CN103213517A - System and method for driving four-wheel full-drive electric vehicle dragged by winding type asynchronous motors - Google Patents
System and method for driving four-wheel full-drive electric vehicle dragged by winding type asynchronous motors Download PDFInfo
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- CN103213517A CN103213517A CN2012104932805A CN201210493280A CN103213517A CN 103213517 A CN103213517 A CN 103213517A CN 2012104932805 A CN2012104932805 A CN 2012104932805A CN 201210493280 A CN201210493280 A CN 201210493280A CN 103213517 A CN103213517 A CN 103213517A
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Abstract
The invention provides a system for driving a four-wheel full-drive electric vehicle dragged by winding type asynchronous motors; the system is characterized by comprising a driver operating mechanism, a vehicle steering mechanism, a differential control mechanism, an energy management system, a storage battery, four independent traction control systems, four power conversion units and four winding type asynchronous traction motors, wherein the driver operating mechanism is connected to the vehicle steering mechanism on the one hand, and is connected to the differential control system on the other hand; the vehicle steering mechanism is also connected to the differential control system; the differential control system is respectively connected with the four independent traction control systems; the four independent traction control systems are respectively connected with the four power conversion units in a way of one-to-one correspondence; and the four power conversion units are respectively connected with the four winding type asynchronous traction motors in a way of one-to-one correspondence; and the energy management system and the storage battery are respectively connected with the four power conversion units. The system is capable of more effectively improving the maneuvering capability and the stability of the vehicle.
Description
Technical field
Patent of the present invention belongs to full drive electric automobile traction of a kind of four-wheel and differential control system.
Background technology
The full drive electric automobile of four-wheel adopts magneto-electric machine, switched reluctance machines and squirrel cage asynchronous motor traction more at present, its transfer of energy mode is: storage battery---inverter---traction electric machine, energy can only transmit between storage battery and motor, storage battery provides energy for motor during motoring condition, and motor feeds back to storage battery with energy during braking mode.When automobile big torque raising speed of needs or glancing impact, required dynamic power increases considerably, and because of storage battery limits the strictness of presenting electric current, makes the system transients energy be difficult to satisfy the vehicular drive performance requriements.And frequently discharging and recharging between this storage battery and motor more makes shorten the service life of storage battery.
The wire-wound asynchronous motor dynamic response is fast, energy distribution is flexible under each operating mode of starting, brake, quicken, slow down, the manufacturing technology maturation, but because wire-wound asynchronous motor is because of needs two cover power conversion units, the high traction that therefore is difficult to apply to electronlmobil of controlling cost.
Summary of the invention
Goal of the invention: the invention provides a kind of full drive electric automobile drive system of four-wheel and method that adopts the wire-wound asynchronous motor traction, its objective is and propose a kind of later-model traction system, differential controller performance when improving Vehicular turn, the left and right speed setting of taking turns traction electric machine when accelerating to turn to, improve energy recovery rate, solve the unfavorable problem of control system control effect in the past.
Technical scheme: the present invention is achieved through the following technical solutions:
The full drive electric automobile drive system of four-wheel of a kind of wire-wound asynchronous motor traction is characterized in that: this system comprises pilot control mechanism, vehicle steering mechanism, differential control mechanism, energy management system, storage battery, four independently pull-in control system, four Power Conversion unit and four Wound-rotor asynchronous traction electric machines; Pilot control mechanism is connected to vehicle steering mechanism on the one hand, be connected to differential control system on the other hand, vehicle steering mechanism also is connected to differential control system, differential control system connects four independently pull-in control systems respectively, four independently pull-in control system one to one correspondence be connected to four Power Conversion unit, four Power Conversion unit are corresponding one to one to connect four Wound-rotor asynchronous traction electric machines; Energy management system and storage battery all are connected to four Power Conversion unit.
Four independently pull-in control system be divided into the near front wheel motor pull-in control system (6), off front wheel motor pull-in control system, left rear wheel motor pull-in control system and off hind wheel motor pull-in control system; Four Power Conversion unit are the near front wheel Power Conversion unit, off front wheel Power Conversion unit, left rear wheel Power Conversion unit and off hind wheel Power Conversion unit; Four Wound-rotor asynchronous traction electric machines are the Wound-rotor asynchronous traction electric machine of the near front wheel, the Wound-rotor asynchronous traction electric machine of off front wheel, the Wound-rotor asynchronous traction electric machine of left rear wheel and the Wound-rotor asynchronous traction electric machine of off hind wheel; Differential control system is connected to the near front wheel motor pull-in control system respectively, off front wheel motor pull-in control system, left rear wheel motor pull-in control system and off hind wheel motor pull-in control system, the near front wheel motor pull-in control system, off front wheel motor pull-in control system, left rear wheel motor pull-in control system and the corresponding respectively the near front wheel Power Conversion unit that is connected of off hind wheel motor pull-in control system, off front wheel Power Conversion unit, left rear wheel Power Conversion unit and off hind wheel Power Conversion unit, the near front wheel Power Conversion unit, off front wheel Power Conversion unit, left rear wheel Power Conversion unit and the corresponding respectively Wound-rotor asynchronous traction electric machine of the near front wheel that is connected in off hind wheel Power Conversion unit, the Wound-rotor asynchronous traction electric machine of off front wheel, Wound-rotor asynchronous traction electric machine of left rear wheel and the Wound-rotor asynchronous traction electric machine of off hind wheel.
