CN103895524B - The drive system and its drive control method of a kind of electric motor coach - Google Patents

The drive system and its drive control method of a kind of electric motor coach Download PDF

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Publication number
CN103895524B
CN103895524B CN201210580360.4A CN201210580360A CN103895524B CN 103895524 B CN103895524 B CN 103895524B CN 201210580360 A CN201210580360 A CN 201210580360A CN 103895524 B CN103895524 B CN 103895524B
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wheel
electric machine
motor
electric
controller
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CN103895524A (en
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王洪军
罗文刚
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN201210580360.4A priority Critical patent/CN103895524B/en
Priority to PCT/CN2013/090730 priority patent/WO2014101838A1/en
Publication of CN103895524A publication Critical patent/CN103895524A/en
Priority to HK14112320.0A priority patent/HK1198823A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/18—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • B60L2240/486—Operating parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/10—Driver interactions by alarm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/20—Inrush current reduction, i.e. avoiding high currents when connecting the battery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention proposes a kind of drive system and its drive control method of electric motor coach, and the system includes：Electrokinetic cell；Multiple first wheel motors being connected with electrokinetic cell；Control multiple first electric machine controllers of multiple first wheel motors；Multiple second wheel motors being connected with electrokinetic cell；Control multiple second electric machine controllers of multiple second wheel motors；Entire car controller, entire car controller is connected with multiple first electric machine controllers and multiple second electric machine controllers respectively, and entire car controller is started and switch operating in electric motor coach running by multiple first electric machine controllers and multiple first wheel motors of multiple second motor controller controls and multiple second wheel motors.The present invention can effectively solve the problem that is short of power that is double-deck or lengthening pure electric coach, and raising drive efficiency improves horizontal swing, more effectively plays tire traction and steering force, the higher stability of acquisition and travel safety, meets the demand of driving.The embodiment of the present invention also proposes a kind of drive control method of electric motor coach.

Description

The drive system and its drive control method of a kind of electric motor coach
Technical field
The present invention relates to electric automobile field, the drive system of more particularly to a kind of electric motor coach and its drive control side Method.
Background technology
Development and the Rapid Expansion in city with society, the railway and highway system in most cities subject huge pressure, Large- and-medium size cities are nervous because of densely populated, resource, requirement more and more higher of the people to environment, but substantial amounts of fuel bus is but Huge exhaust emission and noise can be produced, the quality of air environment in whole city is influenceed.And on micropolis, private car and ground The traffic such as iron are not flourishing enough, cause to rely on more serious to city bus, environment equally bears larger pressure.So public transport Car plays irreplaceable effect in urban transporting system, and as people's environmental consciousness in recent years is constantly strengthened, various countries Requirement of the government to carbon emission also more and more higher, then new energy bus be able to very fast development.But it is most at present Bus still uses extended-range dynamical system, mainly adds a set of power drive system to meet driving dynamics need with a set of engine Ask, provide power in most cases or using engine to vehicle, the mitigation to environmental pressure is not obvious.And pure electric vehicle Relative to the car of extended-range, cancel fuel engines and use pure power drive system, in comfortableness, the reduction of noise, energy-conservation And have big advantage in terms of environmental protection, then pure electric coach car is also able to soon in recent years as a kind of emerging vehicles Speed development.But in urban transportation, many route flows of the people are very big, general public transport handling capacity of passengers can not meet actual operation will Ask, then double-deck or lengthening electric motor coach, which exists, can not only meet urban environment improvement and emission request but also can alleviate friendship well The characteristics of logical pressure, but some functions of pure electric vehicle can not meet the requirement of public transport operating mode.As shown in figure 1, public for city Sail working condition chart in Bank of Communications.As shown in Fig. 2 being vehicle dynamical simulation demand figure.City bus operating mode power demand, max. speed is more than 70Km/h, climbable gradient requires to be less than 23s more than 16%, the 0-50s acceleration time, using the pure electric coach of Direct wheel drives mode, most Big driving power can reach 180Kw, can meet general car power demand.And for the double-deck or electronic bus of lengthening, pass through Actual calculating：The electric energy conversion efficiency of overall efficiency power taking machine controller is 95%, and the electric energy favourable turn tool energy efficiency of motor is 94%, the mechanical efficiency of kinetic current is 90%.For the pure electronic bus of bilayer, overall efficiency η is：
η=0.95×0.94×0.90=0.8
As shown in Fig. 2 and with reference to Fig. 3 vehicles climbing dynamic curve figure shown in, meet vehicle driving requirements peak power and reach To 237Kw, while power value during two motor drivings is：Max. speed is more than 77.6Km/h, and climbable gradient is more than 13.9%, and 0 arrives The 50s acceleration time requires to be less than 20.6s.From analysis, climbing can not meet the requirement of public transport operating mode.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem to a certain extent or providing at a kind of useful business Industry is selected.Therefore, it is an object of the present invention to propose a kind of drive system of electric motor coach.The system can be solved effectively The problem that is short of power of certainly double-deck or lengthening pure electric coach, improves drive efficiency, improves horizontal swing, more effectively send out Tire traction and steering force, the higher stability of acquisition and travel safety are waved, the demand of driving is met.
To achieve these goals, the drive system of electric motor coach according to embodiments of the present invention includes：Electrokinetic cell；With Connected multiple first wheel motors of the electrokinetic cell；Control multiple first motor controls of the multiple first wheel motor Device；Multiple second wheel motors being connected with the electrokinetic cell；Control multiple second electricity of the multiple second wheel motor Machine controller；And entire car controller, the entire car controller respectively with the multiple first electric machine controller and multiple second Electric machine controller is connected, and the entire car controller passes through the multiple first motor control in the electric motor coach running Device and the multiple first wheel motor of multiple second motor controller controls and multiple second wheel motors start and switching work Make.
The drive system of electric motor coach according to embodiments of the present invention can efficiently solve pure electricity that is double-deck or lengthening The problem that is short of power of dynamic car, while realizing four-wheel drive using wheel hub motor, can have both electric automobile and four-wheel drive system Respective advantage, while the torque by the timely corrective action of independent control of left and right wheel hub motor in left and right wheels, can To improve drive efficiency, improve horizontal swing, more effectively play tire traction and steering force, the higher stability of acquisition and row Car security, can enable the vehicle to, according to driver's wish normally travel, meet driving demand.And the design of this method is abundant Practical operation difficulty is considered, small investment easily carries out industrialization.
