CN103303368A - Electronic differential steering system of electric sweeper - Google Patents
Electronic differential steering system of electric sweeper Download PDFInfo
- Publication number
- CN103303368A CN103303368A CN2013102540866A CN201310254086A CN103303368A CN 103303368 A CN103303368 A CN 103303368A CN 2013102540866 A CN2013102540866 A CN 2013102540866A CN 201310254086 A CN201310254086 A CN 201310254086A CN 103303368 A CN103303368 A CN 103303368A
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- electronic differential
- sweeper
- bus
- electric cleaning
- speed steering
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- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses an electronic differential steering system of an electric sweeper, and belongs to the field of automobile steering systems. The electronic differential steering system comprises the sweeper provided with a sweeper pedal, a steering wheel, an instrument desk and wheels, wherein an induction device, a control device, driving devices and a power device are arranged on the sweeper; the induction device and the driving devices are in communication connection with the control device by a CAN (controller area network) trunk; the power device is electrically connected with the driving devices by a direct current bus; the power device is electrically connected with the control device by a direct current bus; an energy converter is arranged on the direct current bus between the power device and the driving devices in an electrical connection manner; and an energy absorber is arranged on a circuit of the direct current bus, and electrically connected with the energy converter. The electronic differential steering system with the structure is flexible to arrange, simple in structure and convenient to use; the efficiency of a transmission system is high; the low-speed controllability and the high-speed smoothness of the sweeper are improved; protection is provided for a whole power supply line; and a whole control system can be overhauled rapidly.
Description
Technical field
The present invention relates to the automobile steering system field, particularly a kind of electric cleaning car electronic differential speed steering system.
Background technology
The power that automotive powerplant sends is delivered to the driving wheel by transmission system, transmission system has function such as differential and shaft space difference speed between deceleration, speed change, reversing, interruption power, wheel, can guarantee automobile normally travelling under various working conditions, and have good dynamic property and economy, mainly formed by power-transfer clutch, change-speed box, universal-joint, transmission shaft and drive axle etc.
In the regular job of road sweeper, road sweeper travels on square, the residential quarter road of being everlasting, but often take place because of the work of can not entering greatly of place tight turn radius, perhaps because community resident density is big, the driver in steering procedure, because of the place less, steering operation inconvenience, bump with the resident, cause unnecessary dispute.
In the prior art, electronic differential control system can realize that the inorganic of vehicle turns to, improved the control accuracy in the Vehicular turn process, with regard to present technical merit, electronic differential control is the technical barrier of Vehicular turn. the research of most of electronic differential controls is in conjunction with steering kinematics Ackerman model, four-wheel hub rotating speed of motor or torque are coordinated control, control rotating speed when turning to separately, the vehicle degree of freedom reduces, handling variation but can make like this, also can make the stationarity variation of vehicle simultaneously.
In the electronic differential speed steering system, wheel hub motor and electronic differential controller, they are very responsive to voltage, often because of the overtension et out of order, have increased frequency of maintenance, cause the inconvenience of use, have also improved use cost.
Summary of the invention
Technical matters to be solved by this invention provides the handling and high-speed smooth electronic differential speed steering device of a kind of raising electric cleaning car low speed.
For achieving the above object, the invention provides following technical scheme: a kind of electronic electric cleaning car electronic differential speed steering system, comprise and be provided with the car pedal, bearing circle, the pickup sweeper of instrument desk and wheel, described pickup sweeper is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected by dc bus with actuating device, engine installation is electrically connected by dc bus with control setup, direct current bus bar between engine installation and the actuating device is connected with energy converter, also be provided with energy absorber on the dc bus circuit, energy absorber is electrically connected with energy converter.
Preferably, described actuating device is 4 wheel hub motors that are connected with 4 wheels respectively, left wheel hub motor, front right wheel hub motor, back left wheel hub motor and rear right wheel hub motor before comprising.
Preferably, described induction installation comprises the rotary angle transmitter that is arranged in the bearing circle rotating shaft and the displacement pickup that is arranged on the car pedal.
Preferably, described control setup is the electronic differential controller.
Preferably, be provided with the diff permanent seat in the described pickup sweeper, described electronic differential controller and diff permanent seat removably connect.
Preferably, described engine installation is battery pack.
Preferably, described instrument desk is provided with the fault detector that is connected with the communication of electronic differential controller.
Adopt the beneficial effect of above technical scheme to be: the induced signal that the electronic differential speed steering system of structure of the present invention sends by the inductor on bearing circle and the car pedal; the electronic differential controller is through inner calculating; send dtc signal through the CAN bus to 4 wheel hub motors; realize electrodeless the turning to of electronic differential control; this system has cancelled change-speed box; retarder; diff and steering hardware; flexible arrangement; the transmission system efficiency height. improve the handling and high-speed smooth of vehicle low speed; this electronic differential speed steering system adopts battery pack; energy-conserving and environment-protective; low energy consumption; battery pack is powered to energy converter; give the DC dynamo bussed supply by energy converter again; whole bus voltage is played a protective role; when bus voltage surpasses limits value, energy absorber work; absorb unnecessary energy.