The near front wheel Power Conversion unit, off front wheel Power Conversion unit, left rear wheel Power Conversion unit and off hind wheel Power Conversion unit are connected energy management system and storage battery.
The rotor of Wound-rotor asynchronous traction electric machine of the near front wheel and the Wound-rotor asynchronous traction electric machine of off front wheel directly is docking together, and the rotor of Wound-rotor asynchronous traction electric machine of left rear wheel and the Wound-rotor asynchronous traction electric machine of off hind wheel also directly is docking together.
Each Power Conversion unit all has been equipped with two-way DC/DC chopper circuit and the inverter that contains super capacitor; Two-way DC/DC chopper circuit is connected to inverter, and inverter is connected to Wound-rotor asynchronous traction electric machine, and two-way DC/DC chopper circuit connects storage battery, and the motor pull-in control system connects two-way DC/DC chopper circuit and inverter.
The full drive electric automobile driving method of four-wheel of the employing wire-wound asynchronous motor traction that the full drive electric automobile drive system of four-wheel of utilizing above-mentioned wire-wound asynchronous motor to draw is implemented, it is characterized in that: the step of this method is as follows: utilize four Wound-rotor asynchronous traction electric machines to be respectively applied for four wheels of traction electronlmobil, utilize four Power Conversion unit that the dc power supply of storage battery is changed into four three-phase alternating-current supplies that Wound-rotor asynchronous traction electric machine is required, utilize differential control system to calculate four wheel speeds that wheel is required, utilize the stator voltage frequency and the amplitude of four Wound-rotor asynchronous traction electric machines of the independent respectively control of four motor pull-in control systems again according to the speed of a motor vehicle and the steering order that chaufeur sends.
The rotor of Wound-rotor asynchronous traction electric machine of the near front wheel and the Wound-rotor asynchronous traction electric machine of off front wheel directly is docking together, the rotor of Wound-rotor asynchronous traction electric machine of left rear wheel and the Wound-rotor asynchronous traction electric machine of off hind wheel directly is docking together; During craspedodrome, four Wound-rotor asynchronous traction electric machines are equivalent to common asynchronous moter, and when turning to, Wound-rotor asynchronous traction electric machine of the near front wheel and the Wound-rotor asynchronous traction electric machine of off front wheel carry out transfer of energy by the rotor of butt joint, and Wound-rotor asynchronous traction electric machine of left rear wheel and the Wound-rotor asynchronous traction electric machine of off hind wheel carry out transfer of energy by the rotor of butt joint.