It is another object of the present invention to a kind of drive control method for proposing electric motor coach, including electrokinetic cell, with Connected multiple first wheel motors of the electrokinetic cell, multiple first motor controls for controlling the multiple motor Device, multiple second wheel motors being connected with the electrokinetic cell, for control the multiple second wheel motor multiple Two electric machine controllers and entire car controller, the drive control method comprise the following steps：The entire car controller detection is described Whether electric motor coach starts；If started, the entire car controller is to the multiple first electric machine controller and multiple second Electric machine controller sends driving control signal；And the multiple first electric machine controller and multiple second electric machine controllers are connecing When receiving the driving control signal, the multiple first wheel motor and multiple second wheel motors is controlled to start and cut respectively Change jobs.
The drive control method of electric motor coach according to embodiments of the present invention can efficiently solve double-deck or lengthening The problem that is short of power of pure electric coach, while realizing four-wheel drive using wheel hub motor, can have both electric automobile and 4 wheel driven The respective advantage of system, while the moment of torsion by the timely corrective action of independent control of left and right wheel hub motor in left and right wheels is big It is small, drive efficiency can be improved, improves horizontal swing, tire traction and steering force is more effectively played, obtains higher stabilization Property and travel safety, can enable the vehicle to according to driver's wish normally travel, meet driving demand.And this method is set Meter has taken into full account practical operation difficulty, and small investment easily carries out industrialization.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments Substantially and be readily appreciated that, wherein：
Fig. 1 is city bus driving cycle figure；
Fig. 2 is vehicle dynamical simulation demand figure；
Fig. 3 is vehicle climbing dynamic curve figure；
Fig. 4 is the structure chart of the drive system of the electric motor coach according to the embodiment of the present invention；
Fig. 5 is each parts annexation of vehicle；
Fig. 6 is vehicle power transmission sketch；
Fig. 7 is full-vehicle control logic chart；
Power demand under general operating mode when Fig. 8 is full-vehicle control driving；
Fig. 9 is the logic chart that vehicle two drives and 4 wheel driven switches；
Schematic diagram when Figure 10 is the driving of vehicle two；
Figure 11 is schematic diagram when vehicle two drives feedback braking；
Figure 12 is the schematic diagram of vehicle four-wheel drive pattern；
Figure 13 is vehicle 4 wheel driven bus model；
Figure 14 is the flow chart of vehicle differential control；
Figure 15 is the flow chart of the drive control method of the electric motor coach according to the embodiment of the present invention；
Figure 16 is throttle depth and speed homologous thread figure；
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter Change disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only merely illustrative, and Purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy It is the relation between itself not indicating discussed various embodiments and/or setting for purposes of simplicity and clarity again.This Outside, the invention provides various specific techniques and material example, but those of ordinary skill in the art can be appreciated that The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it " on " structure can include the first and second features and be formed as the embodiment that directly contacts, other feature shape can also be included Into the embodiment between the first and second features, such first and second feature may not be direct contact.
In the description of the invention, it is necessary to explanation, unless otherwise prescribed and limit, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection or the connection of two element internals, can To be to be joined directly together, it can also be indirectly connected to by intermediary, for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term.
With reference to following description and accompanying drawing, it will be clear that these and other aspects of embodiments of the invention.In these descriptions In accompanying drawing, some particular implementations in embodiments of the invention are specifically disclosed, to represent the implementation for implementing the present invention Some modes of the principle of example, but it is to be understood that the scope of embodiments of the invention is not limited.On the contrary, the present invention Embodiment includes all changes, modification and the equivalent fallen into the range of the spirit and intension of attached claims.
Referring next to the structure chart for the drive system for shown in Fig. 4, being electric motor coach according to the embodiment of the present invention.
As shown in fig.4, the drive system of electric motor coach according to embodiments of the present invention includes：Electrokinetic cell 100, it is multiple First wheel motor 200, multiple first electric machine controllers 300, multiple second wheel motors 400, multiple second electric machine controllers 500, entire car controller 600, battery manager 700.
Wherein, multiple first wheel motors 200 are connected with electrokinetic cell 100, and multiple first electric machine controllers 300 control many Individual first wheel motor 200.Multiple second wheel motors 400 are connected with electrokinetic cell 100, multiple second electric machine controllers 500 Control multiple second wheel motors 400.
Entire car controller 600 is connected with multiple first electric machine controllers 300 and multiple second electric machine controllers 500 respectively, Entire car controller 600 passes through multiple first electric machine controllers 300 and multiple second motor controls in electric motor coach running Device 500 controls multiple first wheel motors 200 and multiple second wheel motors 400 to start and switch operating.
Entire car controller 600 controls the first electric machine controller 300 or the second electric machine controller 500 in whole driving conditions In, it can select to start simultaneously, can also switch over, select a closing, a startup.
Entire car controller 600 is additionally operable in electric motor coach start-up course by multiple first electric machine controllers 300 and many Individual second electric machine controller 500 controls multiple first wheel motors 200 and multiple second wheel motors 400 to start.
Entire car controller 600 is additionally operable to after the rate of change of the speed of electric motor coach is less than preset value, passes through multiple the Two electric machine controllers 500 close multiple second wheel motors 400.
Labor is done to the concrete function of entire car controller 600 with reference to the embodiment of the present invention.
The drive system of electric motor coach according to embodiments of the present invention, including integrated vehicle control tactics and a set of jockey pulley side of increase Dynamical system（Including multiple second wheel motors 400 and multiple second electric machine controllers 500）And an entire car controller 600.Integrated vehicle control tactics mainly describe the flow of full-vehicle control, and take turns when dynamical system is primarily referred to as multiple first round Motor 200 and multiple first electric machine controllers 300, and multiple second wheel motors 400 and multiple second electric machine controllers 500, entire car controller 600 refers mainly to the distribution of vehicle Cable Power Computation machine torque coordination.It is characterized in that：Control strategy and full-vehicle control Device 600 and wheel side dynamical system are used in combination, it is not necessary to which outside, which carries out other changes, to be carried out according to driver's wish Operation, each parts annexation is refering to shown in Fig. 5.
The advantage of entire car controller 600 is：1st, hardware and software platform, can apply with two drive, 4 wheel driven, six drive etc. vehicle, covering 30m Within car Direct wheel drives system, new car model development cost and construction cycle can be reduced；2nd, CAN network load is mitigated, lifting is passed Defeated efficiency and reduction bus data error；3rd, drive efficiency is improved, can active balance and each wheel edge system of coordination；4th, it is easy to sell Safeguard afterwards and update upgrading, reduce maintenance cost.
