CN102849106B - Bilateral motor-drive tracked vehicle steering system - Google Patents
Bilateral motor-drive tracked vehicle steering system Download PDFInfo
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- CN102849106B CN102849106B CN201210116909.4A CN201210116909A CN102849106B CN 102849106 B CN102849106 B CN 102849106B CN 201210116909 A CN201210116909 A CN 201210116909A CN 102849106 B CN102849106 B CN 102849106B
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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 continuously tracked vehicle steering swivel system, belong to Vehicular turn technical field.
Background technology
Vehicular turn problem is the key problem that continuously tracked vehicle travels in theory, and the alerting ability turning to and controllability are to evaluate the important indicator of mobility of tracked vehicles energy.Continuously tracked vehicle makes both sides crawler belts obtain friction speed by steering hardware to realize and 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 generally divided into 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 electron steering differential steering conventionally, as Zhai Li, 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. " electronic differential continuously tracked vehicle turns to torque Neural Network PID Control " (agricultural mechanical journal, 2009.02:1～6).
Electron steering differential steering system turn to motor-driven function admirable, can realize continuous turning and infinite speed variation, it turns to flexibly, and has higher average Turning travel speed, meanwhile, this steering swivel system does not have mechanical changeover to impact, chaufeur manipulation is simply laborsaving; But this steering swivel system needs both sides power of motor larger, the power of required motor is single motor-driven twice conventionally, and its power is not fully utilized.In order to address this is that, conventionally adopt horizontal shaft type Dual-motors Driving continuously tracked vehicle to realize by center differential and steer motor, as vehicle limited slip drive configuration (US Patent, application number 6953408B2), but this steering mode is owing to there being mechanical constraint between 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 excessive problem of the one-sided power of motor of needs while the object of the invention is to drive continuously tracked vehicle to realize electron steering low speed rotation to turn to high speed steering to, middling speed for two-side motor, drive continuously tracked vehicle to realize the problem of continuous turning difficulty for horizontal shaft type two-side motor, 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 technical scheme of the present invention as follows:
A kind of two-side motor drives 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 are connected 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 is connected with a drg, and steer motor controller, controllable differential device and power-transfer clutch are further connected 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, generates dtc signal be simultaneously transferred to steer motor controller according to this angle signal θ;
The dtc signal of steer motor controller for transmitting according to control system, the size of the output torque to steer motor is controlled;
Steer motor, under the control of steer motor controller, is exported torque T to controllable differential device by output shaft;
In controllable differential device, store in advance and turn to control policy, when this turns to control policy to represent corresponding different angles signal θ, the type of output torque is braking torque or driving torque; The angle signal θ that controllable differential device receiving control system transmits, distributes the torque T receiving according to described θ, according to described θ and turn to control policy to distribute the type of torque;
Power-transfer clutch, under the control of control system, is communicated with between controllable differential device and coupler or disconnects for making, and in the time that control system control clutch is connected, its torque transfer that controllable differential device is distributed is to coupler;
Coupler is coupled for the torque of torque that power-transfer clutch is transmitted and drive motor output, provides power by the torque after coupling for continuously tracked vehicle driving wheel.
Further, control system of the present invention is to turning to power demand to judge, in the time that judgement turns to power demand to be less than drive motor maximum power, under the control of control system, only provide energy by described drive motor for vehicle drive wheels, in the time that judgement turns to power demand to be greater than drive motor maximum power, under the control of control system, torque by coupler to drive motor output and steer motor output, the torque of controllable differential device after distributing be coupled, and provides energy by the torque after coupling for vehicle drive wheels.
Beneficial effect
The present invention is by steer motor is set in mechanical system, and torque steer motor and drive motor being provided by coupler is coupled, and can reduce like this maximum power of drive motor, and 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 that energy is provided together with steer motor, can ensure like this stability of steering swivel system and realize electrodeless turning to.
Brief description of the drawings
Fig. 1 is the steering swivel system structural representation of the continuously tracked vehicle that provides in the present embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further elaborated.
Two-side motor provided by the invention drives continuously tracked vehicle steering swivel system, the principle of this steering swivel system work is: in the time that low power turns to (in the time turning to power demand to be less than drive motor maximum power), adopt electronic differential continuous turning, two drive motor 2a, 2b provide separately the form of energy; Turn to (in the time turning to power demand to be greater than drive motor maximum power) while turning to minor radius difficulty road surface at superpower, adopt center differential horizontal shaft type to turn to, two drive motor 2a, 2b provide the form of energy together with steer motor 9; The conversion of these two kinds of modes 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 are connected respectively with integrated electronics controller, brake pedal and displacement pickup 18 thereof, electronics gear collecting unit 19 and bearing circle and angular-motion transducer 20 thereof, between the each device in control system and integrated electronics controller 16, be to be wherein connected by signal wire (SW), each device is transferred to integrated electronics controller 16 by the signal collecting 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 that the signal of analyzing gathers for bearing circle and angular-motion transducer 20 thereof, therefore be only applied to signal is described at the present embodiment, the signal other device not being collected, do not apply in steering swivel system illustrates 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 be simultaneously transferred to steer motor controller 10 according to this angle signal θ.
