the electronic differential process that automobile travels under the driving of wheel hub motor 14, regenerative braking and cooperation turn to, all can use magnetic induction wheel speed sensor 25 detect each wheel 26 rotating speed and signal transmission to wireless Internet access computer 1; Wireless Internet access computer 1, through nonshared control unit 3, the rotating speed adjusting each wheel hub motor 14 again through electric machine controller 4, realizes automobile balance and travels or stop.
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5, so-called pure engine working mode refers under this mode of operation, and only with engine-driven car, this runs identical with orthodox car.Be with the difference of orthodox car: getting online without being tethered to a cable before automobile starting, computer 1 makes shaft brake device 11 dead electricity by nonshared control unit 3, the rear axle 27 of locking unclamps, electric control clutch 6 ' or the release of hydraulic clutch 6 dead electricity, clutch spring or overriding clutch make the rotor of wheel hub motor 14 and rear axle 27 be integrated.Hydraulic oil in the oil cylinder of annular hydraulic jack flows back to rubber hydraulic pressure oil sac by the normally open valve door of the two-bit triplet electromagnetic valve of dead electricity.Under pure engine working mode, can car deceleration be made by regenerative braking and carry out sudden stop by the composite brakig of the hydraulic braking of regenerative braking, wheel brake equipment 10.Automobile do regenerative braking slow down or regenerative braking, wheel brake equipment 10 the composite brakig of hydraulic braking carry out sudden stop time, all detect the rotating speed of each wheel with magnetic induction wheel speed sensor 25, and by signal transmission to wireless Internet access computer 1; Wireless Internet access computer 1 adjusts the rotating speed of each wheel 26 through nonshared control unit 3 and electric machine controller 4, ensures that automobile balance slows down and stops.
Shown in Fig. 1, Fig. 5, so-called hybrid electric working pattern refers in such a mode, and wheel hub motor 14 and driving engine utilize the job procedure of wireless Internet access computer 1 software set to carry out combination drive.Described job procedure refers to that elder generation provides power by wheel hub motor 14 when automobile starting, and this stage belongs to pure electronic mode of operation; After car speed reaches setting value, wireless Internet access computer 1 transmits start the engine signal to master controller 2, is switched to pure engine working mode.Drive two front vehicle wheels 26 when automobile is climbed with wheel hub motor 14, drive two rear wheels 26 by low engine speed.Automobile can slow down with regenerative braking and use the composite brakig of the hydraulic braking of regenerative braking, wheel brake equipment 10 to carry out sudden stop, and electronic differential also can be utilized to assist motor turning.
Shown in Fig. 1, Fig. 4, Fig. 5, so-called pilot steering refers to that automobile computer 1 of getting online without being tethered to a cable under driver's operation controls automotive operation by master controller 2 and nonshared control unit 3, and hand behaviour wheel steering, pin step on the accelerator or brake pedal, pull gear lever.Automobile under driver's operation can be pure electronic mode of operation, pure engine working mode and hybrid electric working pattern.
Fig. 1, Fig. 4, shown in Fig. 5, after so-called automatic Pilot refers to the destination that chaufeur inputs running car and drive manner, wireless Internet access computer 1 is according to the electronic communication figure in city, place, traffic congestion road information, the information of the automobile position that satellite navigator 17 provides and the front camera 21 of automobile, front radar 22, rear camera 23, rear radar 24, driving switch, car speed sensor, magnetic induction wheel speed sensor 25, rotation direction sensor 20, the information such as throttle detecting device 18 and brake pedal detecting device 19, by master controller 2, nonshared control unit 3, electric machine controller 4 and energy recovery converter 5 carry out autonomous driving vehicle.Satellite navigator 17 provides the position of automobile departure place, from electronic communication figure, find destination, and can select according to traffic congestion road information wireless Internet access computer 1 optimum line arriving destination.The traffic light signal image of the traffic warning board of ' seeing ', guideboard and cross roads can be input to 1 li, wireless Internet access computer by the front camera 21 of automobile top.The images such as the Road on the road surface of ' seeing ', zebra crossing, single yellow line, double amber lines, turning sign can be input to 1 li, wireless Internet access computer by the lower front camera 21 of automobile, and the information such as the distance of the speed of front and back automobile and maintenance can be passed to wireless Internet access computer 1 by front radar 22 and rear radar 24.Automatic gear car is got online without being tethered to a cable computer 1 according to traffic warning board speed limit scope, utilize gear controller 8 to shift gears and adjust motorized adjustment fuel tap 13 to control the speed of running car.Wireless Internet access computer 1, according to guideboard and sign of turning, utilizes servo steering device 9 and electronic differential speed steering.Wireless Internet access computer 1 selects regenerative braking or sudden stop according to the information of front radar 22 and lower front camera 21.