First wheel motor and the second wheel motor are act as：It is responsible according to multiple first electric machine controllers 300 and many The individual output current of second electric machine controller 500, carrys out the output of control mode, so as to control the traveling of vehicle, retrogressing etc. to operate.
Entire car controller 600 is act as：1st, it is responsible for communicating with vehicle, receives whole vehicle state information；2nd, two the are received The information of one electric machine controller 300 and two the second electric machine controllers 500 and comprehensive externally transmission；3rd, vehicle power is distributed, together When receive the real data of two the first electric machine controllers 300 and two the second electric machine controllers and calculate vehicle target power and need Ask, and driving instruction is sent to two the first electric machine controllers 300 and two the second electric machine controllers 500；4th, AC charging system System control, participates in the control of AC charging system；5th, hand-wheel angle signal, the driving for calculating each Direct wheel drives device are gathered Power.
Entire car controller 600 includes two CAN networks, and a CAN network is communicated with vehicle, another CAN network with And two the first electric machine controllers 300 and two the second electric machine controllers 500 constitute a power subnet.
First electric machine controller 300 and the second electric machine controller 500 are acted on：It is responsible for receiving the driving of entire car controller 600 Instruction, is driven according to the desired value of entire car controller 600, and real data when gathering driving or feedback braking is sent To entire car controller 600.
In embodiments of the present invention, the drive system to electric motor coach by taking 4 wheel driven entire car controller as an example is illustrated, simultaneous Illustrated with carrying out contrast with two drive entire car controllers.
As shown in fig.6, being vehicle power transmission sketch.4 wheel driven entire car controller 600, which is one, is used for vehicle power point The low pressure controller matched somebody with somebody, entire car controller 600 is by receiving accelerator pedal signal, brake pedal signal, gear signal, steering wheel Angular signal, the information about power of electrokinetic cell 100 etc. calculate power demand, and power and moment of torsion are distributed into the first electric machine controller 300 and second electric machine controller 500, the first electric machine controller 300 and the second electric machine controller 500 receive entire car controller 600 Moment of torsion and power distribution signals after perform the operation.
Accelerator pedal signal sensor is the sensor installed on vehicle accelerator pedal, and main function is collection accelerator pedal The depth stepped on.Referring particularly to shown in Figure 15.
Brake pedal signal sensor is the sensor installed on vehicle brake pedal, and main function is collection brake pedal The depth stepped on.
Gear signal is the gear residing for electric motor coach, there is three kinds of states such as N, R, D.
Steering wheel angle signal transducer is the sensor on full-vehicle steering tubing string, main function collection steering wheel The angle signal of rotation.
The information about power of electrokinetic cell 100 is used to receive the battery electric quantity signal that battery manager 700 is sent.
As shown in fig.6, the second wheel motor 400 drives input shaft gear 410, the He of jackshaft reduction gearing 480 is driven 490, the driving output shaft 430 of deceleration output gear 420, output shaft 430 drives the sun gear 440 in planetary gear reducing mechanism, Wheel side planetary gear reducing mechanism gear ring 470 is fixed, and planetary gear 450 drives planet carrier 460, and planet carrier 460 passes through wheelboss flange It is connected with wheel.Thus the power of motor is transported on tire and drives vehicle traveling.
Battery manager 700, which has, to carry out temperature sampling, voltage sample to electrokinetic cell 100, electrokinetic cell 100 is exported The function of current sample, the function with the calculating dump energy of electrokinetic cell 100, and CAN communication bundle of lines control signal can be passed through The electric component of correlation is sent to, to realize the management to the function of electrokinetic cell 100.
First electric machine controller 300 and the second electric machine controller 500, which are one, is used for the high tension apparatus that power of motor is controlled, Three needed for the DC inverter into motor that electric machine controller provides electrokinetic cell 100 by its internal drive circuit intersect Stream electricity, powers to motor, and can realize the limit Power operation to motor according to the signal transmitted by battery manager 700.
High-tension distribution box is the high tension apparatus of a high-tension electricity distribution, and the inside includes relay and contactor, by cell tube The opening and closing of the control contactor of device 700 is managed, to realize the distribution to power supply.
Electrokinetic cell 100 is energy reserve and the individual of electric discharge, is mainly in series by several batteries.
As shown in fig.7, being full-vehicle control logic chart.With reference to battery manager 700, multiple first electric machine controllers 300 and the function of multiple second electric machine controllers 500, integrated vehicle control tactics flow is analyzed：
Battery manager 700, after the electricity on electric motor coach, disconnects main contactor and closes preliminary filling contactor, with It is that multiple first electric machine controllers 300 and multiple second electric machine controllers 500 enter line precharge by electrokinetic cell 100, and The electricity of electrokinetic cell 100, if electricity is sufficient, the first wheel motor 200 and the basis of the second wheel motor 400 are monitored in real time Obtained power output power is calculated, if not enough power supply, the first wheel motor 200 and the second wheel motor 400 are with default Maximum power output power.
Multiple first electric machine controllers 300 and multiple second electric machine controllers 500 are additionally operable to detect busbar voltage, and pass through Entire car controller 600 feeds back to the battery manager 700.
Battery manager 700 is additionally operable to judge to multiple first electric machine controllers 300 and multiple according to busbar voltage Two electric machine controllers 500 are completed after precharge, are closed main contactor and are disconnected preliminary filling contactor.
Specifically, full-vehicle control logic comprises the following steps：
Electric on step S701, vehicle, brake pedal simultaneously presses activation button.
Step S702, the adhesive cathode contact device of battery manager 700 and major loop preliminary filling contactor, and send precharging state Message, electrokinetic cell 100 carries out preliminary filling to the first electric machine controller 300 and the second electric machine controller 500.
The sampling of real-time busbar voltage is sent to by step S703, the first electric machine controller 300 and the second electric machine controller 500 Entire car controller 600.
Step S704, entire car controller 600 takes four maximums to issue battery manager 700 after receiving.
Step S705, battery manager 700 judges voltage if greater than 370V, if it is, performing step S706, otherwise Perform return to step S705.
Step S706, it is believed that preliminary filling is completed, then adhesive main contactor, disconnects preliminary filling contactor, and send preliminary filling completion Message.
Step S707, entire car controller 600 receives preliminary filling and completed after message, sends " OK " indicator lamp message and is turned by gateway Instrument is issued, instrument shows and lights OK lamps, now then upper electricity is completed, and vehicle is in discharge mode.
