CN102849106A - Bilateral motor-drive tracked vehicle steering system - Google Patents
Bilateral motor-drive tracked vehicle steering system Download PDFInfo
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- CN102849106A CN102849106A CN2012101169094A CN201210116909A CN102849106A CN 102849106 A CN102849106 A CN 102849106A CN 2012101169094 A CN2012101169094 A CN 2012101169094A CN 201210116909 A CN201210116909 A CN 201210116909A CN 102849106 A CN102849106 A CN 102849106A
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Abstract
The invention provides a bilateral motor-drive tracked vehicle steering system which comprises a control system, a power system and a mechanical system. The mechanical system comprises a driving motor, a brake and a speed reducer, wherein the speed reducer is connected with a vehicle driving wheel. The mechanical system further comprises a steering motor controller, a steering motor, a controllable differential, a clutch and a coupler, wherein the steering motor controller, the steering motor, the controllable differential, the clutch and one input end of the coupler are connected sequentially, another input end of the coupler is connected with the driving motor, the output end of the coupler is connected with the brake, and the steering motor controller, the controllable differential and the clutch are further connected with the control system. The steering motor is arranged in the mechanical system, torque supplied by the steering motor and the driving motor is coupled through the coupler, the maximum power of the driving motor can be reduced, and the power of the driving motor is fully utilized.
Description
Technical field
The present invention relates to a kind of two-side motor and drive the continuously tracked vehicle steering swivel system, belong to the Vehicular turn technical field.
Background technology
The Vehicular turn problem is travel key problem in the theory of continuously tracked vehicle, the alerting ability that turns to and controllability be estimate mobility of tracked vehicles can important indicator.Continuously tracked vehicle makes the both sides crawler belts obtain friction speed by steering hardware and realizes turning to, and this has basic different from the steering principle of wheeled car and steering hardware.The steering mode of continuously tracked vehicle is divided into generally that steering clutch-drg turns to, mechanical type two power flow steering, hydraulic machinery differential steering and electron steering differential steering.Two-side motor individual drive continuously tracked vehicle adopts the electron steering differential steering usually, such as Zhai Li, and Sun Fengchun, Gu Zhongli, Zhang Chengning. " electric transmission continuously tracked vehicle electronic differential speed steering control policy " (Beijing Institute of Technology's journal, 2009.02:13～118); Zhai Li, Sun Fengchun, Gu Zhongli. " the electronic differential continuously tracked vehicle turns to the torque Neural Network PID Control " (agricultural mechanical journal, 2009.02:1～6).
Electron steering differential steering system turns to motor-driven function admirable, can realize continuous turning and infinite speed variation, and it turns to flexibly, and has higher average Turning travel speed, and simultaneously, this steering swivel system does not have mechanical changeover to impact, and chaufeur is controlled simply laborsaving; But this steering swivel system needs the both sides power of motor larger, and the power of required motor is single motor-driven twice usually, and its power is not fully utilized.In order to address this is that, usually adopt horizontal shaft type Dual-motors Driving continuously tracked vehicle to realize by center differential and steer motor, such as vehicle limited slip drive configuration (US Patent, application number 6953408B2), but this steering mode is owing to existing mechanical constraint between the two-side motor, be difficult to realize continuous turning, the steering stability of this steering swivel system does not have electronic differential speed steering good simultaneously.
Summary of the invention
The objective of the invention is to drive continuously tracked vehicle for two-side motor and realize that the electron steering low speed rotation is to, the excessive problem of the one-sided power of motor of needs when middling speed turns to high speed steering, drive continuously tracked vehicle for the horizontal shaft type two-side motor and realize the continuous turning hard problem, propose a kind of horizontal shaft type two-side motor driving continuously tracked vehicle steering swivel system one-sided power of motor, that can realize continuous turning that reduces.