Instrument desk at pickup sweeper is provided with the fault detector that is connected with the communication of electronic differential controller, when system makes a mistake or break down, the electronic differential controller detects by control path, obtain failure message rapidly, and be presented on the fault detector, help the maintainer to keep in repair rapidly, the navigating mate of pickup sweeper also can keep in repair according to failure message, discharge fault rapidly, improved work efficiency.
This electronic differential speed steering system control path adopts the CAN bus, the CAN bus adopts the non-destructive arbitration technique, when two nodes transmit data on the network simultaneously, the node that priority is low initiatively stops data and sends, and the high node of priority can unaffected continuation transmit data, has effectively avoided bus collision, node is under wrong serious situation, function with automatic pass closed bus is cut off contacting of it and bus, so that other operations are unaffected on the bus; Adopt the two-wire serial communication mode, error detecing capability is strong, after the information of transmission is destroyed, can retransmit the high reliability that the CAN bus has and good error detection capability automatically.
This supply line of electronic differential speed steering system adopts dc bus, dc bus adopts independent rectification/feedback device, for system provides the direct supply of certain power, the high precision of control speed governing system, the renewable sources of energy that system is produced in braking procedure are rationally utilized and are reclaimed simultaneously.
Description of drawings
Fig. 1 is control path figure of the present invention;
Fig. 2 is structural representation of the present invention.
Wherein, left wheel hub motor, 13--rear right wheel hub motor, 14--energy converter, 15--pickup sweeper behind 1--instrument desk, 2--fault detector, 3--rotary angle transmitter, 4--bearing circle, 5--car pedal, 6--displacement pickup, the preceding left wheel hub motor of 7--, 8--front right wheel hub motor, 9--electronic differential controller, 10--diff permanent seat, 11--battery pack, the 12--.
The specific embodiment
Describe preferred implementation of the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 shows the specific embodiment of the present invention: a kind of electronic electric cleaning car electronic differential speed steering system, comprise and be provided with car pedal 5, bearing circle 4, the pickup sweeper 15 of instrument desk 1 and wheel, pickup sweeper 15 is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected by dc bus with actuating device, engine installation is electrically connected by dc bus with control setup, direct current bus bar between engine installation and the actuating device is connected with energy converter, also be provided with energy absorber 14 on the dc bus circuit, energy absorber 14 is electrically connected with energy converter, actuating device is 4 wheel hub motors that are connected with 4 wheels respectively, left wheel hub motor 7 before comprising, front right wheel hub motor 8, back left wheel hub motor 12 and rear right wheel hub motor 13, induction installation comprises the rotary angle transmitter 3 that is arranged in bearing circle 4 rotating shafts and the displacement pickup 6 that is arranged on the car pedal 5, control setup is electronic differential controller 9, be provided with diff permanent seat 19 in the pickup sweeper, electronic differential controller 9 removably connects with diff permanent seat 10, engine installation is battery pack 11, and instrument desk 1 is provided with the fault detector 2 that is connected with 9 communications of electronic differential controller.
Present embodiment, battery pack 11 gives energy converter 14 power supplies, give DC bus powered by energy converter 14 again, when bus voltage surpasses limits value, energy absorber work, absorb unnecessary energy, the signal of the displacement that the angular signal that electronic differential controller 9 sends according to bearing circle 4 corner inductors 3 and car pedal 5 displacement sensors 6 send, calculate the speed of a motor vehicle and deflection angle, in the speed that calculates four-wheel steering angle and four-wheel respectively, by CAN bus left wheel hub motor 7 forward, front right wheel hub motor 8, back left wheel hub motor 12 and rear right wheel hub motor 13 send dtc signal, control the torque of 4 driving wheels respectively, realize electrodeless the turning to of vehicle electric differential control.
Wheel hub motor comprises motor, electromechanical transducer and electric machine controller, bearing circle 4 corners and the proportional relation of pickup sweeper 14 actual steering angles, the corresponding chaufeur expectation of bearing circle 4 corner displacement signals deflection angle, bearing circle 4 rotation angle ranges [+60
0,-60
0], the corresponding chaufeur desired speed of car pedal 5 displacement signals, car pedal 5 angular misalignment scopes [0 ,+45
0], according to the speed of a motor vehicle and deflection angle, electronic differential controller 9 calculates the deflection angle speed of 4 wheel hub motors, actual steering cireular frequency with the rotor-position sensor collection of 4 motors compares in real time again, electronic differential controller 9 control rotating speed of motor errors, and produce the torque reference of 4 motors, distribute to 4 electric machine controllers in real time by the CAN bus.
Adopt the beneficial effect of above technical scheme to be: the electronic differential speed steering system of structure of the present invention; flexible arrangement, transmission system efficiency height. improve the handling and high-speed smooth of vehicle low speed; provide protection to whole supply line; and can The whole control system overhaul fast, simple in structure easy to use.
Above-described only is preferred implementation of the present invention, should be pointed out that for the person of ordinary skill of the art, under the prerequisite that does not break away from the invention design, can also make some distortion and improvement, and these all belong to protection scope of the present invention.