Step S708, entire car controller 600 judges whether gear signal is N grades.If it is not, then step S717 is transferred to, Do not allow driving.If it is, being transferred to next step.
Step S709, judges whether parking brake releases.If it is not, then being transferred to step S717, driving is not allowed.If it is, Then it is transferred to next step.
Step S710, determines whether brake signal.If it is not, then being transferred to step S717, driving is not allowed.If It is then to be transferred to next step.
Step S711, judges whether to receive throttle depth signal.If it is not, then being transferred to step S717, driving is not allowed. If it is, being transferred to next step.
Step S712, entire car controller 600 searches target vehicle speed, calculates vehicle demand power and torque T 8.
Step S713, the calculated direction disk rotational angle R of entire car controller 600.
Step S714, entire car controller 600 distributes each demand of first electric machine controller 300 and power P 1, P2, the second electricity The demand torque of machine controller 500 and power P 3, P4.
Step S715, each electric machine controller 500 of first electric machine controller 300 and second is performed.
Step S716, judges whether there is stop signal or abnormal signal in traveling.If it is not, performing step S711. If so, then performing step S717.
Step S 717, does not allow driving.
2nd, battery manager 700 detects the situation of electrokinetic cell 100, and sends vehicle electric discharge permission message to full-vehicle control Device 600；Preceding pilot controller collection vehicle accelerator pedal depth, brake pedal depth, gear signal issue entire car controller 600；The hand-wheel angle signal α of rotary angle transmitter is received simultaneously, calculates the target vehicle speed v of each driving wheel1 v2 v3 v4, and It is converted into a rotating speed N1 N2 N3N4。
3rd, entire car controller 600 is converted into a coefficient value C by receiving collection throttle depth signal, obtains driver It is intended to, lookups target vehicle speed is V, and entire car controller 600 is by searching the maximum resistance T5 in the case of vehicle velocity V, while car Fast V can correspond to a motor speed N, and it is T6 to search the power that motor can be played when rotating speed N, and motor calculation target is turned round Square：
T7=(T6-T5)×C+T5
And each motor target torque
T8=[(T6-T5)×C+T5]/4
Each power of motor is during 4 wheel driven：
P1=[(T6-T5)×C+T5]/4×N1 P2=[(T6-T5)×C+T5]/4×N2
P3=[(T6-T5)×C+T5]/4×N3 P4=[(T6-T5)×C+T5]/4×N4
Two, which drive each power of motor, is：
P1=[(T6-T5)×C+T5]/4×N1 P2=[(T6-T5)×C+T5]/4×N2
4th, each controller receives signal, performs corresponding moment of torsion and power, at the same gather power that actual driving produces with And moment of torsion issues entire car controller 600.
5th, entire car controller 600 receives two the first electric machine controllers 300 and two data of the second electric machine controller 500 Afterwards, moment of torsion distribution next time is carried out by receiving whole vehicle information and actual power moment of torsion, two the first motor controls are issued Device 300 processed and two the second electric machine controllers 500 are performed.
6th, during whole driving, if any failure and alarm, all uniformly carried out by entire car controller 600 Integrated treatment and unified externally transmission.
In embodiments of the present invention, entire car controller 600 is additionally operable to the switching control between two drives and 4 wheel driven.Full-vehicle control Device 600 is used to obtain target vehicle speed, and after the difference of target vehicle speed and current vehicle speed is more than preset value, passes through multiple second electric Machine controller 500 starts multiple second wheel motors 400.Specifically,
Two drive and 4 wheel driven switching control：
As shown in fig.8, in general traveling, power demand is in 130Kw or so, and a set of first wheel motor can be met Vehicle power demand, vehicle torque is larger during due to starting, i.e., when starting to exercise using two the first wheel motors 200 and two Individual second wheel motor 400 works simultaneously to be started to drive vehicle, and the schematic diagram of four-wheel drive pattern, first are shown refering to Figure 12 Wheel motor 200 is as main drive system, and the second wheel motor 400 is as assistant drive system, when reaching rotating speed of target, closes The second wheel motor 400 is closed, the first wheel motor 200 works on.Reach after speed v, now vehicle is not complete still in accelerating Into state, speed miss the mark speed, but demand torque is less than N1When, jockey pulley side driving power system is closed, that is, is used Main wheel side drive system accelerates or at the uniform velocity travelled, and keeps motor high efficiency drive interval, if unclamping gas pedal in the process of moving, Feedback braking causes speed to decline, and schematic diagram during two drive feedback brakings is shown refering to Figure 11, if stepping on the throttle pedal, if Target vehicle speed v2There is v2- v ＞ A, then open jockey pulley side drive system, pattern accelerated using 4 wheel driven, if speed difference is less than A, Do not start 4 wheel driven then, driven using a set of main wheel edge system, as shown in fig.10, driving schematic diagram when driving for two.So both On the premise of being required meeting actual driving, auxiliary drive system is opened less as far as possible；In driving, two drive and 4 wheel driven switching, do not protect The smooth-going of power is demonstrate,proved, the comfortableness of passenger switches target torque total after front and rear switch constant.
The logic chart that vehicle two drives and 4 wheel driven switches is illustrated in figure 9, its step is as follows：
Electricity is completed on step S901, vehicle, prepares to start running.
Step S902, pedal of stepping on the throttle, entire car controller 600 judges to receive the depth of throttle.If not receiving oil Door depth signal, then continue to judge.If receiving throttle depth signal, next step is continued executing with.
Step S903, calculates whether target vehicle speed is more than A with actual vehicle speed difference.
Step S904, calculates vehicle power demand, power distribution is to two the first electric machine controllers 300 and two second electricity Machine controller 500.
Step S905, each wheel side controller is received and performed.
Step S906, after target vehicle speed V is reached, closes auxiliary first wheel motor.
Step S907, is at the uniform velocity travelled.
Step S908, accelerator releasing pedal or steps on brake pedal.
Step S909, the driving energy feedback of main wheel side.
Step S910, speed declines or stopped.Return to step S902.
When accelerator pedal depth reaches 70%, reach that 2 Motor torque outputs are maximum.When accelerator pedal depth is more than 70%, The total torque of vehicle is also directly proportional output, and there is provided vehicle power with identical state output for 4 motors.
Assuming that when accelerator pedal depth is 70%, total torque is 1000NM, single motor torque output is 500NM, when When accelerator open degree is 72%, total torque may be 1200NM, and single motor is output as 300NM.
