CN102812408A - 用于车辆的控制装置 - Google Patents

用于车辆的控制装置 Download PDF

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CN102812408A
CN102812408A CN2010800605023A CN201080060502A CN102812408A CN 102812408 A CN102812408 A CN 102812408A CN 2010800605023 A CN2010800605023 A CN 2010800605023A CN 201080060502 A CN201080060502 A CN 201080060502A CN 102812408 A CN102812408 A CN 102812408A
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vehicle
motor
control device
wheel
control
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CN102812408B (zh
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A·R·里昂
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Protean Electric Ltd
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Protean Electric Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
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    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2063—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for creeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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    • G—PHYSICS
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
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Abstract

一种用于车辆的控制装置，包括可移动元件和用于输出表示车轮应被转过的角度的信号并由此允许所述车辆移动的装置，其中所表示的角度是基于所述可移动元件被移动经过的移动程度的。

Description

用于车辆的控制装置
技术领域
本发明涉及车辆的控制装置，具体地，涉及用于操纵车辆的控制装置。
背景技术
为控制机动车辆的位置，该机动车辆通常会包括加速器和制动器，车辆驾驶员通常结合变速器和离合器使用所述加速器来启动车辆运行，以及使用所述制动器来停止车辆运行。
然而，尽管在行驶相对长的距离时使用加速器和制动器控制车辆运行的效果很好；但当行驶相对较短距离（如几米）时，协调加速器和制动器以操纵车辆到精确位置可能是困难的并且在达到高水平熟练程度之前可能需要相当多的经验。
已开发了车辆控制系统来解决这个问题，该系统被配置为自动地将车辆移动一个预定的距离。这样的控制系统需要用户输入预定距离到车辆控制系统。一旦预定距离被输入到车辆控制系统，所述车辆控制系统控制车辆的运行从而使得车辆移动该预定的距离。
然而，并非总是能够精确地预判车辆需要行驶的距离。这样，使用需要预定距离的输入的车辆控制系统可导致车辆过冲所需的距离或需要多次操纵以使该车辆移动到所需位置。
这就需要能够实现精确的车辆位置控制的系统，其中该精确的车辆位置控制无需协调多个输入（例如加速器和制动器），也不需要操纵前的精确的距离信息。
发明内容
根据本发明的一个方面，依照所附权利要求提供了控制装置或者具有控制装置的车辆。
通过将控制装置上盘的旋转关联到车辆的至少一个车轮的旋转，用户能够使用单个控制元件精确地移动车辆，其中用户根据车辆的指定方向可以通过顺时针或逆时针旋转控制元件来精确地缓慢向前或向后移动车辆。
附图说明
现在参考附图通过示例来描述本发明，其中：
图1示出了根据本发明一个实施例的车辆；
图2示出了用于本发明一个实施例的电动机的分解图；
图3从另一个角度示出了图2中所示的电动机的分解图；
图4示意性地示出了用于本发明一个实施例的三相电动机的示例；
图5示出了根据本发明一个实施例的在车辆中的控制模块之间的通信接口。
具体实施方式
图1示出了诸如是汽车或卡车的车辆100，其具有四个车轮101，其中两个车轮分别位于车辆头部的左侧和右侧位置。类似地，另外两个车轮分别位于车辆尾部的左侧和右侧位置，这是典型的传统汽车配置。然而，本领域普通技术人员应理解，车辆可具有任意数量的车轮。如下文所详细描述的，图1示出的车辆100被配置为通过提供车轮的精确旋转位置控制来实现精确操纵。
