CN103407381B - Distributed electrical drives hinged MPV (Multi-Purpose Vehicle) - Google Patents

Abstract

The invention relates to a distributed electric drive articulated multifunctional vehicle, which consists of front and rear bodies, four electric wheels respectively arranged on the front and rear bodies, a console on the front body, a steering wheel and a steering wheel angle sensor, a brake pedal, and a driving pedal , advance/reverse switching switch and battery unit; the power cable of each electric wheel is connected to the console, the built-in speed sensor of the electric wheel is connected to the console, the front and rear bodies are hinged through hinged brackets, and a body angle sensor is provided. The steering wheel angle sensor is connected with the console signal, the brake pedal and the driving pedal are connected with the console by the signal data cable, and the advance/reverse switch is connected with the console by the data cable. The car can realize flexible steering, forward, and backward actions in a small space, and has a large effective storage space on the body for storing water, oil, detergent, garbage, goods, etc., and has low noise, no pollution, and easy access. maintenance and other advantages.

Description

Distributed Electric Drive Articulated Utility Vehicle

technical field

The invention belongs to the field of electric vehicles and controls, and in particular relates to a distributed electric-driven articulated multifunctional vehicle and a motion control method thereof, which can provide high-mobility special vehicles for venues such as sanitation, storage, and logistics.

Background technique

In sanitation and warehousing industries, a site-specific vehicle is needed to achieve flexible movements. Most of the track vehicles currently used are powered by internal combustion engines. In order to achieve flexible movements, the chassis adopts a front and rear body hinge structure, and the middle is connected by a hydraulic arm to realize turning movements. The existing vehicles have the following disadvantages: 1) The internal combustion engine emits a lot of pollution and is not suitable for large-scale urban and indoor applications; 2) The efficiency of the internal combustion engine is low and the economy is poor; 3) The steering of the articulated vehicle requires a hydraulic system, which occupies a lot of bodywork Space and layout are difficult; 4) The steering hydraulic system is difficult to maintain, easy to leak oil, causing secondary pollution to the environment; 5) Both the internal combustion engine and the hydraulic system will generate loud noises, which are likely to disturb the people.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of existing articulated field multifunctional vehicles, and propose a distributed electric drive articulated multifunctional vehicle, which can realize flexible steering, forward, and backward actions in a narrow space, and has a larger body The effective storage space is used to store water, oil, detergent, garbage, goods, etc., and has the advantages of low noise, no pollution, and easy maintenance.

The distributed electric drive articulated multifunctional vehicle of the present invention comprises: a front body, a rear body, 4 electric wheels respectively arranged on the front and rear bodies, a console arranged on the front body, a steering wheel and a steering wheel angle sensor below the steering wheel, a brake Pedals, driving pedals, seats, forward/reverse switch and battery unit;

The power cable of each electric wheel is connected with the console, which can realize the independent control of the driving and braking of each electric wheel. At the same time, each electric wheel has a built-in speed sensor, and is connected with the console by a data cable, which can Real-time feedback of the speed of each wheel;

A hinge bracket is rigidly connected to the front body, which is hinged with the rear body through the hinge shaft, and a body angle sensor is installed between the hinge bracket and the hinge shaft, which can measure the angle between the front and rear body at any time;

The steering wheel is used to provide the driver with a steering operation. There is no physical steering mechanism, and it is only used to provide a steering interface. The steering wheel angle sensor under the steering wheel is used to measure the steering wheel angle in real time and transmit the signal to the console to recognize the driver's steering intention;

Both the brake pedal and the driving pedal are wire-controlled pedals, which are connected to the console by a signal data line, and can realize the driver's driving or braking command input; the battery unit is connected to the console by a power cable, The forward/backward switch is connected with the console by a data cable.