Shown in Fig. 1, Fig. 5, blow out suddenly when the driving under so-called protection automatically refers to running car, automobile can be turned to the side of blowing out, and will have an accident if the too fast chaufeur of the speed of a motor vehicle has little time to beat bearing circle.Now wireless Internet access computer 1 can depart from the situation of the Road on road surface according to lower front camera 21 ' seeing ' automobile, utilize electronic differential to regulate the rotating speed of two front vehicle wheels 26 to adjust automobile steering, reach situation about providing simultaneously according to front radar 22 and rear thunder 24 and adopt the hydraulic braking of wheel brake equipment 10 and regenerative braking to carry out sudden stop to two rear wheels 26.Have people or thing nearby before jejune chaufeur is found when the speed of a motor vehicle is fast, should touch on the brake but step on the accelerator, to thrust into or thing causes the accident.Front camera 21 now in the present invention, front radar 22 input to wireless Internet access computer 1 there being the signal of people or thing above, and wireless Internet access computer 1 will cut off oil circuit and sudden stop by master controller 2 and nonshared control unit 3, avoid the generation of accident.After detecting by rear radar 24 and rear camera 23 and observe during reversing automobile, drive two front vehicle wheels 26 with wheel hub motor 14, chaufeur steering wheel rotation, turn to servo steering device 9 and use electronic differential speed steering by rotation direction sensor 20.
Shown in Fig. 1, Fig. 2, Fig. 3, the electric control clutch 6 ' action used in the present invention is fast, but little power consumption; It is transformed by self-acting clutch.Hydraulic clutch 6 is slow in one's movements, but application force is large, little power consumption.Overriding clutch is flexible, but bearing capacity is little.
Shown in Fig. 1, Fig. 2, carbon brush group 7 also can add an electromagnet, and carbon brush group leaves copper ring at ordinary times, and when needing, electromagnet energising adhesive, is pressed onto carbon brush on copper ring.Because wheel hub motor 14 is energized after by rear axle 27 locking at shaft brake device 11, be just energized rotation; So, when being conducted to wheel hub motor 14 electricity by carbon brush group 7, be static between the carbon brush of carbon brush group 7 and copper ring, there will not be electro spark.
Claims (1)
1. the control method of a Wheel hub motor type hybrid electric vehicle, Wheel hub motor type hybrid electric vehicle is transformed by orthodox car, and it with the addition of throttle detecting device and brake pedal detecting device, master controller, nonshared control unit, electric machine controller, wheel hub motor, energy regenerating relaying battery, energy recovery converter, electric oil pump, rotation direction sensor, servo steering device, motorized adjustment fuel tap, front camera, front radar, rear camera, rear radar, satellite navigator and wireless Internet access computer on orthodox car; The transmission gear both sides of automobile hind axle are equipped with carbon brush group respectively, carbon brush group is made up of bucket case, stabilizing spring, brush-box, multiple carbon brush, multiple carbon-brush spring, multiple copper ring and bench insulator, bucket case is contained on car chassis, epimere and the bucket case mouth of brush-box are suitable, stabilizing spring is pressed in bucket case by brush-box, brush-box is furnished with a carbon-brush spring built with each carbon brush of multiple carbon brush, multiple copper ring is contained on bench insulator insulated from each otherly, bench insulator is enclosed within rear axle regularly, and each carbon brush of carbon brush group is pressed on corresponding copper ring respectively; Electric control clutch, hydraulic clutch or overriding clutch are housed between the rotor case of wheel hub motor and automobile hind axle, automobile hind axle is equipped with shaft brake device; Four wheels are other is all equipped with magnetic induction wheel speed sensor, and magnetic induction wheel speed sensor comprises: be contained in the several permanent magnet on wheel and be fixed on car chassis near rear wheel and the magnetic induction electronic element that is fixed near the place of front vehicle wheel on vehicle front axle; Automatic gear car is equipped with gear controller, gear controller is made up of the gear motor with reducing gearbox, output gear, arc-shaped rack, gear lever and driving switch, the output gear of the gear case of gear motor engages with the arc-shaped rack be fixed on gear lever, the rotation of the output gear of the gear case of gear motor drives the arc-shaped rack be fixed on gear lever to rotate thus drives gear lever to rotate, and the rotation of gear lever drives driving switch to rotate; Wireless Internet access computer is built with automatic Pilot software, by magnetic induction wheel speed sensor and rotation direction sensor, front camera, front