Realize that technical scheme of the present invention is as follows:
A kind of two-side motor drives the continuously tracked vehicle steering swivel system, comprises control system, power system and mechanical system, and this mechanical system comprises two drive motor, two drgs and two retarders, and two retarders link to each other with two driving wheels of vehicle; This mechanical system further comprises steer motor controller, steer motor, controllable differential device, two power-transfer clutchs and two couplers; Wherein the input end of steer motor controller, steer motor and controllable differential device connects in turn; Two mouths of controllable differential device connect respectively a power-transfer clutch, each power-transfer clutch is connected into the input end A of a coupler, the input end B of each coupler connects a drive motor, the mouth of each coupler links to each other with a drg, and steer motor controller, controllable differential device and power-transfer clutch further link to each other with control system; Wherein,
The signal that control system transmits according to bearing circle on it and angular-motion transducer thereof generates angle signal θ and is transferred to the controllable differential device, generates dtc signal according to this angle signal θ simultaneously and is transferred to the steer motor controller;
The steer motor controller is used for the dtc signal that transmits according to control system, and the size of the output torque of steer motor is controlled;
Steer motor is exported torque T to the controllable differential device by output shaft under the control of steer motor controller;
Store in advance in the controllable differential device and turn to control policy, when this turned to control policy to represent corresponding different angles signal θ, the type of output torque was braking torque or driving torque; The angle signal θ that controllable differential device receiving control system transmits distributes the torque T that receives according to described θ, according to described θ with turn to control policy that the type of torque is distributed;
Power-transfer clutch is used for making being communicated with between controllable differential device and the coupler or disconnecting under the control of control system, when the control system control clutch is connected, its with the torque transfer of controllable differential device distribution to coupler;
Coupler is coupled for the torque of the torque that power-transfer clutch is transmitted and drive motor output, provides power with the torque after the coupling for the continuously tracked vehicle driving wheel.
Further, control system of the present invention is to turning to power demand to judge, when judgement turns to power demand less than the drive motor maximum power, then under the control of control system, only provide energy by described drive motor for vehicle drive wheels, when judgement turns to power demand greater than the drive motor maximum power, then under the control of control system, by coupler to the torque of drive motor output and steer motor output, the torque of controllable differential device after distributing be coupled, and provides energy with the torque after the coupling for vehicle drive wheels.
Beneficial effect
The present invention is by arranging steer motor in mechanical system, by coupler the torque that steer motor and drive motor provide is coupled, and can reduce like this maximum power of drive motor, so that the power of drive motor is fully used.
Secondly, the present invention is according to the size that turns to power demand, and the form that adopts drive motor to provide separately energy or drive motor and steer motor that energy is provided together can guarantee like this stability of steering swivel system and realize electrodeless turning to.
Description of drawings
Fig. 1 is the steering swivel system structural representation of the continuously tracked vehicle that provides in the present embodiment.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is further elaborated.
Two-side motor provided by the invention drives the continuously tracked vehicle steering swivel system, the principle of this steering swivel system work is: when low power turns to (when turning to power demand less than the drive motor maximum power), adopt the electronic differential continuous turning, namely two drive motor 2a, 2b provide separately the form of energy; Turn to (when turning to power demand greater than the drive motor maximum power) when turning to minor radius difficulty road surface at superpower, adopt the center differential horizontal shaft type to turn to, namely two drive motor 2a, 2b and steer motor 9 provide the form of energy together; The conversion of this dual mode be by electromagnetic clutch switch on and off realize.
As shown in Figure 1, this steering swivel system comprises control system, power system and mechanical system.
Control system comprises integrated electronics controller 16, and the acceleration pedal and the displacement pickup 17 thereof that link to each other respectively with the integrated electronics controller, brake pedal and displacement pickup 18 thereof, electronics gear collecting unit 19 and bearing circle and angular-motion transducer 20 thereof, to link to each other by signal wire (SW) between each device in the control system and the integrated electronics controller 16 wherein, each device is transferred to integrated electronics controller 16 with the signal that collects by signal wire (SW), integrated electronics controller 16 carries out Treatment Analysis to the received signal, and then each parts of vehicle are controlled, this process is prior art.Because the present invention only relates to the steering swivel system of vehicle, the signal of analyzing is the signal that bearing circle and angular-motion transducer 20 thereof gather, therefore only the signal that is applied to is described at the present embodiment, other device signal that collect, that do not use in steering swivel system is not illustrated one by one.
The signal that control system transmits according to bearing circle on it and angular-motion transducer 20 thereof generates angle signal θ and is transferred to controllable differential device 7, generates dtc signal according to this angle signal θ simultaneously and is transferred to steer motor controller 10.