采取轮毂电动机形式的驱动单元结合在每个车轮101之中。尽管本实施例描述了具有与每个车轮101相关联的轮毂电动机的车辆，但本领域普通技术人员应理解：可使用中央电动机代替轮毂电动机或者仅车轮101的子集可具有关联的轮毂电动机。例如，对于四轮车辆，仅有前两个车轮可具有关联的轮毂电动机，或者可替换地，仅有后面两个车轮可具有关联的轮毂电动机。可替换地，可使用其他形式的驱动单元，例如中置内燃机。
如下文所详细描述的，主控制器102耦合到每一个轮毂电动机，用于控制轮毂电动机的操作。控制装置110被耦合到主控制器102，该控制装置被配置为允许车辆的用户控制至少一个车轮转过的旋转角度。
控制装置110包括诸如圆度盘的转动元件和位置传感器。该位置传感器被配置为向主控制器102输出表示所述转动元件的旋转位置的信号。例如，当转动元件上的标志位于其最高位置时，可配置位置传感器输出表示零度的信号；以及当转动元件从“零”位置旋转180度时，可配置位置传感器输出表示180度的信号。然而，可将转动元件的任何旋转位置定义为转动元件的零位置（即，导致位置传感器输出零度信号的转动元件的旋转位置）。可替换地，位置传感器可被配置为输出模拟或数字电压信号，电动机控制器102根据该模拟或数字电压信号确定“零”位置。
为避免控制装置在不需要时提供车轮的角度旋转控制，这里优选地提供用于允许用户激活/停用角度旋转车轮控制驱动模式的装置，该装置启用/禁用控制装置的操作。例如，可经由档位选择位置或者位于车辆内部或位于控制装置上的激活开关来激活/停用角度旋转车轮控制模式。
尽管为了本实施例的目的，控制装置110是位于车辆中（例如位于车辆仪表板上）的，但所述控制装置110同样可以位于远离车辆的位置，其经由有线或无线链接耦合到主控制器102。
出于说明的目的，轮毂电动机是具有线圈集合的一类电动机，该线圈集合作为附接到车辆的定子的部分被携带有磁体集合的转子径向环绕，其中车轮附接到该转子。然而，本领域普通技术人员应理解，本发明适用于其他类型的电动机。
如图2所示，轮毂电动机40包括定子252，该定子包含形成组件外壳第一部分的后部230，以及散热器和驱动装置231，该散热器和驱动装置231包含多个线圈和驱动线圈的电子产品。线圈驱动装置231被固定到后部230以形成定子252，该定子随后可被固定到车辆并且在使用时不旋转。线圈本身形成于啮合叠片上，该叠片与驱动装置231以及后部230一起形成定子252。
转子240包括形成盖状物的前部220和圆柱形部分221，所述盖状物大体环绕定子252。转子包括在圆柱形部分221的内部环绕布置的多个磁体242。因而，该磁体极为贴近组件231上的线圈，使得组件231中的线圈产生的磁场对于转子240的圆柱形部分221的内部环绕布置的磁体242产生的磁场产生反作用，从而导致扭矩的产生。
转子240通过轴承座223附接到定子252。该轴承座223可以是可在与这类电动机组件适配的车辆中使用的标准轴承座。轴承座包括两部分：固定到定子的第一部分和固定到转子的第二部分。轴承座被固定到定子252的壁230的中心部分233，并且同样被固定到转子240的外壳壁220的中心部分225。因而，经由转子240的中心部分225的轴承座223，转子240被旋转固定到与其一起使用的车辆。这样做的好处在于：通过使用通用车轮螺栓将轮辋固定到转子的中心部分且因而稳固地固定到轴承座223的可旋转侧边上，轮辋和轮胎从而能够在中心部分225处被固定到转子240。车轮螺栓可穿过转子的中心部分225穿入轴承座本身。由于转子240和车轮都被安装到轴承座223，在转子和车轮的旋转角度之间具有一一对应的关系。
图3从反向示出了与图2相同的组件的分解图，其示出了包括后部定子壁230以及线圈和电子组件231的定子252。转子240包括外部转子壁220和其中环绕布置了磁体242的环状壁221。如前所述，定子252经由在转子和定子壁中心部分的轴承座连接到转子240。
图2还示出了具有控制电子(或者被称为电动机驱动控制器)的线路板80。
在转子的环状壁221和定子外壳230的外缘之间提供V型密封350。
转子还包括用于位置感应的聚焦环和磁体227，其与定子上安装的传感器一起用于进行相对于定子的转子的精确位置确定。然而，也可使用其他装置确定转子的位置。
图2和3所示的电动机40是具有三个线圈集合的三相电动机。在本实施例中，每个线圈集合包括八个线圈子集。然而，本领域普通技术人员应理解，电动机可具有任意数量的线圈集合和线圈子集。每个线圈集合的线圈子集在图4中分别标记为44、46和48。因此，图4中示出的电动机具有总共二十四个线圈子集（即每个线圈集合有八个线圈子集）。
通过示例，图4中某些线圈子集用“*”突出显示。如果这些线圈子集断电，尽管性能降低但电动机仍可以运转。这样，对于线圈子集中的给定电流，电动机的功率输出能够根据给定应用的要求进行调整。在一个示例中，当电动机用于诸如汽车的车辆中时，将某些线圈子集断电能够用于调节汽车的性能。图4所示的示例中，如果每个以“*”标记的线圈子集被断电，电动机会有三个线圈集合，其中每个线圈集合具有两个有效线圈子集。
电动机驱动控制器80被配置用于在电动机控制单元（未示出）的控制下驱动三个线圈子集的组。例如，电动机驱动控制器可与位于图4顶部的第一组的三个线圈子集44、46、48相关联。另一电动机驱动控制器80与下一组的三个线圈子集相关联，以此类推。因此，轮毂电动机包括八个电动机驱动控制器80，该电动机驱动控制器被配置用于驱动相应的线圈子集来形成分布式的内部电动机架构，该架构使用多个电动机驱动控制器80来控制轮毂电动机产生的扭矩。