radar, rear camera, rear radar, satellite navigator, throttle detecting device, brake pedal detecting device signal be input on wireless Internet access computer, the output control line of wireless Internet access computer is received on master controller, nonshared control unit respectively; The output line of nonshared control unit is received on electric machine controller, energy recovery converter, electric control clutch or hydraulic clutch, carbon brush group, gear controller, shaft brake device, electric oil pump respectively, the output line of electric machine controller is received on wheel hub motor, and the output line of energy recovery converter is received on energy regenerating relaying battery and battery pack; It is characterized in that: described Wheel hub motor type hybrid electric vehicle has three kinds of mode of operations: pure electronic mode of operation, pure engine working mode, hybrid electric working pattern, described Wheel hub motor type hybrid electric vehicle control method has pilot steering and automatic Pilot; Pilot steering or automatic Pilot are all the driving under automatically protecting;
So-called pure electronic mode of operation refers in such a mode, chaufeur sends instruction by wireless Internet access computer (1) to nonshared control unit (3), and nonshared control unit (3) controls the rotation of wheel hub motor (14) by electric machine controller (4); Shaft brake device (11) energising, by rear axle (27) locking, enables the energising of electric control clutch (6 '), hydraulic clutch (6) or overriding clutch directly make the rotor of the wheel hub motor of energising (14) around the stator rotation be fixed on rear axle (27) by the connection of carbon brush group (7); The electric oil pump (12) that battery pack (16) drives when driving engine does not run, can give the operation power of hydraulic braking and hydraulic power-assisted steering; Automobile can realize car deceleration by regenerative braking mode, also can carry out sudden stop by regenerative braking and the composite brakig of the hydraulic braking of wheel brake equipment (10); Regenerative braking controls electric machine controller (4) and energy recovery converter (5) by nonshared control unit (3), the electric energy that wheel hub motor (14) is sent, to energy regenerating relaying battery (15) charging, then uses the inner electric energy of energy regenerating relaying battery (15) to realize energy regenerating by energy recovery converter (5) accumulators group (16) charging; During motor turning rotation direction sensor (20) sender to angle signal to wireless Internet access computer (1), wireless Internet access computer (1) sends instruction to nonshared control unit (3), the speed discrepancy that nonshared control unit (3) adjusts two front vehicle wheels (26) by the voltage of electric machine controller (4) adjustment two front-wheel hub motors (14) coordinates motor turning, realizes electronic differential; In the electronic differential process that automobile travels under the driving of wheel hub motor (14), regenerative braking and cooperation turn to, capital use magnetic induction wheel speed sensor (25) detect each wheel (26) rotating speed and signal transmission to wireless Internet access computer (1), wireless Internet access computer (1), through nonshared control unit (3), the rotating speed adjusting each wheel hub motor (14) again through electric machine controller (4), realizes automobile balance and travels or stop;
So-called pure engine working mode refers under this mode of operation, only with engine-driven car, this runs identical with orthodox car, be with the difference of orthodox car: computer of getting online without being tethered to a cable before automobile starting (1) makes shaft brake device (11) dead electricity by nonshared control unit (3), the rear axle (27) of locking unclamps, electric control clutch (6 ') or the release of hydraulic clutch (6) dead electricity, clutch spring or overriding clutch make the rotor of wheel hub motor (14) and rear axle (27) be integrated, under pure engine working mode, can car deceleration be made by regenerative braking and pass through regenerative braking, the composite brakig of the hydraulic braking of wheel brake equipment (10) carrys out sudden stop, do regenerative braking at automobile to slow down or regenerative braking, when the composite brakig of the hydraulic braking of wheel brake equipment (10) carrys out sudden stop, the rotating speed of each wheel (26) is all detected with magnetic induction wheel speed sensor (25), and by signal transmission to wireless Internet access computer (1), wireless Internet access computer (1) adjusts the rotating speed of each wheel (26) through nonshared control unit (3) and electric machine controller (4), ensure that automobile balance slows down and stops,