When the return of accelerator pedal depth reaches 50%, reach that 2 Motor torques outputs are maximum.Accelerator open degree is more than 70% When, the total torque of vehicle is also directly proportional output, and there is provided vehicle power with identical state output for 4 motors.
Assuming that when accelerator open degree is 50%, total torque is 800NM, single motor torque output is 400NM.Then retract Pattern is driven to two, can so ensure the efficiency of driving.
Differential control：
In an embodiment of the present invention, entire car controller 600 is additionally operable to calculate inner side according to the rotational angle of electric motor coach The speed of wheel and outboard wheels, and according to the speeds of inboard wheel and outboard wheels respectively to the inboard wheel corresponding first round The wheel motor 400 of side motor 200 and second wheel motor 400 of the first wheel motor 200 and second corresponding with outside wheel enters Row control.
When orthodox car is turned or is travelled on uneven road surface, left and right sidesing driving wheel must be rolled with different rotating speeds, tradition Automobile is that this function is realized by mechanical differential gear box, and differential mechanism inner friction torque very little can be approximately considered left and right semiaxis Torque is mean allocation, so in we take turns side 4 wheel driven differential system, equally can give four using such scheme Individual motor identical moment of torsion, but give turning medial the rotating speed different with outside, to realize the purpose of differential.
It is 4 wheel driven bus model as shown in figure 13, angle beta is the instantaneous angle to nearside wheel on pivot center, and δ is rotation The instantaneous angle to outboard wheel on axis, for a vehicle, the two angles are a given value, L3For the axle of wheel Away from L1For car owner, jockey pulley side drive axle axis to front axle away from W1For the angular speed of Ackermann steer angle, v1 v2 v3 v4For four The wheel speed of individual driving wheel, because the axis turned is on the axis of main and auxiliary Direct wheel drives bridge, it is possible to learn v1=v3,v2= v4；
The ω in the case where there is steering wheel angle to be α0：
L2=L1/tanα-L3/2 （1）
v1=ω0γ1=L2/cosβ×ω0（2）
v2=ω0γ2=(L2+L3)/cosδ×ω0（3）
Calculated by formula 1,2,3 after the target vehicle speed of inner side and outer side, can be calculated by formula and obtain each motor Corresponding rotating speed Nm.
Pm=Tm×Nm/9550
Wherein P is power of motor (Kw), and T is Motor torque (N × M), and N is motor speed rpm, then by corresponding tread depths Corresponding moment of torsion input and speed, calculate each first wheel motor 200 and the work(of the demand of the second wheel motor 400 Rate.
The flow chart of vehicle differential control is shown refering to Figure 14.Its step is as follows：
Step S1401, normal vehicle operation.
Step S1402, determines whether the intention turned to.If it is not, continuing to judge.If so, then continuing executing with Next step.
Step S1403, calculates the direction of the angle rotated and rotation.
Step S1404, calculates the instantaneous air line distance to car.
Step S1405, calculates inboard wheel speed and outboard wheels speed.
Step S1406, calculates the rotating speed of target of motor.
Step S1407, calculates the power demand of each motor.
Step S1408, target vehicle speed and moment of torsion are calculated by throttle depth signal.
Feedback braking：
During feedback braking, by analog simulation, maximum feedback power is 170Kw or so, main to improve feedback conversion efficiency The recovery of braking energy is carried out using main wheel edge system, jockey pulley side dynamical system does not work.Vehicle is carried out under 4 wheel driven pattern During braking energy feedback, same using main wheel side drive system, jockey pulley side drive system is closed and not worked.Feedback working strategies, I.e. entire car controller searches corresponding maximum feedback torque T, and corresponding brake depth coefficient A according to current vehicle speed v first, T1=T × A, as feedback moment of torsion, power P=N × T of feedback1, N is the motor speed under speed v correspondences.
The drive system of electric motor coach according to embodiments of the present invention can efficiently solve pure electricity that is double-deck or lengthening The problem that is short of power of dynamic car, while realizing four-wheel drive using wheel hub motor, can have both electric automobile and four-wheel drive system Respective advantage, while the torque by the timely corrective action of independent control of left and right wheel hub motor in left and right wheels, can To improve drive efficiency, improve horizontal swing, more effectively play tire traction and steering force, the higher stability of acquisition and row Car security, can enable the vehicle to, according to driver's wish normally travel, meet driving demand.And the design of this method is abundant Practical operation difficulty is considered, small investment easily carries out industrialization.
As shown in figure 15, it is the flow chart of drive control method according to the electric motor coach of the embodiment of the present invention.
The drive control method of electric motor coach comprises the steps：
Whether step S101, entire car controller detection electric motor coach starts.
Electric motor coach includes electrokinetic cell, be connected with electrokinetic cell multiple first wheel motors, for controlling multiple the It is multiple first electric machine controllers of one wheel motor, multiple second wheel motors being connected with electrokinetic cell, multiple for controlling Multiple second electric machine controllers and entire car controller of second wheel motor.Wherein, entire car controller is used for detecting electronic first Whether car starts.
The drive system of electric motor coach according to embodiments of the present invention, including integrated vehicle control tactics and a set of jockey pulley side of increase Dynamical system（Including multiple second wheel motors and multiple second electric machine controllers）And an entire car controller.Full-vehicle control Strategy mainly describes the flow of full-vehicle control, and takes turns side dynamical system and be primarily referred to as multiple first wheel motors and multiple the One electric machine controller, and multiple second wheel motors and multiple second electric machine controllers, entire car controller refer mainly to vehicle and moved Power computer torque coordination is distributed.It is characterized in that：Control strategy and entire car controller and wheel side dynamical system are used in combination, no The other changes of outside progress are needed to be operated according to driver's wish, each parts annexation is refering to shown in Fig. 5.
The advantage of entire car controller is：1st, hardware and software platform, can apply with two drive, 4 wheel driven, six drive etc. vehicle, cover 30m with Interior car Direct wheel drives system, can reduce new car model development cost and construction cycle；2nd, CAN network load, lifting transmission are mitigated Efficiency and reduction bus data error；3rd, drive efficiency is improved, can active balance and each wheel edge system of coordination；4th, it is easy to after sale Safeguard and update upgrading, reduce maintenance cost.