The concrete steps of described method are as follows:
1., utilize pilot control mechanism outbound course dish turn sign and vehicle speed signal, the wheel steering signal is passed to steering hardware, vehicle speed signal is passed to the differential control mechanism, make vehicle speed signal that front-wheel steering signal and the pilot control mechanism of steering hardware output export jointly as the incoming signal of differential control mechanism;
2., utilize the differential control mechanism to calculate four drive wheels linear velocity separately according to front-wheel steering signal and vehicle speed signal, and these four linear velocity signals are outputed to the near front wheel motor pull-in control system, off front wheel motor pull-in control system, left rear wheel motor pull-in control system and off hind wheel motor pull-in control system respectively;
3., four linear velocity wheel speed instructions that the motor pull-in control system provides according to the differential control mechanism, generate the pwm control signal of four-wheel Power Conversion unit inverter respectively, and these four groups of pwm signals are outputed to the near front wheel power of motor converter unit, off front wheel power of motor converter unit, left rear wheel power of motor converter unit and off hind wheel power of motor converter unit respectively;
4., utilize energy management system output control signal to give four Power Conversion unit controls direction of energy flows; Utilize four Power Conversion unit tractions Wound-rotor asynchronous traction electric machine electric operation separately, during the motor powered operation, by storage battery 5 the two-way DC/ DC mapping device of direct supply in the Power Conversion unit of exporting being carried out copped wave boosts, boost the back as the bus voltage of the inverter in the Power Conversion unit, when traction Wound-rotor asynchronous traction electric machine regenerative braking separately in Power Conversion unit moves, two-way DC/ DC mapping device carries out chopping depressuring with the vdc of inverter output, thus the braking energy feedback accumulators;
5., utilize four Power Conversion unit to generate the stator voltage of the near front wheel Wound-rotor type traction electric machine, the stator voltage of off front wheel Wound-rotor type traction electric machine, the stator voltage of left rear wheel Wound-rotor type traction electric machine (16) and the stator voltage of off hind wheel Wound-rotor type traction electric machine respectively according to the pwm control signal of motor pull-in control system output separately, to regulate the rotating speed of each Wound-rotor asynchronous traction electric machine, make its wheel speed of following the tracks of differential control system instruction;
6., the rotor three-phase winding with the Wound-rotor asynchronous traction electric machine of the near front wheel docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine of off front wheel respectively, when the rotating speed of Wound-rotor asynchronous traction electric machine of vehicle craspedodrome the near front wheel and the Wound-rotor asynchronous traction electric machine of off front wheel is identical, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in front-wheel two Wound-rotor asynchronous traction electric machines, the rotor voltage difference of two motors, produce rotor current, a motor absorbs the energy of another motor by the rotor input by rotor, the low-tach rotor that passes through butt joint of left and right sides front-wheel two Wound-rotor asynchronous traction electric machines this moment is to high-revolving another motor energy output, and front-wheel Wound-rotor asynchronous traction electric machine in the left and right sides also carries out energy exchange by stator and storage battery simultaneously;
7., the rotor three-phase winding with the Wound-rotor asynchronous traction electric machine of left rear wheel docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine of off hind wheel respectively, when vehicle is kept straight on the Wound-rotor asynchronous traction electric machine rotating speed of two trailing wheels when identical, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in trailing wheel two Wound-rotor asynchronous traction electric machines, the rotor voltage difference of two motors, rotor current is non-vanishing, the low-tach rotor that passes through butt joint of left and right wheels two Wound-rotor asynchronous traction electric machines this moment is to high-revolving another motor energy output, and trailing wheel Wound-rotor asynchronous traction electric machine in the left and right sides also carries out energy exchange by stator and storage battery simultaneously.
Advantage and effect:
The invention provides a kind of full drive electric automobile of four-wheel of wire-wound asynchronous motor traction that adopts drives and differential control system, comprise pilot control mechanism, vehicle steering mechanism, the differential control mechanism, energy management system, storage battery, four Wound-rotor asynchronous traction electric machines, four Power Conversion unit, four traction control mechanisms independently.
The present invention adopts has doublewound wire-wound asynchronous motor traction, utilize the motor duplex winding to realize turning to more flexibly differential control on the one hand, adopt drive configuration, the realization control policy (vector controlled or Direct Torque Control) identical of two front-wheels and two trailing wheel Wound-rotor type traction electric machine rotors butt joint on the other hand with mouse-cage type asynchronous dynamo or permagnetic synchronous motor.This drive system is when turning to differential, make full use of the advantage that winding motor has stator, rotor two cover windings, energy flows between storage battery and traction electric machine by the Power Conversion unit on the one hand, simultaneously can be by the rotor of butt joint, left and right two motors realize that the raising speed motor to reduction of speed motor energy regenerative, improves dynamic responding speed and energy recovery rate; On the other hand, the form of rotor butt joint makes rotor need not the Power Conversion unit, and therefore this actuating device is identical with the Power Conversion element number of common alternating current dynamo traction system, and cost is identical.
The duplex winding of wire-wound asynchronous motor of the present invention can carry out energy exchange simultaneously, vehicle performance for the operating mode complexity requires, coiling electric motor control is more flexible, more favourable to controlling of vehicle, the present invention can make full use of the doublewound advantage of wire-wound asynchronous motor, does not increase power conversion equipment simultaneously.
Four-wheel of the present invention drives traction and the ingenious characteristics of using the Wound-rotor type traction electric machine of differential system entirely, not only carry out to flow exchange between motor and the storage battery when realizing differential, and also carry out between left and right traction electric machine flowing exchange, left and right two motors are respectively in metasynchronism district and the work of supersynchronous district when turning to, energy is reasonable distribution between two motors automatically, improves dynamic responding speed and energy or yield when turning to.
Description of drawings:
Fig. 1 is a structural representation block diagram of the present invention.