The motion control method of the distributed electric drive articulated multifunctional vehicle of the present invention is realized according to the following steps:

Drive control:

a. Put the forward/reverse switch in the forward state;

b. Properly step on the driving pedal, and the travel sensor built in the driving pedal will transmit the travel information to the console;

c. The central processor of the console generates a corresponding control signal after receiving the driving command, and transmits it to the hub motor drive board, and the hub motor drive board generates a corresponding power current according to the control signal and transmits it to each electric wheel;

d. The central controller obtains the current wheel speed information fed back by the built-in wheel speed sensor of the electric wheel through the hub motor drive board, compares it with the control signal, and generates a new wheel speed control signal for each electric wheel. Repeat steps c and d until the deviation is less than the specified range;

Brake Control:

a. Depress the brake pedal properly, and the travel sensor built in the brake pedal will transmit the travel information to the console;

b. The central processor of the console generates a corresponding control signal after receiving the braking command, and transmits it to the hub motor drive board, and the hub motor drive board generates a corresponding reverse power current according to the control signal and transmits it to each electric wheel;

c. The central controller obtains the current wheel speed information fed back by the built-in wheel speed sensor of the electric wheel through the hub motor drive board, compares it with the control signal, and generates a new brake control signal for each electric wheel. Repeat steps b and c until the deviation is less than the specified range;

Steering Control:

a. The driver turns the steering wheel to a certain angle, and the steering wheel angle is measured by the steering wheel angle sensor below it and transmitted to the central controller;

b. The central controller determines the wheel speed required by each electric wheel according to the steering wheel angle, the current vehicle body angle, and the current driving pedal command (driver's speed intention);

c. The speed of each wheel determined by the central controller is used as a control command to be transmitted to each electric wheel through the hub motor drive board;

d. The central controller obtains the current wheel speed information fed back by the built-in wheel speed sensor of the electric wheel through the hub motor drive board, compares it with the control signal, and generates a new wheel speed control signal for each electric wheel. Repeat steps c and d until the deviation is less than the specified range.

The present invention has the following outstanding advantages:

1) The distributed electric drive articulated multi-purpose vehicle of the present invention uses a compound steering method combining the inter-wheel differential speed with the articulated vehicle body, which not only avoids excessive tire wear caused by simple inter-wheel differential steering, but also realizes steering that relies solely on the articulated vehicle body More flexible and maneuverable steering action.

2) The invention eliminates the steering mechanism of the traditional car, and there is no relative steering angle between the wheels and the vehicle body, so that the free space ratio of the vehicle body is larger, and the layout is more flexible and convenient.

3) There is no complicated hydraulic steering system between the hinged front and rear bodies of the present invention, which makes it more reliable, low in cost, and maintenance-free, and also provides greater convenience for the arrangement of other operating equipment (such as snow shovels, vacuum cleaners, cleaning brushes, etc.) .

4) The present invention realizes a purely electric motion system (including driving, braking, and steering), which is flexible and easy to control. All motion operations can be completed with only one hand and one foot, and the other hand and foot can be spared to complete other operations. Operations such as road sweeping, deicing, snow removal, obstacle removal, handling, etc.

Description of drawings

Fig. 1 is a top view of a distributed electric drive articulated utility vehicle;

Fig. 2 is a side view of a distributed electric drive articulated multipurpose vehicle;

Fig. 3 is a schematic diagram of electrical appliances and control of a distributed electric drive articulated multifunctional vehicle;

Fig. 4 is a schematic diagram of steering of a distributed electric drive articulated utility vehicle.

Detailed ways

The present invention will be described in further detail below in conjunction with the embodiment given with accompanying drawing.