Claims (7)
1. electric cleaning car electronic differential speed steering system, comprise and be provided with the car pedal, bearing circle, the pickup sweeper of instrument desk and wheel, it is characterized in that: described pickup sweeper is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected by dc bus with actuating device, engine installation is electrically connected by dc bus with control setup, direct current bus bar between engine installation and the actuating device is connected with energy converter, also be provided with energy absorber on the dc bus circuit, energy absorber is electrically connected with energy converter.
2. electric cleaning car electronic differential speed steering according to claim 1 system, it is characterized in that: described actuating device comprises 4 wheel hub motors that are connected with 4 wheels respectively.
3. electric cleaning car electronic differential speed steering according to claim 1 system is characterized in that: described induction installation comprises the rotary angle transmitter that is arranged in the bearing circle rotating shaft and is arranged at displacement pickup on the car pedal.
4. electric cleaning car electronic differential speed steering according to claim 1 system, it is characterized in that: described control setup is the electronic differential controller.
5. electric cleaning car electronic differential speed steering according to claim 4 system, it is characterized in that: be provided with the diff permanent seat in the described pickup sweeper, described electronic differential controller and diff permanent seat removably connect.
6. electric cleaning car electronic differential speed steering according to claim 1 system, it is characterized in that: described engine installation is battery pack.
7. electric cleaning car electronic differential speed steering according to claim 1 system, it is characterized in that: described instrument desk is provided with the fault detector that is connected with the communication of electronic differential controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102540866A CN103303368A (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102540866A CN103303368A (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
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| Publication Number | Publication Date |
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| CN103303368A true CN103303368A (en) | 2013-09-18 |
Family
ID=49129192
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102540866A Pending CN103303368A (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
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| CN (1) | CN103303368A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922892A (en) * | 2016-06-12 | 2016-09-07 | 大连交通大学 | Electrical control system for small multifunctional environmental sanitation electric vehicle |
| CN106042975A (en) * | 2016-06-12 | 2016-10-26 | 大连交通大学 | Vehicle control circuit of micro hub-style electric sweeper |
| CN113562072A (en) * | 2020-04-28 | 2021-10-29 | 北京新能源汽车股份有限公司 | Steering control method and device for electric automobile |
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| GB2050089A (en) * | 1979-03-29 | 1980-12-31 | Asea Ab | Traction equipment |
| JPH06292304A (en) * | 1993-04-05 | 1994-10-18 | Yaskawa Electric Corp | Power converter for electric vehicle driving system |
| CN2650391Y (en) * | 2003-11-12 | 2004-10-20 | 中国科学院电工研究所 | Electric vehicle alternating-current motor driven |
| CN101758854A (en) * | 2010-01-22 | 2010-06-30 | 武汉理工大学 | Electronic speed differential control system of an electric wheel drive vehicle |
| CN101767542A (en) * | 2008-12-26 | 2010-07-07 | 常州麦科卡电动车辆科技有限公司 | Intelligent drive platform for four wheels of electric automobile |
| CN201690246U (en) * | 2010-04-16 | 2010-12-29 | 大连安道电气工程有限公司 | Electric car power management system |
| CN203293935U (en) * | 2013-06-25 | 2013-11-20 | 芜湖爱瑞特环保科技有限公司 | Electronic differential steering system of electric sweeper |
-
2013
- 2013-06-25 CN CN2013102540866A patent/CN103303368A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2050089A (en) * | 1979-03-29 | 1980-12-31 | Asea Ab | Traction equipment |
| JPH06292304A (en) * | 1993-04-05 | 1994-10-18 | Yaskawa Electric Corp | Power converter for electric vehicle driving system |
| CN2650391Y (en) * | 2003-11-12 | 2004-10-20 | 中国科学院电工研究所 | Electric vehicle alternating-current motor driven |
| CN101767542A (en) * | 2008-12-26 | 2010-07-07 | 常州麦科卡电动车辆科技有限公司 | Intelligent drive platform for four wheels of electric automobile |
| CN101758854A (en) * | 2010-01-22 | 2010-06-30 | 武汉理工大学 | Electronic speed differential control system of an electric wheel drive vehicle |
| CN201690246U (en) * | 2010-04-16 | 2010-12-29 | 大连安道电气工程有限公司 | Electric car power management system |
| CN203293935U (en) * | 2013-06-25 | 2013-11-20 | 芜湖爱瑞特环保科技有限公司 | Electronic differential steering system of electric sweeper |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105922892A (en) * | 2016-06-12 | 2016-09-07 | 大连交通大学 | Electrical control system for small multifunctional environmental sanitation electric vehicle |
| CN106042975A (en) * | 2016-06-12 | 2016-10-26 | 大连交通大学 | Vehicle control circuit of micro hub-style electric sweeper |
| CN113562072A (en) * | 2020-04-28 | 2021-10-29 | 北京新能源汽车股份有限公司 | Steering control method and device for electric automobile |
| CN113562072B (en) * | 2020-04-28 | 2022-07-08 | 北京新能源汽车股份有限公司 | Steering control method and device for electric automobile |
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Application publication date: 20130918 |