分布式电动机驱动控制器配置可被认为是一组逻辑子电动机，其中每个电动机驱动控制器80使用三相电压驱动一组三个线圈子集。每个逻辑子电动机可在关联的电动机控制单元的控制下，独立于轮毂电动机中的其他子电动机被驱动，其中每个逻辑子电动机被驱动作为三相电动机。
电动机驱动控制器80（作为关联的逻辑子电动机的逆变器）包括转换电路，该转换电路包括多个转换器，该转换器通常包含一个或更多半导体器件。
在本实施例中，每个电动机驱动控制器80大体为楔形。这种形状使得多个电动机驱动控制器80在电动机中能够彼此相邻，形成扇状的结构。
电动机驱动控制器80转换器可包括诸如MOSFET或IGBT的半导体器件。在本示例中，转换器包括IGBT。可使用任何合适的已知转换电路来控制与电动机驱动控制器80关联的线圈子集的线圈中的电流，其中这种转换电路的一个众所周知的例子是H桥（H-bridge）电路。
如图5所示，电动机控制单元150被耦合到轮毂电动机中的每一个电动机驱动控制器80，其中向每个轮毂电动机提供单独的电动机控制单元150。电动机控制单元150被配置来控制用于每个轮毂电动机的单个电动机驱动控制器80的操作，并且作为主控制器102和多个电动机驱动控制器80之间的接口。优选地，每个轮毂电动机的相应的电动机控制单元被安装到相应的轮毂电动机定子。然而，电动机控制单元可置于车辆中的其他位置。
每个关联到相应轮毂电动机的电动机控制单元被配置用于经由CAN接口接收来自主控制器102的控制消息，然而可以在主控制器102和相应的电动机控制单元之间使用任何形式的通信链路。
响应于从主控制器102接收的控制消息，电动机控制单元被配置用以控制每个关联的电动机驱动控制器80的操作，其中包含在关联的电动机驱动控制器80中的控制逻辑被配置用于根据脉冲宽度调制方案来操作转换器，以控制相应的逻辑子电动机的扭矩,这是本领域普通技术人员所公知的。
为优化电动机驱动控制器80的操作并且因此优化相应的逻辑子电动机的操作，电动机驱动控制器80被配置用于提供例如转子位置信息的数据到它们相应的电动机控制单元，该数据继而可以经由CAN接口被提供到主控制器102。
类似地，主控制器102能发送控制消息到相应的电动机控制单元来控制相应的轮毂电动机的旋转位置，例如通过使用标准的电动机位置控制。
如果使用标准的电动机位置控制方法来控制相应的轮毂电动机的旋转位置，可在主控制器102、电动机控制单元或者电动机驱动控制器8中执行关联的电动机位置控制算法。为控制旋转位置，可以获得位置命令,例如，从位置概况生成器将转动元件的旋转位置用作输入来获得。
用于控制轮毂电动机的旋转位置的位置控制参数的示例可包括最大加速度、最大减速度、最大速度。可使用通用控制回路反馈控制器，例如使用比例积分微分（PID）控制器来控制位置回路。然而，其他特征可被结合到PID控制器中用于帮助减少过冲（overshoot）的可能性以及减少概况生成器的诸如斜坡/浸泡（soak/ramp）类型的阶跃（jerk）。
在车辆调试/配置期间，可使用自整定算法来计算PID参数。优选地，位置命令是相对移动命令而不是绝对移动，例如旋转位置控制消息可指示距离电动机当前位置而不是绝对车轮位置的期望旋转角度。
现在将描述使用上述系统的轮毂电动机的旋转位置控制。
一旦激活旋转定位驱动模式，控制装置110被配置用于输出表示转动元件角度位置的信号。该位置信号被提供给主控制器102。
要将车辆移动指定的距离，根据用户想要移动车辆的方向，用户以向前或向后的方向（例如顺时针方向或逆时针方向）旋转控制装置的转动元件，其中转动元件的旋转方向限定车辆是向前还是向后移动。例如，可配置系统使得转动元件的顺时针旋转导致车辆向前移动以及逆时针旋转导致车辆向后移动。
当转动元件正被旋转时，转动元件的角度位置经控制信号被发送到主控制器102。主控制器102使用转动元件的初始旋转位置来确定转动元件转过的角运动和角方向。
控制器102指示相应的电动机控制单元将相应的轮毂电动机旋转与控制装置转动元件的旋转对应的量。控制器102可被配置为发送相应的轮毂电动机需要转过的角度或一个实际旋转位置（使用由相应电动机控制单元150提供的角度位置数据）到相应的电动机控制单元150。
一旦相应的轮毂电动机被旋转到指定位置，相应的轮毂电动机转子的运动停止。
可将轮毂电动机的旋转速度同步到控制装置的转动元件的旋转速度。可替换地，主控制器102可被配置用于控制轮毂电动机的旋转速度到预定的旋转速度。
一旦车辆已被移动指定的距离，可停用位置控制装置模式，从而防止意外使用控制装置而引发轮毂电动机的运动。
为了最小化车辆和物体之间碰撞发生的风险，控制器102优选地耦合到提供关于车辆距离物体有多近的指示的一个或多个位置传感器。如果控制器102确定了车辆位于物体的预定距离内，该控制器禁止该车辆的运动，从而防止用户经控制装置移动车辆。
对本公开主题的各种方式的修改和采取除了上述特别阐述的优选形式的其他实施例对本领域普通技术人员来说是显而易见的，例如可使用单独的控制装置来控制车辆不同车轮的角度位置控制或者控制盘（即转动元件）的位置可被映射到车辆的速度。例如，控制盘的顺时针旋转可对应车辆以正比于旋转量的速度的前进运动。如此，当车辆需要行驶较长的距离时，该车辆同样以更大的速率行驶。可替换地，可单独使用控制盘来控制车辆的速度，其中控制盘的位置被映射到车辆的速度，但不限制车辆行驶的距离。