The specific embodiment:The present invention will be further described below in conjunction with accompanying drawing:
As shown in Figure 1, the invention provides a kind of full drive electric automobile drive system of four-wheel that adopts wire-wound asynchronous motor traction, this system comprises pilot control mechanism 1, vehicle steering mechanism 2, differential control mechanism 3, energy management system 4, storage battery 5, four independently pull-in control system, four Power Conversion unit and four Wound-rotor asynchronous traction electric machines; Pilot control mechanism 1 is connected to vehicle steering mechanism 2 on the one hand, be connected to differential control system 3 on the other hand, vehicle steering mechanism 2 also is connected to differential control system 3, differential control system 3 connects four independently pull-in control systems respectively, four independently pull-in control system one to one correspondence be connected to four Power Conversion unit, four Power Conversion unit are corresponding one to one to connect four Wound-rotor asynchronous traction electric machines; Energy management system 4 and storage battery 5 all are connected to four Power Conversion unit.
Four independently pull-in control system be divided into the near front wheel motor pull-in control system 6, off front wheel motor pull-in control system 7, left rear wheel motor pull-in control system 8 and off hind wheel motor pull-in control system 9; Four Power Conversion unit are the near front wheel Power Conversion unit 10, off front wheel Power Conversion unit 11, left rear wheel Power Conversion unit 12 and off hind wheel Power Conversion unit 13; Four Wound-rotor asynchronous traction electric machines are the Wound-rotor asynchronous traction electric machine 14 of the near front wheel, the Wound-rotor asynchronous traction electric machine 15 of off front wheel, the Wound-rotor asynchronous traction electric machine 16 of left rear wheel and the Wound-rotor asynchronous traction electric machine 17 of off hind wheel; Differential control system 3 is connected to the near front wheel motor pull-in control system 6 respectively, off front wheel motor pull-in control system 7, left rear wheel motor pull-in control system 8 and off hind wheel motor pull-in control system 9, the near front wheel motor pull-in control system 6, off front wheel motor pull-in control system 7, left rear wheel motor pull-in control system 8 and the corresponding respectively the near front wheel Power Conversion unit 10 that is connected of off hind wheel motor pull-in control system 9, off front wheel Power Conversion unit 11, left rear wheel Power Conversion unit 12 and off hind wheel Power Conversion unit 13, the near front wheel Power Conversion unit 10, off front wheel Power Conversion unit 11, left rear wheel Power Conversion unit 12 and the corresponding respectively Wound-rotor asynchronous traction electric machine 14 of the near front wheel that is connected in off hind wheel Power Conversion unit 13, the Wound-rotor asynchronous traction electric machine 15 of off front wheel, Wound-rotor asynchronous traction electric machine 16 of left rear wheel and the Wound-rotor asynchronous traction electric machine 17 of off hind wheel.
The near front wheel Power Conversion unit 10, off front wheel Power Conversion unit 11, left rear wheel Power Conversion unit 12 and off hind wheel Power Conversion unit 13 are connected energy management system 4 and storage battery 5.
The rotor of Wound-rotor asynchronous traction electric machine 14 of the near front wheel and the Wound-rotor asynchronous traction electric machine 15 of off front wheel directly is docking together, and the rotor of Wound-rotor asynchronous traction electric machine 16 of left rear wheel and the Wound-rotor asynchronous traction electric machine 17 of off hind wheel also directly is docking together.
Each Power Conversion unit all has been equipped with two-way DC/DC chopper circuit and the inverter that contains super capacitor.Two-way DC/DC chopper circuit is connected to inverter, and inverter is connected to Wound-rotor asynchronous traction electric machine, and two-way DC/DC chopper circuit connects storage battery (5), and the motor pull-in control system connects two-way DC/DC chopper circuit and inverter.
When the effect of two-way DC/DC chopper circuit is Wound-rotor asynchronous traction electric machine 14,15,16 and 17 electric operations storage battery 5 voltages are risen to the inverter bus voltage, glancing impact is reduced to storage battery 5 voltages with the inverter bus voltage, reclaims the motor feedback energy.Two-way DC/DC chopper circuit is controlled it by motor pull-in control system 6,7,8 and 9, make it can be according to the mode of operation of Wound-rotor asynchronous traction electric machine 14,15,16 and 17, boost and two kinds of mode of operations of step-down between switch, and the output voltage of regulating two-way DC/DC chopper circuit makes it stable.