Entire car controller is act as：1st, it is responsible for communicating with vehicle, receives whole vehicle state information；2nd, two first electricity are received The information of machine controller and two the second electric machine controllers and comprehensive externally transmission；3rd, vehicle power is distributed, while receiving two The real data of first electric machine controller and two the second electric machine controllers simultaneously calculates vehicle target power demand, and to two the One electric machine controller and two the second electric machine controllers send driving instruction；4th, AC charging system is controlled, and participates in AC charging System is controlled；
5th, hand-wheel angle signal, the driving force for calculating each Direct wheel drives device are gathered.
Entire car controller includes two CAN networks, and a CAN network is communicated with vehicle, another CAN network and two Individual first electric machine controller and two the second electric machine controllers constitute a power subnet.
Step S102, if started, entire car controller is to multiple first electric machine controllers and multiple second motor controls Device sends driving control signal.
First wheel motor and the second wheel motor are act as：It is responsible for according to multiple first electric machine controllers and multiple the The output current of two electric machine controller 500, carrys out the output of control mode, so as to control the traveling of vehicle, retrogressing etc. to operate.
First electric machine controller and the effect of the second electric machine controller：It is responsible for receiving the driving instruction of entire car controller, according to The desired value of entire car controller is driven, and real data when gathering driving or feedback braking is sent to full-vehicle control Device.
Step S103, multiple first electric machine controllers and multiple second electric machine controllers are receiving driving control signal When, control multiple first wheel motors and multiple second wheel motors to start and switch operating respectively.
Entire car controller passes through multiple first electric machine controllers and multiple second motor controls in electric motor coach start-up course Device processed controls multiple first wheel motors and multiple second wheel motors to start.
As shown in fig.6, being vehicle power transmission sketch.4 wheel driven entire car controller, which is one, is used for the distribution of vehicle power Low pressure controller, entire car controller is believed by receiving accelerator pedal signal, brake pedal signal, gear signal, steering wheel angle Number, electrokinetic cell information about power etc. calculates power demand, and power and moment of torsion distributed into the first electric machine controller and the second electricity Machine controller, the first electric machine controller and the second electric machine controller are held after receiving the moment of torsion and power distribution signals of entire car controller The row operation.
Accelerator pedal signal sensor is the sensor installed on vehicle accelerator pedal, and main function is collection accelerator pedal The depth stepped on.Referring particularly to shown in Figure 15.
Brake pedal signal sensor is the sensor installed on vehicle brake pedal, and main function is collection brake pedal The depth stepped on.
Gear signal is the gear residing for electric motor coach, there is three kinds of states such as N, R, D.
Steering wheel angle signal transducer is the sensor on full-vehicle steering tubing string, main function collection steering wheel The angle signal of rotation.
Electrokinetic cell information about power is used to receive the battery electric quantity signal that battery manager is sent.
As shown in fig.6, the second wheel motor 400 drives input shaft gear 410, the He of jackshaft reduction gearing 480 is driven 490, the driving output shaft 430 of deceleration output gear 420, output shaft 430 drives the sun gear 440 in planetary gear reducing mechanism, Wheel side planetary gear reducing mechanism gear ring 470 is fixed, and planetary gear 450 drives planet carrier 460, and planet carrier 460 passes through wheelboss flange It is connected with wheel.Thus the power of motor is transported on tire and drives vehicle traveling.
Step S104, entire car controller is less than in the rate of change of the speed of electric motor coach after preset value, passes through multiple the Two electric machine controllers close multiple second wheel motors.
First electric machine controller and the second electric machine controller, which are one, is used for the high tension apparatus that power of motor is controlled, motor control Three-phase alternating current needed for the DC inverter into motor that device processed provides electrokinetic cell bag by its internal drive circuit, gives Motor is powered, and can be according to transmitted by battery manager signal, realize to the limit Power operation of motor.Entire car controller is in electricity After the speed of dynamic car is steady, multiple second wheel motors are closed by multiple second electric machine controllers.
On step S105, electric motor coach after electricity, the battery manager of electric motor coach disconnects main contactor and closes preliminary filling Contactor, to be that multiple first electric machine controllers and multiple second electric machine controllers enter line precharge by electrokinetic cell, and The electricity of the electrokinetic cell is monitored in real time, if electricity is sufficient, the first wheel motor and the second wheel motor are according to calculating Obtained power output power, if not enough power supply, the first wheel motor and the second wheel motor are defeated with preset maximum power Go out power.
Electric on vehicle, brake pedal simultaneously presses activation button, battery manager adhesive cathode contact device and major loop Preliminary filling contactor, electrokinetic cell carries out preliminary filling to the first electric machine controller and the second electric machine controller.
Step S106, multiple first electric machine controllers and multiple second electric machine controllers detection busbar voltage, and by whole Vehicle controller feeds back to battery manager.
The sampling of real-time busbar voltage is sent to entire car controller, vehicle by the first electric machine controller and the second electric machine controller Controller takes four maximums to issue battery manager after receiving.
Step S107, battery manager is judged to multiple first electric machine controllers and multiple second electricity according to busbar voltage Machine controller is completed after precharge, is closed main contactor and is disconnected preliminary filling contactor.
Battery manager judges voltage if greater than 370V, then it is assumed that preliminary filling is completed, then adhesive main contactor, disconnects pre- Contactor is filled, and sends preliminary filling and completes message, entire car controller receives preliminary filling and completed after message, sends " OK " indicator lamp message and leads to Gateway forwards are crossed to instrument, instrument shows and lights OK lamps, now then upper electricity is completed, and vehicle is in discharge mode.
Step S108, entire car controller obtains target vehicle speed, and is more than preset value in the difference of target vehicle speed and current vehicle speed Afterwards, multiple second wheel motors are started by multiple second electric machine controllers.
As shown in fig.8, in general traveling, power demand is in 130Kw or so, and a set of first wheel motor can be met Vehicle power demand, vehicle torque is larger during due to starting, i.e., using the first wheel motor and the second wheel side when starting to exercise Motor works simultaneously to be started to drive vehicle, and the schematic diagram of four-wheel drive pattern, the first wheel motor conduct are shown refering to Figure 12 Main drive system, the second wheel motor is as assistant drive system, when reaching rotating speed of target, closes the second wheel motor, the One wheel motor works on.Reach after speed v, now vehicle is still in acceleration unfinished state, speed miss the mark car Speed, but demand torque is less than N1When, jockey pulley side driving power system is closed, i.e., using the drive system acceleration of main wheel side or at the uniform velocity Traveling, keeps motor high efficiency drive interval, if unclamping gas pedal in the process of moving, feedback braking causes speed to decline, ginseng Schematic diagram when Figure 11 show two drive feedback brakings is read, if stepping on the throttle pedal, if target vehicle speed v2There is v2- v ＞ A, then Jockey pulley side drive system is opened, pattern is accelerated using 4 wheel driven, if speed difference is less than A, does not start 4 wheel driven, using a set of master Edge system driving is taken turns, as shown in fig.10, schematic diagram when being driven for two.Before can so being required meeting actual driving Put, open auxiliary drive system less as far as possible；In driving, two drive and 4 wheel driven switching, do not ensure the smooth-going of power, passenger's is comfortable Property, total target torque is constant after switching before and after switching.