Claims (10)

1.一种用于车辆的控制装置，所述控制装置包括可移动元件和用于输出表示车轮将被转过的角度的信号并由此允许所述车辆移动的装置，其中所表示的角度是基于所述可移动元件被移动经过的移动程度的。
2.根据权利要求1所述的控制装置，其中所述可移动元件是转动盘。
3.根据权利要求2所述的控制装置，其中表示所述车轮应被转过的角度的所述信号大体对应于所述转动盘被转过的角度。
4.根据前述权利要求中的任一个所述的控制装置，还包括接口，其用于将所述控制装置连接到车辆中的电动机控制系统。
5.一种车辆，包括用于允许所述车辆移动的至少一个车轮，和根据前述权利要求中的任一个所述的控制装置。
6.根据权利要求5所述的车辆，还包括用于驱动一个或更多个车轮的电动机。
7.根据权利要求5所述的车辆，还包括用于驱动相应的多个车轮的多个轮毂电动机。
8.根据权利要求5到7中的任一个所述的车辆，还包括控制器，其配置为响应于表示车轮应被转过的角度的信号来驱动所述电动机或多个轮毂电动机以旋转一个或更多个车轮。
9.根据权利要求5到8中的任一个所述的车辆，还包括用于允许所述车辆移动的多个车轮和多个根据权利要求1到4中的任一个所述的控制装置，其中每个控制装置被配置用于控制相应的车轮的旋转。
10.根据权利要求5到9中的任一个所述的车辆，还包括具有位置传感器的位置系统，其中所述位置系统被配置用于根据从所述位置传感器接收的数据禁止所述车辆的移动。
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