DC bus-bar voltage with two-way DC/DC chopper circuit output when the function of inverter is electronic is transformed into three-phase alternating current PWM voltage, for Wound-rotor asynchronous traction electric machine 14,15,16 and 17 provides stator voltage; Glancing impact converts the alternating-current voltage/AC voltage of Wound-rotor asynchronous traction electric machine 14,15,16 and 17 stator feedbacks to vdc, and again by the step-down of two-way DC/DC chopper circuit, storage battery 5 reclaims.Inverter is controlled it by motor pull-in control system 6,7,8 and 9, makes it drive four Wound-rotor asynchronous traction electric machines 14,15,16 and 17 according to the corresponding pwm signal of traction instruction output of differential control mechanism 3 outputs, sees Fig. 2.
When the present invention kept straight at automobile, the Wound-rotor asynchronous traction electric machine rotating speed of left and right two front-wheels was identical, and the armature loop electric current is zero, and noenergy flows between two motors; The Wound-rotor asynchronous traction electric machine rotating speed of left and right two trailing wheels is also identical, and the armature loop electric current is zero, and noenergy flows between two motors.During motor turning, produce differential with the Wound-rotor asynchronous traction electric machine of wheel before left and right, two motor speed differences, energy can pass through the control winding to motor transmission faster from the slower motor of rotating speed, equally, the Wound-rotor asynchronous traction electric machine of left and right two trailing wheels also produces differential, two motor speed differences, energy can pass through the control winding to motor transmission faster from the slower motor of rotating speed, realizes freely distributing of energy.
As the automobile right steering, the Wound-rotor asynchronous traction electric machine of the near front wheel operates under the supersynchronous state, and the Wound-rotor asynchronous traction electric machine of off front wheel operates under the subsynchronous state.The power of exporting on the near front wheel wire-wound asynchronous motor axle is greater than the electromagnetic power of stator winding side input, and the part that stator winding side input this moment is not enough is inevitable to be provided by the armature loop side.The active volt-amperes of armature loop side input is except that the winding copper loss, and remaining part is converted into mechanical horsepower output.Total mechanical power is provided jointly by the active volt-amperes of stator winding side input and the active volt-amperes of armature loop side input in rotating shaft this moment.Total mechanical power is less than the electric power of stator winding side input in the Wound-rotor asynchronous traction electric machine rotating shaft of off front wheel, and remaining part must flow to the armature loop side so, and energy feeds back to storage battery by the armature loop side.
Four Wound-rotor asynchronous traction electric machines 14,15,16,17 are respectively applied for four wheels of traction electronlmobil, four Power Conversion unit 10,11,12,13 are used for the dc power supply of storage battery 5 is changed into four three-phase alternating-current supplies that Wound-rotor asynchronous traction electric machine is required, differential control system 3 calculates four wheel speeds that wheel is required according to the speed of a motor vehicle and the steering order that chaufeur sends, four motor pull-in control systems 6,7,8, the stator voltage frequency and the amplitude of four Wound-rotor asynchronous traction electric machines of 9 independent respectively controls, the rotor of Wound-rotor asynchronous traction electric machine 14 of the near front wheel and the Wound-rotor asynchronous traction electric machine 15 of off front wheel directly is docking together, during craspedodrome, four Wound-rotor asynchronous traction electric machines are equivalent to asynchronous dynamo, and when turning to, Wound-rotor asynchronous traction electric machine 14 of the near front wheel and the Wound-rotor asynchronous traction electric machine 15 of off front wheel carry out transfer of energy by the rotor of butt joint, two trailing wheels are also like this, left and right wheels wheel speed and capacity control speed when this structure can improve differential improve energy feedback amount.