Bearing circle and angle displacement sensor 20 thereof are to be used for gathering the peripheral operation bearing circle on the vehicle to wish that vehicle drive wheels reaches the device of required corner, the signal that integrated electronics controller 16 in the control system is sensed bearing circle and angle displacement sensor 20 thereof converts angle signal θ to, and it is judged and turns to needed power this moment according to this angle signal θ.
In the prior art, owing to adopting the larger drive motor of power, it is enough to satisfy the demand that turns to, so 16 needs of integrated electronics controller inform that the power that two drive motor should be exported gets final product, but the power of drive motor is larger, so that its power is not fully utilized.
Be fully used for the power that makes drive motor in the present invention, choose the drive motor of smaller power, simultaneously by integrated electronics controller 16 judge turn to required power be greater than or less than the maximum power of drive motor, when turning to required power greater than the drive motor maximum power, then it generates dtc signal and is transferred to steer motor, this dtc signal represents that need steer motor 9 to provide great torque to remedy drive motor problem under powered this moment, so just can make the collaborative work of drive motor and steer motor realize driving to wheel steering, thereby guarantee taking full advantage of of drive motor power.
Power system comprises energy conversion control unit 12, two electric machine controller 11a, 11b, energy absorbing device 13, engine-generator set 14 and battery pack 15; This system is identical with the composition of existing vehicle medium power system, and it is not emphasis of the present invention, only it is carried out simple declaration below therefore.Engine power generation unit 14 passes to energy changing control unit 12 by three-phase ac power cord with three plase alternating current in power system, battery pack 15 passes to energy changing control unit 12 with direct current (DC) by the battery pack dc bus, energy conversion unit 12 becomes the required direct current (DC) of vehicle dc bus with three-phase alternating-current supply with battery pack dc bus power conversion, energy changing unit 12 can be with the electric flux input energy absorbing device 13 that feeds back on the vehicle dc bus, energy conversion control unit 12 is inputted electric machine controller 11a by the Vehicular direct-current power source bus with direct current (DC), electric machine controller 11b and 10 power supplies of steer motor controller, energy conversion control unit 12 is also given two drive motor 2a successively by the Vehicular direct-current power source bus simultaneously, 2b, steer motor 9 power supplies such as grade, in order to reduce the complexity of accompanying drawing, this supply line does not mark in Fig. 1.
Control system with annexation between the power system is: general controller 16 is connected with electric machine controller 11a, battery pack 15, energy conversion control unit 12, engine power generation unit 14, electric machine controller 11b respectively by a CAN bus N1, the 2nd CAN bus N2, the 3rd CAN bus N3, the 4th CAN bus N4, the 5th CAN bus N5; This annexation is all prior art, is not emphasis of the present invention, therefore only adopts above annexation that it is carried out simple declaration.
Mechanical system comprises two drive motor 2a, 2b, two drg 4a, 4b and two retarder 5a, 5b, and two retarder 5a, 5b link to each other with two driving wheel 6a, 6b on the vehicle; This mechanical system further comprises steer motor controller 10, steer motor 9, controllable differential device 7, two power-transfer clutch 1a, 1b and two coupler 3a, 3b; Wherein steer motor controller 10 links to each other with steer motor 9 by three-phase ac power cord, the output shaft of steer motor 9 links to each other with the input end of controllable differential device 7,7 liang of mouths of controllable differential device connect respectively a power-transfer clutch 1a, 1b, each power-transfer clutch 1a, 1b is connected into respectively a coupler 3a, the input end A of 3b, each coupler 3a, the input end B of 3b connects a drive motor 2a, 2b, each coupler 3a, the mouth of 3b and a drg 4a, 4b links to each other,, steer motor controller 9, controllable differential device 7 and power-transfer clutch 1a, 1b further links to each other by the CAN bus with control system.
Controllable differential device 7 interior storing in advance turn to control policy,, when this turns to control policy to represent corresponding different angles signal θ, determine that the type of output torque is braking torque or driving torque; The angle signal θ that controllable differential device 7 receiving control systems transmit distributes the torque T that receives according to described θ, according to described θ with turn to control policy that the type of torque is distributed.For example should be assigned as according to the size of the angle θ size to torque T: in the process that turns to, be the nearside wheel distribution T
1Torque, be the off-side wheel distribution T
2Torque;
θ wherein
MaxHard-over for bearing circle.