So-called hybrid electric working pattern refers in such a mode, wheel hub motor (14) and driving engine utilize the job procedure of wireless Internet access computer (1) software set to carry out combination drive, described job procedure refers to that elder generation provides power by wheel hub motor (14) when automobile starting, and this stage belongs to pure electronic mode of operation; After car speed reaches setting value, wireless Internet access computer (1) transmits start the engine signal to master controller (2), is switched to pure engine working mode; Drive two front vehicle wheels (26) when automobile is climbed with wheel hub motor (14), drive two rear wheels (26) by low engine speed; Automobile can slow down with regenerative braking and use the composite brakig of the hydraulic braking of regenerative braking, wheel brake equipment (10) to carry out sudden stop, utilizes electronic differential to assist motor turning;
So-called pilot steering refers to that automobile computer (1) of getting online without being tethered to a cable under driver's operation controls automotive operation by master controller (2) and nonshared control unit (3), hand behaviour wheel steering, pin step on the accelerator or brake pedal, pull gear lever, the automobile under driver's operation is pure electronic mode of operation, pure engine working mode or hybrid electric working pattern;
After so-called automatic Pilot refers to the destination that chaufeur inputs running car and drive manner, wireless Internet access computer (1) is according to the electronic communication figure in city, place, traffic congestion road information, the information of the automobile position that satellite navigator (17) provides and the front camera (21) of automobile, front radar (22), rear camera (23), rear radar (24), driving switch, car speed sensor, magnetic induction wheel speed sensor (25), rotation direction sensor (20), the information of throttle detecting device (18) and brake pedal detecting device (19), by master controller (2), nonshared control unit (3), electric machine controller (4) and energy recovery converter (5) carry out autonomous driving vehicle, satellite navigator (17) provides the position of automobile departure place, from electronic communication figure, find destination, and can select according to traffic congestion road information wireless Internet access computer (1) optimum line arriving destination, it is inner that the traffic light signal image of the traffic warning board of ' seeing ', guideboard and cross roads can be input to wireless Internet access computer (1) by the front camera (21) of automobile top, it is inner that the image that Road on the road surface of ' seeing ', zebra crossing, single yellow line, double amber lines, turning indicate can be input to wireless Internet access computer (1) by the lower front camera (21) of automobile, and the information of the distance of the speed of front and back automobile and maintenance can be passed to wireless Internet access computer (1) by front radar (22) and rear radar (24), automatic gear car is got online without being tethered to a cable computer (1) according to traffic warning board speed limit scope, utilize gear controller (8) to shift gears and adjust motorized adjustment fuel tap to control the speed of running car, wireless Internet access computer (1), according to guideboard and sign of turning, utilizes servo steering device (9) and electronic differential speed steering, wireless Internet access computer (1) selects regenerative braking or sudden stop according to the information of front radar (22) and lower front camera (21),
Suddenly blow out when driving under so-called protection automatically refers to running car, automobile can be turned to the side of blowing out, and will have an accident if the too fast chaufeur of the speed of a motor vehicle has little time to beat bearing circle; According to front camera (21), computer (1) of now getting online without being tethered to a cable ' can see ' that automobile departs from the situation of the Road on road surface, utilize electronic differential to regulate the rotating speed of two front vehicle wheels (26) to adjust automobile steering, situation about simultaneously providing according to front radar (22) and rear radar (24) adopts the hydraulic braking of wheel brake equipment (10) and the sudden stop of regenerative braking to two rear wheels (26); People or thing is had nearby before jejune chaufeur is found when the speed of a motor vehicle is fast, should touch on the brake but step on the accelerator, to thrust into or thing causes the accident, now front camera (21), front radar (22) input to wireless Internet access computer (1) there being the signal of people or thing above, and wireless Internet access computer (1) will pass through master controller (2) and nonshared control unit (3) and cut off oil circuit and sudden stop, avoids the generation of accident; After detecting by rear radar (24) and rear camera (23) and observe during reversing automobile, drive two front vehicle wheels (26) with wheel hub motor (14), chaufeur steering wheel rotation servo steering device (9) turns to and uses electronic differential speed steering by rotation direction sensor (20).
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