Specific implementation method of the present invention is as follows: utilize pilot control mechanism 1 outbound course dish turn sign and vehicle speed signal, the wheel steering signal is passed to steering hardware 2, vehicle speed signal is passed to differential control mechanism 3, and the vehicle speed signal that the front-wheel steering signal of steering hardware 2 output and pilot control mechanism 1 export is jointly as the input of differential control mechanism 3; Differential control mechanism 3 calculates four drive wheels linear velocity separately according to front-wheel steering signal and vehicle speed signal, and these four linear velocity signals are outputed to the near front wheel motor pull-in control system 6, off front wheel motor pull-in control system 7, left rear wheel motor pull-in control system 8, off hind wheel motor pull-in control system 9 respectively; Four motor pull-in control systems instruct according to wheel speed, generate the pwm control signal of four-wheel Power Conversion unit inverter respectively, and these four groups of pwm signals are outputed to the near front wheel power of motor converter unit 10, off front wheel power of motor converter unit 11, left rear wheel power of motor converter unit 12, off hind wheel power of motor converter unit 13 respectively; Energy management system 4 output control signals are given four Power Conversion unit 10,11,12 and 13 control direction of energy flows; Four Power Conversion unit each have a two-way DC/ DC mapping device, during separately wire-wound asynchronous motor electric operation of Power Conversion unit traction, storage battery 5 carries out copped wave with the two-way DC/ DC mapping device of direct supply in the Power Conversion unit of exporting and boosts, boost the back as the bus voltage of inverter, when the traction wire-wound asynchronous motor regenerative braking separately of Power Conversion unit moves, two-way DC/ DC mapping device carries out chopping depressuring with the vdc of inverter output, and braking energy can feed back to storage battery 5 thus; Four Power Conversion unit 10,11,12,13 bases are motor pull-in control system 6 separately, 7,8, the pwm control signal of 9 outputs generates the stator voltage of the near front wheel Wound-rotor type traction electric machine 14, the stator voltage of off front wheel Wound-rotor type traction electric machine 15, the stator voltage of the stator voltage of left rear wheel Wound-rotor type traction electric machine 16 and off hind wheel Wound-rotor type traction electric machine 17, to regulate each Wound-rotor asynchronous traction electric machine 14,15,16 and 17 rotating speed, make its wheel speed of following the tracks of differential control system 3 instruction, the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine 14 of the near front wheel docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine 15 of off front wheel respectively, when Wound-rotor asynchronous traction electric machine 15 rotating speeds of Wound-rotor asynchronous traction electric machine 14 of vehicle craspedodrome the near front wheel and off front wheel are identical, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in front-wheel two Wound-rotor asynchronous traction electric machines 14 and 15, the rotor voltage difference of two motors, produce rotor current, a motor absorbs the energy of another motor by the rotor input by rotor, left and right sides front-wheel two Wound-rotor asynchronous traction electric machines 14 and 15 low-tach rotors that pass through butt joint are to high-revolving another motor energy output at this moment, and front-wheel Wound-rotor asynchronous traction electric machine in the left and right sides also carries out energy exchange by stator and storage battery 5 simultaneously.The rotor three-phase winding of the Wound-rotor asynchronous traction electric machine 16 of left rear wheel docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine 17 of off hind wheel respectively, when vehicle is kept straight on the Wound-rotor asynchronous traction electric machine 16 of two trailing wheels when identical with 17 rotating speeds, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in trailing wheel two Wound-rotor asynchronous traction electric machines, the rotor voltage difference of two motors, rotor current is non-vanishing, the low-tach rotor that passes through butt joint of left and right wheels two Wound-rotor asynchronous traction electric machines this moment is to high-revolving another motor energy output, and the Wound-rotor asynchronous traction electric machine 16 of left and right sides trailing wheel and 17 also carries out energy exchange by stator and storage battery 5 simultaneously.
In sum, one aspect of the present invention still can realize bidirectional energy transmission between traction electric machine and storage battery by stator winding, on the other hand, there is differential in left and right two-wheeled during owing to Vehicular turn, can carry out transfer of energy by armature loop between the Wound-rotor asynchronous traction electric machine of two front-wheels.The advantage that had both kept the four-wheel individual drive on the mode of traction performance can independently be controlled the left and right torque of taking turns traction electric machine, has given play to the ability that energy freely distributes between two motors again, during differential steering the energy multi-channel distribute naturally, the degree of utilization height.
The torque independence control ability of four-wheel traction electric machine of the present invention provides the space for the raising of automotive performance, the electronlmobil of employing four-wheel individual drive no longer needs mechanical differential gear box when turning to, but by controlling the left and right traction electric machine of taking turns, make longitudinal force of tire produce difference, and then generation steering torque, realize turning to accurately control, compare, can promote the maneuvering ability and the stability of automobile more effectively with traditional differential control.
Claims (8)
1. the full drive electric automobile drive system of four-wheel of wire-wound asynchronous motor traction is characterized in that: this system comprises pilot control mechanism (1), vehicle steering mechanism (2), differential control mechanism (3), energy management system (4), storage battery (5), four independently pull-in control system, four Power Conversion unit and four Wound-rotor asynchronous traction electric machines; Pilot control mechanism (1) is connected to vehicle steering mechanism (2) on the one hand, be connected to differential control system (3) on the other hand, vehicle steering mechanism (2) also is connected to differential control system (3), differential control system (3) connects four independently pull-in control systems respectively, four independently pull-in control system one to one correspondence be connected to four Power Conversion unit, four Power Conversion unit are corresponding one to one to connect four Wound-rotor asynchronous traction electric machines; Energy management system (4) and storage battery (5) all are connected to four Power Conversion unit.