It is illustrated in figure 9 the logic chart that vehicle two drives and 4 wheel driven switches.Its step is as follows：
Electricity is completed on step S901, vehicle, prepares to start running.
Step S902, pedal of stepping on the throttle, entire car controller judges to receive the depth of throttle.If it is deep not receive throttle Signal is spent, then continues to judge.If receiving throttle depth signal, next step is continued executing with.
Step S903, calculates whether target vehicle speed is more than A with actual vehicle speed difference.
Step S904, calculates vehicle power demand, and power distribution gives two electric machine controllers and two the second motor controls Device.
Step S905, each wheel side controller is received and performed.
Step S906, after target vehicle speed V is reached, closes auxiliary first wheel motor.
Step S907, is at the uniform velocity travelled.
Step S908, accelerator releasing pedal or steps on brake pedal.
Step S909, the driving energy feedback of main wheel side.
Step S910, speed declines or stopped.Return to step S902.
When accelerator pedal depth reaches 70%, reach that 2 Motor torque outputs are maximum.When accelerator pedal depth is more than 70%, The total torque of vehicle is also directly proportional output, and there is provided vehicle power with identical state output for 4 motors.
Assuming that when accelerator pedal depth is 70%, total torque is 1000NM, single motor torque output is 500NM, when When accelerator open degree is 72%, total torque may be 1200NM, and single motor is output as 300NM.
When the return of accelerator pedal depth reaches 50%, reach that 2 Motor torques outputs are maximum.Accelerator open degree is more than 70% When, the total torque of vehicle is also directly proportional output, and there is provided vehicle power with identical state output for 4 motors.
Assuming that when accelerator open degree is 50%, total torque is 800NM, single motor torque output is 400NM.Then retract Pattern is driven to two, can so ensure the efficiency of driving.
Step S109, entire car controller calculates inboard wheel and the car of outboard wheels according to the rotational angle of electric motor coach Speed, and according to the speeds of inboard wheel and outboard wheels the first wheel motor corresponding to inboard wheel and the second wheel side electricity respectively Machine the first wheel motor corresponding with outside wheel and the second wheel motor are controlled.
In an embodiment of the present invention, entire car controller is additionally operable to calculate inboard wheel according to the rotational angle of electric motor coach With the speed of outboard wheels, and according to the speeds of inboard wheel and outboard wheels respectively to inboard wheel corresponding first round side electricity Machine and the second wheel motor the first wheel motor corresponding with outside wheel and the second wheel motor are controlled.
When orthodox car is turned or is travelled on uneven road surface, left and right sidesing driving wheel must be rolled with different rotating speeds, tradition Automobile is that this function is realized by mechanical differential gear box, and differential mechanism inner friction torque very little can be approximately considered left and right semiaxis Torque is mean allocation, so in we take turns side 4 wheel driven differential system, equally can give four using such scheme Individual motor identical moment of torsion, but give turning medial the rotating speed different with outside, to realize the purpose of differential.
It is 4 wheel driven bus model as shown in figure 13, angle beta is the instantaneous angle to nearside wheel on pivot center, and δ is rotation The instantaneous angle to outboard wheel on axis, for a vehicle, the two angles are a given value, L3For the axle of wheel Away from L1For car owner, jockey pulley side drive axle axis to front axle away from W1For the angular speed of Ackermann steer angle, v1 v2 v3 v4For four The wheel speed of individual driving wheel, because the axis turned is on the axis of main and auxiliary Direct wheel drives bridge, it is possible to learn v1=v3,v2= v4；
The ω in the case where there is steering wheel angle to be α0：
L2=L1/tanα-L3/2 （1）
v1=ω0γ1=L2/cosβ×ω0（2）
v2=ω0γ2=(L2+L3)/cosδ×ω0（3）
Calculated by formula 1,2,3 after the target vehicle speed of inner side and outer side, can be calculated by formula and obtain each motor Corresponding rotating speed Nm.
Pm=Tm×Nm/9550
Wherein P is power of motor (Kw), and T is Motor torque (N × M), and N is motor speed rpm, then by corresponding tread depths Corresponding moment of torsion input and speed, calculate the power of the first wheel motor and the second wheel motor demand.
The flow chart of vehicle differential control is shown refering to Figure 14.Its step is as follows：
Step S1401, normal vehicle operation.
Step S1402, determines whether the intention turned to.If it is not, continuing to judge.If so, then continuing executing with Next step.
Step S1403, calculates the direction of the angle rotated and rotation.
Step S1404, calculates the instantaneous air line distance to car.
Step S1405, calculates inboard wheel speed and outboard wheels speed.
Step S1406, calculates the rotating speed of target of motor.
Step S1407, calculates the power demand of each motor.
Step S1408, target vehicle speed and moment of torsion are calculated by throttle depth signal.
The drive system of electric motor coach according to embodiments of the present invention can efficiently solve pure electricity that is double-deck or lengthening The problem that is short of power of dynamic car, while realizing four-wheel drive using wheel hub motor, can have both electric automobile and four-wheel drive system Respective advantage, while the torque by the timely corrective action of independent control of left and right wheel hub motor in left and right wheels, can To improve drive efficiency, improve horizontal swing, more effectively play tire traction and steering force, the higher stability of acquisition and row Car security, can enable the vehicle to, according to driver's wish normally travel, meet driving demand.And the design of this method is abundant Practical operation difficulty is considered, small investment easily carries out industrialization.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include Module, fragment or the portion of the code of one or more executable instructions for the step of realizing specific logical function or process Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for Instruction execution system, device or equipment（As computer based system including the system of processor or other can be held from instruction The system of row system, device or equipment instruction fetch and execute instruction）Use, or combine these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using Put.The more specifically example of computer-readable medium（Non-exhaustive list）Including following：Electricity with one or more wirings Connecting portion（Electronic installation）, portable computer diskette box（Magnetic device）, random access memory（RAM）, read-only storage （ROM）, erasable edit read-only storage（EPROM or flash memory）, fiber device, and portable optic disk is read-only deposits Reservoir（CDROM）.In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage Or firmware is realized.If, and in another embodiment, can be with well known in the art for example, realized with hardware Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array（PGA）, scene Programmable gate array（FPGA）Deng.