Bearing circle and angle displacement sensor 20 thereof are to wish that for gathering peripheral operation bearing circle vehicle drive wheels reaches the device of required corner on vehicle, the signal that integrated electronics controller 16 in control system senses bearing circle and angle displacement sensor 20 thereof converts angle signal θ to, and according to this angle signal θ, it is judged and now turns to needed power.
In the prior art, owing to adopting the larger drive motor of power, it is enough to meet the demand turning to, therefore 16 power that need to inform that two drive motor should be exported of integrated electronics controller, but the power of drive motor is larger, its power is not fully utilized.
In the present invention for the power that makes drive motor is fully used, choose the drive motor of smaller power, judge by integrated electronics controller 16 maximum power that turns to required power to be greater than or to be less than drive motor simultaneously, when turning to required power to be greater than drive motor maximum power, it generates dtc signal and is transferred to steer motor, this dtc signal represents now to need steer motor 9 to provide great torque to make up drive motor problem under powered, so just can make the collaborative work of drive motor and steer motor realize the driving to wheel steering, thereby ensure making full use 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, therefore only it is briefly described below.In power system, driving engine-generator set 14 passes to energy changing control unit 12 by three-phase ac power cord by three plase alternating current, battery pack 15 passes to energy changing control unit 12 by direct current (DC) by battery pack DC bus, energy conversion unit 12 becomes the required direct current (DC) of vehicle DC bus by three-phase alternating-current supply with battery pack DC bus power conversion, energy changing unit 12 can be by the electric flux input energy absorbing device 13 feeding back on vehicle DC bus, energy conversion control unit 12 is inputted electric machine controller 11a by Vehicular direct-current power source bus by direct current (DC), electric machine controller 11b and steer motor controller 10 are powered, energy conversion control unit 12 is also given two drive motor 2a successively by 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.
Annexation between control system and power system is: general controller 16 is connected with electric machine controller 11a, battery pack 15, energy conversion control unit 12, driving engine-generator set 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 to be briefly described it.
Mechanical system comprises two drive motor 2a, 2b, two drg 4a, 4b and two retarder 5a, 5b, and two retarder 5a, 5b are connected with two driving wheel 6a, 6b on 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 is connected with steer motor 9 by three-phase ac power cord, the output shaft of steer motor 9 is connected 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 is connected, , steer motor controller 9, controllable differential device 7 and power-transfer clutch 1a, 1b is further connected by CAN bus with control system.
Steer motor controller 10 in mechanical system of the present invention, steer motor 9, controllable differential device 7, two power-transfer clutch 1a, 1b and two coupler 3a, 3b are designed to emphasis of the present invention, below this device are elaborated:
The dtc signal of steer motor controller 10 for transmitting according to control system (being the integrated electronics controller of control system), the size (also can be called the power output of steer motor herein) of the output torque to steer motor 9 is controlled.
Steer motor 9, under the control of steer motor controller 10, is exported torque T to controllable differential device 7 by output shaft.
Interior the storing in advance of controllable differential device 7 turns 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 receiving according to described θ, according to described θ and turn to control policy to distribute the type of torque.For example this is assigned as the size of torque T according to the size of angle θ: in the process turning to, be nearside wheel distribution T
1torque, be off-side wheel distribution T
2torque;
Wherein θ
maxfor the hard-over of bearing circle.
Turn to control policy to be: bearing circle hard-over scope to be divided into multiple subranges, in each subrange, to determine and provide braking force (direction of power is contrary 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 control policy and there are differences, after vehicle is selected, its correspondence to turn to obtaining of control policy be prior art for a person skilled in the art, enumerate one below and turn to the example of control policy to be described.
For example, bearing circle hard-over is θ
max, when described θ is positioned at 0～θ
1between time, the torque of giving of inside and outside side wheel is all driving torque; When described θ equals θ
1time, the torque that nearside wheel is given is 0, the torque that off-side wheel is given is driving torque; When described θ is positioned at θ
1～θ
2between time, the torque that nearside wheel is given is braking torque, the torque that off-side wheel is given is driving torque; When described θ equals θ
2time, the torque of giving of inside and outside side wheel is all driving torque; When described θ is positioned at θ
2～θ
3time, the torque of giving of inside and outside side wheel is all driving torque; When described θ equals θ
3time, the torque of giving of inside and outside side wheel is all driving torque; When described θ is positioned at θ
3～θ
maxtime, 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 to be assigned as the type of torque: 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.