Example 1

Referring to Figures 1 to 3, a distributed electric drive articulated multifunctional vehicle comprises: a front body 1, a rear body 11, 4 electric wheels 7 respectively arranged on the front and rear bodies, a console 2 arranged on the front body, Steering wheel 3 and steering wheel angle sensor 13 below the steering wheel, brake pedal 4, drive pedal 5, seat 6, forward/backward switch 15 and battery unit 12;

The power cable of each electric wheel 7 is connected with the console 2, which can realize the independent control of the driving and braking of each electric wheel. Connection, real-time feedback of the speed of each wheel;

A articulated bracket 8 is rigidly connected to the front body 1, and is hinged with the rear body 11 through the articulated shaft 9. A body angle sensor 14 is installed between the articulated bracket 8 and the articulated shaft 9, which can measure the distance between the front and rear bodies at any time. corner of

The steering wheel 3 is used to provide the driver with a steering operation. There is no physical steering mechanism, and it is only used to provide a steering interface. The steering wheel angle sensor 13 below the steering wheel 3 is used to measure the steering wheel angle in real time. The signal is transmitted to console 2 to identify the driver's steering intention;

The seat 6 is installed on the front body 1 to provide seating space for the driver and/or passengers.

The brake pedal 4 and the driving pedal 5 are all pedals controlled by wire, which are connected with the console 2 by signal data lines, and can realize the driver's driving or braking command input;

Described battery unit 12 is connected with console 2 by power cable, provides power output for the driving of four electric wheels;

The advance/retreat switch 15 is connected with the console 2 by a data cable.

The storage box 10 is installed on the rear vehicle body, and can be used to store water, garbage, maintenance equipment, cleaning agents, goods, etc. according to various usage requirements.

It can be seen that the articulated vehicle of the present invention can realize flexible driving, braking and steering operations, and has good maneuverability.

The motion control method of the distributed electric drive articulated utility vehicle is as follows:

1. Drive control

As shown in Figure 1 and Figure 3. When the driver wants the vehicle to move forward, set the forward/reverse switch to the forward state, and properly step on the driving pedal. The driving pedal has a built-in stroke sensor, which can transmit the stroke of the driver's pedal as a driving control input to the console. . The central processor of the console generates a corresponding control signal after receiving the driving command, and transmits it to the hub motor drive board, and the hub motor drive board generates a corresponding power current according to the control signal and transmits it to each electric wheel. At the same time, the central controller obtains the current wheel speed information fed back by the built-in wheel speed sensor of the electric wheel through the hub motor drive board, compares it with the control signal, and dynamically corrects the wheel speed control signal. In this way, the driving control of the vehicle is realized. When the driver needs to reverse the vehicle, first the forward/reverse switch is placed in the reverse state, and the subsequent control method is the same as that of the forward drive.

2. Brake control

As shown in Figure 1 and Figure 3. When the driver wants the vehicle to slow down or even stop, he should properly step on the brake pedal. The brake pedal has a built-in stroke sensor, which can transmit the stroke of the driver's pedal as a brake control input to the console. The central processor of the console generates a corresponding braking control signal after receiving the braking command, and transmits it to the hub motor drive board. The hub motor drive board generates a corresponding reverse power current according to the braking control signal and applies it to each electric wheel. Apply the brakes. At the same time, the central controller obtains the current wheel speed information fed back by the built-in wheel speed sensor of the electric wheel through the hub motor drive board, compares it with the control signal, and dynamically corrects the braking control signal. In this way, the brake control of the vehicle is realized.

3. Steering control

As shown in Figure 1 and Figure 4. When the driver has the intention to turn, he turns the steering wheel to a certain angle, and the steering wheel angle is measured by the steering wheel angle sensor below it and transmitted to the central controller. The central controller determines the wheel speed required by each electric wheel according to the steering wheel angle and the current body angle, as well as the current driving pedal command (driver's speed intention). For example, in Fig. 4, if the driver needs to turn right, the right wheel needs to have a smaller wheel speed, and the left wheel has a larger wheel speed. At the same time, there must be a certain difference between the two wheels on the front body and the two wheels on the rear body to generate the necessary yaw moment difference to achieve the desired attitude angle of the front and rear bodies. Further, the speed of each wheel determined by the central controller is used as a control command and transmitted to each electric wheel through the hub motor drive board. In this way, the steering control of the articulated vehicle is realized.