2. the full drive electric automobile drive system of four-wheel of a kind of wire-wound asynchronous motor traction according to claim 1 is characterized in that: four independently pull-in control system be divided into the near front wheel motor pull-in control system (6), off front wheel motor pull-in control system (7), left rear wheel motor pull-in control system (8) and off hind wheel motor pull-in control system (9); Four Power Conversion unit are the near front wheel Power Conversion unit (10), off front wheel Power Conversion unit (11), left rear wheel Power Conversion unit (12) and off hind wheel Power Conversion unit (13); Four Wound-rotor asynchronous traction electric machines are the Wound-rotor asynchronous traction electric machine of the near front wheel (14), the Wound-rotor asynchronous traction electric machine of off front wheel (15), the Wound-rotor asynchronous traction electric machine of left rear wheel (16) and the Wound-rotor asynchronous traction electric machine of off hind wheel (17); Differential control system (3) is connected to the near front wheel motor pull-in control system (6) respectively, off front wheel motor pull-in control system (7), left rear wheel motor pull-in control system (8) and off hind wheel motor pull-in control system (9), the near front wheel motor pull-in control system (6), off front wheel motor pull-in control system (7), left rear wheel motor pull-in control system (8) and the corresponding respectively the near front wheel Power Conversion unit (10) that is connected of off hind wheel motor pull-in control system (9), off front wheel Power Conversion unit (11), left rear wheel Power Conversion unit (12) and off hind wheel Power Conversion unit (13), the near front wheel Power Conversion unit (10), off front wheel Power Conversion unit (11), left rear wheel Power Conversion unit (12) and the corresponding respectively Wound-rotor asynchronous traction electric machine of the near front wheel (14) that is connected in off hind wheel Power Conversion unit (13), the Wound-rotor asynchronous traction electric machine of off front wheel (15), Wound-rotor asynchronous traction electric machine of left rear wheel (16) and the Wound-rotor asynchronous traction electric machine of off hind wheel (17).
3. the full drive electric automobile drive system of four-wheel of a kind of wire-wound asynchronous motor traction according to claim 2, it is characterized in that: the near front wheel Power Conversion unit (10), off front wheel Power Conversion unit (11), left rear wheel Power Conversion unit (12) and off hind wheel Power Conversion unit (13) are connected energy management system (4) and storage battery (5).
4. the full drive electric automobile drive system of four-wheel of a kind of wire-wound asynchronous motor traction according to claim 1, it is characterized in that: the rotor of Wound-rotor asynchronous traction electric machine of the near front wheel (14) and the Wound-rotor asynchronous traction electric machine of off front wheel (15) directly is docking together, and the rotor of Wound-rotor asynchronous traction electric machine of left rear wheel (16) and the Wound-rotor asynchronous traction electric machine of off hind wheel (17) also directly is docking together.
5. the full drive electric automobile drive system of four-wheel of a kind of wire-wound asynchronous motor traction according to claim 1, it is characterized in that: each Power Conversion unit all has been equipped with two-way DC/DC chopper circuit and the inverter that contains super capacitor; Two-way DC/DC chopper circuit is connected to inverter, and inverter is connected to Wound-rotor asynchronous traction electric machine, and two-way DC/DC chopper circuit connects storage battery (5), and the motor pull-in control system connects two-way DC/DC chopper circuit and inverter.
6. the full drive electric automobile driving method of four-wheel of the employing wire-wound asynchronous motor traction that the full drive electric automobile drive system of four-wheel of utilizing the described wire-wound asynchronous motor of claim 4 to draw is implemented, it is characterized in that: the step of this method is as follows: utilize four Wound-rotor asynchronous traction electric machines to be respectively applied for four wheels of traction electronlmobil, utilize four Power Conversion unit that the dc power supply of storage battery (5) is changed into four three-phase alternating-current supplies that Wound-rotor asynchronous traction electric machine is required, utilize differential control system (3) to calculate four wheel speeds that wheel is required, utilize the stator voltage frequency and the amplitude of four Wound-rotor asynchronous traction electric machines of the independent respectively control of four motor pull-in control systems again according to the speed of a motor vehicle and the steering order that chaufeur sends.
7. the full drive electric automobile driving method of four-wheel of employing wire-wound asynchronous motor traction according to claim 1, it is characterized in that: the rotor of Wound-rotor asynchronous traction electric machine of the near front wheel (14) and the Wound-rotor asynchronous traction electric machine of off front wheel (15) directly is docking together, the rotor of Wound-rotor asynchronous traction electric machine of left rear wheel (16) and the Wound-rotor asynchronous traction electric machine of off hind wheel (17) directly is docking together; During craspedodrome, four Wound-rotor asynchronous traction electric machines are equivalent to common asynchronous moter, and when turning to, Wound-rotor asynchronous traction electric machine of the near front wheel (14) and the Wound-rotor asynchronous traction electric machine of off front wheel (15) carry out transfer of energy by the rotor of butt joint, and Wound-rotor asynchronous traction electric machine of left rear wheel (16) and the Wound-rotor asynchronous traction electric machine of off hind wheel (17) carry out transfer of energy by the rotor of butt joint.