Described two power-transfer clutch 1a, 1b are under the control of control system, be used for making being communicated with or disconnecting between controllable differential device 7 and described two coupler 3a, 3b, in the time that described in control system control, two power-transfer clutch 1a, 1b are in off-state, now not transmitting torque of described two power-transfer clutch 1a, 1b, in the time that described in control system control, two power-transfer clutch 1a, 1b are in closure state, now described two power-transfer clutch 1a, 1b enter mode of operation, and its torque transfer that controllable differential device 7 is passed over is given described two coupler 3a, 3b.
Described two coupler 3a, 3b are coupled for the torque of torque that described two power-transfer clutch 1a, 1b are transmitted and described two drive motor 2a, 2b output, provide power by the torque after coupling for continuously tracked vehicle driving wheel.
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 that energy is provided together with steer motor, and concrete working process is:
When turning to power demand to be 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 by torque (power), coupler 3a, 3b pass to respectively drg 4a, 4b by mechanical connection by power, drg 4a, 4b pass to respectively retarder 5a, 5b by mechanical connection by power, and retarder 5a, 5b pass to respectively both sides driving wheel 6a, 6b by mechanical connection by power.
When turning to power demand to be greater than one-sided motor maximum power, by coupler to drive motor 2a, the torque of 2b output and steer motor 9 are exported, torque after controllable differential device 7 distributes is coupled, provide energy by the torque after coupling for vehicle drive wheels, be drive motor 2a, 2b is transferred to coupler 3a by mechanical connection by torque (power), 3b, controllable differential distributing box 7 is by power-transfer clutch 1a, torque (power) is transferred to coupler 3a by 1b, 3b, coupler 3a, 3b is coupled to the torque receiving, and the torque after coupling is passed to respectively to retarder 5a by power, 5b, retarder 5a, 5b passes to respectively both sides driving wheel 6a by mechanical connection by power, 6b.
Above-mentioned working process is all to carry out under the Collaborative Control of the integrated electronics controller in control system.In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. a two-side motor drives 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) are connected with two driving wheels of vehicle respectively; Control system comprises bearing circle and angular-motion transducer thereof; This two-side motor drives continuously tracked vehicle steering swivel system to be characterised 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 of steer motor controller (10), steer motor (9) and controllable differential device (7) 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) is connected with a drg (4a, 4b), and steer motor controller (10), controllable differential device (7) and power-transfer clutch (1a, 1b) are further connected 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 be simultaneously transferred to steer motor controller (10) according to this angle signal θ;
The dtc signal of steer motor controller (10) for transmitting according to control system, the size of the output torque to steer motor (9) is controlled;
Steer motor (9), under the control of steer motor controller (10), is exported torque T to controllable differential device (7) by output shaft;
In controllable differential device (7), store in advance and turn to control policy, when this turns to control policy to represent corresponding different angles signal θ, the type of output torque is braking torque or driving torque; The angle signal θ that controllable differential device (7) receiving control system transmits, distributes the torque T receiving according to described θ, according to described θ and turn to control policy to distribute the type of torque;
Described two power-transfer clutchs (1a, 1b) are under the control of control system, be used for making being communicated with or disconnecting between controllable differential device (7) and described two couplers (3a, 3b), in the time that two power-transfer clutchs (1a, 1b) described in control system control are connected, its torque transfer that controllable differential device (7) is distributed is given described two couplers (3a, 3b);
Described two couplers (3a, 3b) are coupled for the torque of torque that described two power-transfer clutchs (1a, 1b) are transmitted and described two drive motor (2a, 2b) output, provide power by the torque after coupling for continuously tracked vehicle driving wheel.
2. two-side motor drives 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 turning to power demand, judgement is less than described two drive motor (2a, 2b) when maximum power, under the control of control system, only by described two drive motor (2a, 2b) for vehicle drive wheels provides energy, when turning to power demand, judgement is greater than described two drive motor (2a, 2b) when maximum power, under the control of control system, by described two coupler (3a, 3b) to described two drive motor (2a, 2b) torque of output and steer motor (9) are exported, torque after controllable differential device (7) distributes is coupled, provide energy by the torque after 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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| 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 |
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| CN108916327B (en) * | 2018-07-24 | 2020-11-10 | 北京理工大学 | Independent driving system integrating double-side driving motor and two-gear automatic gearbox |
| CN110104061B (en) * | 2019-05-14 | 2021-03-30 | 吉林大学 | Hydraulic-steering-free hinging mechanism of electrically-driven hinged all-terrain crawler |
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