Turn to control policy to be: bearing circle hard-over scope is divided into a plurality of subranges, and determining in each subrange provide braking force (direction of power is opposite with velocity reversal) or propulsive effort (direction and the velocity reversal of power are identical) for nearside wheel and off-side wheel; Be directed to different vehicles, this turns between the control policy and there are differences, after vehicle was selected, the obtaining of control policy that turn to of its correspondence was prior art for a person skilled in the art, and the below enumerates one and turns to the example of control policy to be described.
For example, the bearing circle hard-over is θ
Max, when described θ is positioned at 0 θ
1Between the time, then the torque of giving of inside and outside side wheel is all driving torque; When described θ equals θ
1The time, then the nearside wheel torque of giving is 0, the torque that off-side wheel is given is driving torque; When described θ is positioned at θ
1θ
2Between the time, then the nearside wheel torque of giving is braking torque, the torque that off-side wheel is given is driving torque; When described θ equals θ
2The time, then the torque of giving of inside and outside side wheel is all driving torque; When described θ is positioned at θ
2θ
3The time, then the torque of giving of inside and outside side wheel is all driving torque; When described θ equals θ
3The time, then the torque of giving of inside and outside side wheel is all driving torque; When described θ equals θ
3θ
MaxThe time, then the torque of giving of inside and outside side wheel is all driving torque.
The present invention is according to described angle θ and turn to control policy that the type of torque is assigned as: be defined as the torque T that nearside wheel provides
1Be braking torque or driving torque, be defined as equally the torque T that nearside wheel provides
2Braking torque or driving torque.
Power-transfer clutch 1a, 1b are under the control of control system, be used for to be used for making and to be communicated with between controllable differential device 7 and coupler 3a, the 3b or to disconnect, as control system control clutch 1a, when 1b is in off-state, this moment power-transfer clutch 1a, 1b transmitting torque not, as control system control clutch 1a, when 1b is in closure state, this moment, power-transfer clutch 1a, 1b entered mode of operation, and its torque transfer that controllable differential device 7 is passed over is to coupler 3a, 3b.
The present invention is according to the size that turns to power demand, the form that adopts drive motor to provide separately energy or drive motor and steer motor that energy is provided together, and concrete working process is:
When turning to power demand less than one-sided motor maximum power, provide energy by described drive motor 2a, 2b for vehicle drive wheels, be that both sides drive motor 2a, 2b pass to respectively coupler 3a, 3b by mechanical connection with torque (power), coupler 3a, 3b pass to respectively drg 4a, 4b by mechanical connection with power, drg 4a, 4b pass to respectively retarder 5a, 5b by mechanical connection with power, and retarder 5a, 5b pass to respectively both sides driving wheel 6a, 6b by mechanical connection with power.
When turning to power demand greater than one-sided motor maximum power, by coupler to drive motor 2a, the torque of 2b output and steer motor 9 outputs, torque after controllable differential device 7 distributes is coupled, provide energy with the torque after the coupling for vehicle drive wheels, be drive motor 2a, 2b is transferred to coupler 3a by mechanical connection with torque (power), 3b, controllable differential distributing box 7 is by power-transfer clutch 1a, 1b is transferred to coupler 3a with torque (power), 3b, coupler 3a, 3b is coupled to the torque that receives, and the torque after will being coupled is passed to respectively retarder 5a with power, 5b, retarder 5a, 5b passes to respectively both sides driving wheel 6a by mechanical connection with power, 6b.
Above-mentioned working process all is to carry out under the Collaborative Control of the integrated electronics controller in control system.