8. the full drive electric automobile driving method of four-wheel of employing wire-wound asynchronous motor traction according to claim 7, it is characterized in that: the concrete steps of described method are as follows:
1., utilize pilot control mechanism (1) outbound course dish turn sign and vehicle speed signal, the wheel steering signal is passed to steering hardware (2), vehicle speed signal is passed to differential control mechanism (3), make vehicle speed signal that front-wheel steering signal and the pilot control mechanism (1) of steering hardware (2) output export jointly as the incoming signal of differential control mechanism (3);
2., utilize differential control mechanism (3) to calculate four drive wheels linear velocity separately according to front-wheel steering signal and vehicle speed signal, and these four linear velocity signals are outputed to the near front wheel motor pull-in control system (6), off front wheel motor pull-in control system (7), left rear wheel motor pull-in control system (8) and off hind wheel motor pull-in control system (9) respectively;
3., four linear velocity wheel speed instructions that the motor pull-in control system provides according to differential control mechanism (3), generate the pwm control signal of four-wheel Power Conversion unit inverter respectively, and these four groups of pwm signals are outputed to the near front wheel power of motor converter unit (10), off front wheel power of motor converter unit (11), left rear wheel power of motor converter unit (12) and off hind wheel power of motor converter unit (13) respectively;
4., utilize energy management system (4) output control signal to give four Power Conversion unit controls direction of energy flows; Utilize four Power Conversion unit tractions Wound-rotor asynchronous traction electric machine electric operation separately, during the motor powered operation, by storage battery 5 the two-way DC/ DC mapping device of direct supply in the Power Conversion unit of exporting being carried out copped wave boosts, boost the back as the bus voltage of the inverter in the Power Conversion unit, when traction Wound-rotor asynchronous traction electric machine regenerative braking separately in Power Conversion unit moves, two-way DC/ DC mapping device carries out chopping depressuring with the vdc of inverter output, thus braking energy feedback accumulators (5);
5., utilize four Power Conversion unit to generate the stator voltage of the near front wheel Wound-rotor type traction electric machine (14), the stator voltage of off front wheel Wound-rotor type traction electric machine (15), the stator voltage of left rear wheel Wound-rotor type traction electric machine (16) and the stator voltage of off hind wheel Wound-rotor type traction electric machine (17) respectively according to the pwm control signal of motor pull-in control system output separately, to regulate the rotating speed of each Wound-rotor asynchronous traction electric machine, make its wheel speed of following the tracks of differential control system (3) instruction;
6., the rotor three-phase winding with the Wound-rotor asynchronous traction electric machine of the near front wheel (14) docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine of off front wheel (15) respectively, when the rotating speed of Wound-rotor asynchronous traction electric machine of vehicle craspedodrome the near front wheel (14) and the Wound-rotor asynchronous traction electric machine of off front wheel (15) is identical, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in front-wheel two Wound-rotor asynchronous traction electric machines, the rotor voltage difference of two motors, produce rotor current, a motor absorbs the energy of another motor by the rotor input by rotor, the low-tach rotor that passes through butt joint of left and right sides front-wheel two Wound-rotor asynchronous traction electric machines this moment is to high-revolving another motor energy output, and front-wheel Wound-rotor asynchronous traction electric machine in the left and right sides also carries out energy exchange by stator and storage battery 5 simultaneously;
7., the rotor three-phase winding with the Wound-rotor asynchronous traction electric machine of left rear wheel (16) docks with the rotor three-phase winding of the Wound-rotor asynchronous traction electric machine of off hind wheel (17) respectively, when vehicle is kept straight on the Wound-rotor asynchronous traction electric machine rotating speed of two trailing wheels when identical, the rotor voltage of two motors is identical, rotor current after the butt joint is zero, and two motors only carry out energy input and output by stator respectively; And Vehicular turn travels, after speed discrepancy appears in trailing wheel two Wound-rotor asynchronous traction electric machines, the rotor voltage difference of two motors, rotor current is non-vanishing, the low-tach rotor that passes through butt joint of left and right wheels two Wound-rotor asynchronous traction electric machines this moment is to high-revolving another motor energy output, and trailing wheel Wound-rotor asynchronous traction electric machine in the left and right sides also carries out energy exchange by stator and storage battery (5) simultaneously.
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