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is by appended claims and its equivalent limits.

Claims (14)

1. a kind of drive system of electric motor coach, it is characterised in that including：
Electrokinetic cell；
Multiple first wheel motors being connected with the electrokinetic cell；
Control multiple first electric machine controllers of the multiple first wheel motor；
Multiple second wheel motors being connected with the electrokinetic cell；
Control multiple second electric machine controllers of the multiple second wheel motor；And
Entire car controller, the entire car controller respectively with the multiple first electric machine controller and multiple second electric machine controllers It is connected, the entire car controller passes through the multiple first electric machine controller and multiple the in the electric motor coach running The multiple first wheel motor of two motor controller controls and multiple second wheel motors start and switch operating, wherein, The rate of change of the speed of the electric motor coach is less than after preset value, is closed by the multiple second electric machine controller described many Individual second wheel motor.
2. the drive system of electric motor coach as claimed in claim 1, it is characterised in that the entire car controller is additionally operable in institute State in electric motor coach start-up course by many described in the multiple first electric machine controller and multiple second motor controller controls Individual first wheel motor and multiple second wheel motors start.
3. the drive system of electric motor coach as claimed in claim 1 or 2, it is characterised in that also include：
Battery manager, after the electricity on the electric motor coach, disconnects main contactor and closes preliminary filling contactor, to pass through The electrokinetic cell is the multiple first electric machine controller and multiple second electric machine controllers enter line precharge, and prison in real time The electricity of the electrokinetic cell is surveyed, if electricity is sufficient, first wheel motor and second wheel motor are according to meter Obtained power output power, if not enough power supply, first wheel motor and second wheel motor are with default Maximum power output power.
4. the drive system of electric motor coach as claimed in claim 3, it is characterised in that the multiple first electric machine controller and Multiple second electric machine controllers are additionally operable to detect busbar voltage, and feed back to the battery management by the entire car controller Device.
5. the drive system of electric motor coach as claimed in claim 4, it is characterised in that the battery manager is additionally operable in root Judge to complete after being pre-charged the multiple first electric machine controller and multiple second electric machine controllers according to the busbar voltage, Close the main contactor and disconnect the preliminary filling contactor.
6. the drive system of electric motor coach as claimed in claim 1, it is characterised in that the entire car controller is additionally operable to obtain Target vehicle speed, and the target vehicle speed and current vehicle speed difference be more than preset value after, pass through the multiple second motor control Device processed starts the multiple second wheel motor.
7. the drive system of electric motor coach as claimed in claim 1, it is characterised in that the entire car controller is additionally operable to basis The rotational angle of the electric motor coach calculates the speed of inboard wheel and outboard wheels, and according to the inboard wheel and outside car Corresponding to the inboard wheel the first wheel motor and the second wheel motor are corresponding with the outboard wheels respectively for the speed of wheel The first wheel motor and the second wheel motor be controlled.
8. a kind of drive control method of electric motor coach, it is characterised in that the electric motor coach includes electrokinetic cell, moved with described Connected multiple first wheel motors of power battery, multiple first motor controls for controlling the multiple first wheel motor Device, multiple second wheel motors being connected with the electrokinetic cell, for control the multiple second wheel motor multiple Two electric machine controllers and entire car controller, the drive control method comprise the following steps：
The entire car controller detects whether the electric motor coach starts；
If started, the entire car controller is sent to the multiple first electric machine controller and multiple second electric machine controllers Driving control signal；And
The multiple first electric machine controller and multiple second electric machine controllers are when receiving the driving control signal, respectively The multiple first wheel motor and multiple second wheel motors is controlled to start and switch operating, wherein, in the electric motor coach Speed rate of change be less than preset value after, pass through the multiple second electric machine controller close it is the multiple second wheel side electricity Machine.
9. the drive control method of electric motor coach as claimed in claim 8, it is characterised in that the entire car controller is described It is the multiple by the multiple first electric machine controller and multiple second motor controller controls in electric motor coach start-up course First wheel motor and multiple second wheel motors start.
10. the drive control method of electric motor coach as claimed in claim 8 or 9, it is characterised in that on the electric motor coach After electricity, the battery manager of the electric motor coach disconnects main contactor and closes preliminary filling contactor, to pass through the power electric Pond is that the multiple first electric machine controller and multiple second electric machine controllers enter line precharge, and monitors the power in real time The electricity of battery, if electricity is sufficient, the work(that first wheel motor and second wheel motor are obtained according to calculating Rate exports power, if not enough power supply, first wheel motor and second wheel motor are defeated with preset maximum power Go out power.
11. the drive control method of electric motor coach as claimed in claim 10, it is characterised in that also comprise the following steps：Institute Multiple first electric machine controllers and multiple second electric machine controllers detection busbar voltage are stated, and are fed back by the entire car controller To the battery manager.
12. the drive control method of electric motor coach as claimed in claim 11, it is characterised in that the battery manager is in root Judge to complete after being pre-charged the multiple first electric machine controller and multiple second electric machine controllers according to the busbar voltage, Close the main contactor and disconnect the preliminary filling contactor.
13. the drive control method of electric motor coach as claimed in claim 8, it is characterised in that also comprise the following steps：It is described Entire car controller obtains target vehicle speed, and the target vehicle speed and current vehicle speed difference more than after preset value, by described Multiple second electric machine controllers start the multiple second wheel motor.
14. the drive control method of electric motor coach as claimed in claim 8, it is characterised in that also comprise the following steps：It is described Entire car controller calculates the speed of inboard wheel and outboard wheels according to the rotational angle of the electric motor coach, and according to described interior The speed of side wheel and outboard wheels the first wheel motor corresponding to the inboard wheel and the second wheel motor and institute respectively State corresponding first wheel motor of outboard wheels and the second wheel motor is controlled.
CN201210580360.4A 2012-12-27 2012-12-27 The drive system and its drive control method of a kind of electric motor coach Active CN103895524B (en)

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PCT/CN2013/090730 WO2014101838A1 (en) 2012-12-27 2013-12-27 Driving system of electric vehicle and method for controlling same
HK14112320.0A HK1198823A1 (en) 2012-12-27 2014-12-08 Driving system of electric vehicle and method for controlling the same

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