In sum, above is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a two-side motor drives the continuously tracked vehicle steering swivel system, comprise control system, power system and mechanical system, this mechanical system comprises two drive motor (2a, 2b), two drgs (4a, 4b) and two retarders (5a, 5b), and two retarders (5a, 5b) link to each other with two driving wheels of vehicle respectively; It is characterized in that, this mechanical system further comprises steer motor controller (10), steer motor (9), controllable differential device (7), two power-transfer clutchs (1a, 1b) and two couplers (3a, 3b); Wherein the input end (7) of steer motor controller (10), steer motor (9) and controllable differential device connects in turn; Two mouths of controllable differential device (7) connect respectively a power-transfer clutch (1a, 1b), each power-transfer clutch (1a, 1b) is connected into the input end A of a coupler (3a, 3b), the input end B of each coupler (3a, 3b) connects a drive motor (2a, 2b), the mouth of each coupler (3a, 3b) links to each other with a drg (4a, 4b), and steer motor controller (10), controllable differential device (7) and power-transfer clutch (1a, 1b) further link to each other with control system; Wherein,
The signal that control system transmits according to bearing circle on it and angular-motion transducer thereof generates angle signal θ and is transferred to controllable differential device (7), generates dtc signal according to this angle signal θ simultaneously and is transferred to steer motor controller (10);
Steer motor controller (10) is used for the dtc signal that transmits according to control system, and the size of the output torque of steer motor (9) is controlled;
Steer motor (9) is exported torque T to controllable differential device (7) by output shaft under the control of steer motor controller (10);
Store in advance in the controllable differential device (7) and turn to control policy, when this turned to control policy to represent corresponding different angles signal θ, the type of output torque was braking torque or driving torque; The angle signal θ that controllable differential device (7) receiving control system transmits distributes the torque T that receives according to described θ, according to described θ with turn to control policy that the type of torque is distributed;
Power-transfer clutch (1a, 1b) is under the control of control system, be used for making and be communicated with between controllable differential device (7) and the coupler (3a, 3b) or disconnect, when control system control clutch (1a, 1b) is connected, its torque transfer that controllable differential device (7) is distributed is to coupler (3a, 3b);
Coupler (3a, 3b) is coupled for the torque of the torque that power-transfer clutch (1a, 1b) is transmitted and drive motor (2a, 2b) output, provides power with the torque after the coupling for the continuously tracked vehicle driving wheel.
2. described two-side motor drives the continuously tracked vehicle steering swivel system according to claim 1, it is characterized in that, described control system is to turning to power demand to judge, when judgement turns to power demand less than drive motor (2a, 2b) during maximum power, then under the control of control system, only by described drive motor (2a, 2b) provide energy for vehicle drive wheels, when judgement turns to power demand greater than drive motor (2a, 2b) during maximum power, then under the control of control system, by coupler (3a, 3b) to drive motor (2a, 2b) torque of output and steer motor (9) are exported, torque after controllable differential device (7) distributes is coupled, and provides energy with the torque after the coupling for vehicle drive wheels.
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| CN201210116909.4A CN102849106B (en) | 2012-04-19 | 2012-04-19 | Bilateral motor-drive tracked vehicle steering system |
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| CN103350719A (en) * | 2013-06-27 | 2013-10-16 | 中国北方车辆研究所 | Steering control method for crawler driven by motors on two sides in coupling manner |
| CN103707764A (en) * | 2013-12-19 | 2014-04-09 | 中国北方车辆研究所 | Bilateral hydrostatic coupling driving system of endless-track vehicle |
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| CN110104061A (en) * | 2019-05-14 | 2019-08-09 | 吉林大学 | A kind of full landform creeper truck of electric drive radial type without fluid-link steering linkwork |
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| CN103707764A (en) * | 2013-12-19 | 2014-04-09 | 中国北方车辆研究所 | Bilateral hydrostatic coupling driving system of endless-track vehicle |
| CN103707764B (en) * | 2013-12-19 | 2016-05-04 | 中国北方车辆研究所 | A kind of quiet liquid coupling drive system of bilateral of endless-track vehicle |
| CN103738200A (en) * | 2014-01-21 | 2014-04-23 | 北京汽车股份有限公司 | Electric vehicle and driving system thereof |
| CN105940177A (en) * | 2014-02-03 | 2016-09-14 | 阿特拉斯·科普柯凿岩设备有限公司 | Method, system and computer program for controlling propulsion of drilling rig as well as drilling rig |
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| CN108916327A (en) * | 2018-07-24 | 2018-11-30 | 北京理工大学 | A kind of independent driving system that bilateral driving motor is integrated with two-gear automatic speed changing case |
| CN110104061A (en) * | 2019-05-14 | 2019-08-09 | 吉林大学 | A kind of full landform creeper truck of electric drive radial type without fluid-link steering linkwork |
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