Claims (2)

1. a distributed electrical drives hinged MPV (Multi-Purpose Vehicle), comprise: front body (1), rear (11), 4 electric drive wheels (7) be separately positioned on the vehicle body of front and back, be arranged on the steering wheel angle sensor (13) below the control desk (2) on front body, bearing circle (3) and bearing circle, brake pedal (4), drive pedal (5), seat (6), forward/back change-over switch (15) and battery unit (12), is characterized in that:

The power cable of each described electric drive wheel (7) is connected with control desk (2), the independence control of the driving of each electric drive wheel, braking can be realized, each electric drive wheel is built-in with tachogen simultaneously, and be connected with control desk (2) by data cable, can the Real-time Feedback rotating speed of respectively taking turns;

Front body (1) is rigidly connected an articulated stand (8), be hinged mutually by jointed shaft (9) and rear (11), vehicle body rotary angle transmitter (14) is installed between articulated stand (8) and jointed shaft (9), the corner between forward and backward vehicle body can be measured at any time;

Described bearing circle (3) realizes steering operation for being supplied to chaufeur, there is no the steering hardware of physics, only be used to provide turn to interface, steering wheel angle sensor (13) below described bearing circle (3) is for real-time direction of measurement dish corner, and by the Signal transmissions of this measurement to control desk (2), turn to intention with what identify chaufeur;

Described brake pedal (4) and driving pedal (5) are line traffic control pedal, be connected, can realize the driving of chaufeur or the input of braking instruction by signal data line with control desk (2);

Described battery unit (12) is connected with control desk (2) by power cable;

Described forward/back change-over switch (15) is connected with control desk (2) by data cable.

2. distributed electrical according to claim 1 drives the motion control method of hinged MPV (Multi-Purpose Vehicle), realizes according to the following steps:

Drived control:

A. forward/back change-over switch is placed in forward travel state;

B. suitably depress driving pedal, drive pedal built-in stroke sensor that travel information is passed to control desk;

C. the central process unit of control desk produces corresponding control signal after receiving driving instruction, and passes to In-wheel motor driving plate, and In-wheel motor driving buttress produces corresponding power current according to control signal and is delivered on each electric drive wheel;

D. central controller obtains the current wheel speed information fed back by the wheel speed sensors that electric drive wheel is built-in by In-wheel motor driving plate, contrasts with control signal, produces new each electric drive wheel wheel speed control signal, repeats step c, d until deviation is less than specialized range;

Control for brake:

A. suitably depress brake pedal, travel information is passed to control desk by the built-in stroke sensor of brake pedal;

B. the central process unit of control desk produces corresponding control signal after receiving braking instruction, and passes to In-wheel motor driving plate, and In-wheel motor driving buttress produces respective opposed power current according to control signal and is delivered on each electric drive wheel;

C. central controller obtains the current wheel speed information fed back by the wheel speed sensors that electric drive wheel is built-in by In-wheel motor driving plate, contrasts, produce new each electric drive wheel brake control signal with control signal; Repeat step b, c until deviation is less than specialized range;

Course changing control:

A. chaufeur steering wheel rotation is to certain angle, and the corner of bearing circle is recorded by the steering wheel angle sensor below it and is transferred to central controller;

B. central controller is according to steering wheel angle and current vehicle body corner, and current driving pedal instruction, and decision-making goes out the wheel speed required for each electric drive wheel;

C. each wheel speed that central controller decision-making goes out is delivered to each electric drive wheel as control command through In-wheel motor driving plate;

D. central controller obtains the current wheel speed information fed back by the wheel speed sensors that electric drive wheel is built-in by In-wheel motor driving plate, contrasts with control signal, produces new each electric drive wheel wheel speed control signal; Repeat step c, d until deviation is less than specialized range.