CN104175863B - Hub driving system and control method thereof - Google Patents
Hub driving system and control method thereof Download PDFInfo
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- CN104175863B CN104175863B CN201410428691.5A CN201410428691A CN104175863B CN 104175863 B CN104175863 B CN 104175863B CN 201410428691 A CN201410428691 A CN 201410428691A CN 104175863 B CN104175863 B CN 104175863B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000008878 coupling Effects 0.000 claims abstract description 8
- 238000010168 coupling process Methods 0.000 claims abstract description 8
- 238000005859 coupling reaction Methods 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims description 8
- 230000001419 dependent effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000002498 deadly effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
The invention provides a hub driving system and a control method thereof, the system comprises a control part, a power coupling device and a hub motor set arranged on a wheel, the control part is connected with the hub motor set, the hub motor set is connected with the wheel through the power coupling device, wherein: the hub motor set comprises a plurality of motors connected in parallel; the control part comprises a main motor controller and a plurality of sub motor controllers, the main motor controller is arranged on an electronic control unit ECU of the automobile, and each sub motor controller corresponds to one motor in the wheel hub motor set. The multi-motor hub driving system selects the variable x of the working number of the motors under the current working condition according to the torque requirement, determines the optimal number of the effective working motors in real time, and effectively overcomes the defect that the conventional hub motor cannot be further popularized and applied due to the limitation of reliability and economy.
Description
Technical field
The present invention relates to the drive system of new-energy automobile, and in particular to a kind of hub drive system and its control method.
Background technology
As environment and energy problem turn into the focus of global range, for the development of auto industry, including it is pure
The new-energy automobile of the power modes such as electronic, hybrid power, fuel cell is to realize one of main path of energy-saving and emission-reduction.Wheel hub
Motor technology has obvious difference as one of actuation techniques of new-energy automobile with traditional internal-combustion engines vehicle.Wheel hub electricity
Machine technology is to be incorporated into power, transmission and brake apparatus in wheel hub, eliminates substantial amounts of drive disk assembly, by electric vehicle
Mechanical part is greatly simplified, and realizes the type of drive of Various Complex.
Each wheel hub of current In-wheel motor driving system is driven only with single motor, due to automobile in itself
Driving cycle is complicated, and the pure electric automobile such as developed based on wheel hub motor, wherein any one wheel hub motor are broken down, then car
Can not normally travel, therefore the restricted one of the main reasons of reliability popularization and application of In-wheel motor driving system.Moreover,
Under constant speed or speed operation, current In-wheel motor driving system is largely operated in poorly efficient area, particularly with continual mileage
For shorter pure electric automobile, even more deadly defect.
The content of the invention
In view of this, the present invention provides a kind of hub drive system and its control method, it is intended to improve motor wheel hub driving
The reliability of system, lifts the operating efficiency of hub drive system.
The technical solution adopted by the present invention is specially：A kind of hub drive system, including control unit, dynamic coupling device and
Wheel hub motor group on wheel, the control unit is connected with the wheel hub motor group, and the wheel hub motor group passes through dynamic
Power coupling device is connected with wheel, wherein：The wheel hub motor group includes the motor that several are connected in parallel；The control unit
Including main motor controller and several separated motor controllers, the main motor controller is located at the electronic control unit of automobile
ECU, the motor that each separated motor controller corresponds in wheel hub motor group.
In above-mentioned hub drive system, the main motor controller is also associated with fault cues device.
In above-mentioned hub drive system, the fault cues device is display instrument or alarm device.
Above-mentioned wheel hub driving is respectively equipped with the pair of wheels of a kind of pure electric automobile, front axle pair of wheels and/or rear axle
System.
Above-mentioned wheel hub is respectively equipped with the pair of wheels of a kind of hybrid vehicle, front axle pair of wheels and/or rear axle to drive
Dynamic system.
A kind of control method of hub drive system, main motor controller determines to be currently at work shape according to torque demand
The number of the motor of state, i.e. motor work number variable x, what motor work number variable x was determined concretely comprises the following steps：
When wheel hub drives, main motor controller detects the number t of current faulty motor first, and by faulty motor
Number t notifies driver by fault cues device；
If the design motor sum that each wheel hub motor group contains is n, then the Movable motor number X=n-t that can be worked, main
The torque demand T2 that electric machine controller is sent according to entire car controller VCU, X Movable motor is evenly distributed to by moment of torsion；Wherein
The nominal torque sum T1 of the Movable motor for T2≤can work；Movable motor is tabled look-up and drawn according to the moment of torsion and current rotating speed that receive
Current efficiency, is efficiency one, then by efficiency one with tabling look-up what is obtained when moment of torsion to be evenly distributed to (X-1) individual Movable motor
Efficiency three compares, if the ＞ efficiency three of efficiency one, and motor work number variable x=X, i.e. X are the number of work drive motor, by dividing
Motor controller controls each work drive motor work；
If one≤efficiency of efficiency three, motor work number variable x=X-1, i.e. X-1 are the number of work drive motor, are passed through
Separated motor controller controls each work drive motor to work；The moment of torsion that main motor controller is sent again according to entire car controller VCU
Demand T2, and table look-up obtained efficiency two when T2 is evenly distributed into (x+1) and (x-1) individual Movable motor and efficiency three compares,
Efficiency of selection one, efficiency two motor number corresponding with peak efficiency in efficiency three are motor work number variable, and by dividing
The in running order Movable motor of motor controller controls；
In running order Movable motor is redefined again according to motor work number variable, so circulation.
Further, in the control method of above-mentioned hub drive system, when some in running order Movable motor
During failure, main motor controller drives other Movable motors in off working state by separated motor controller；If
Movable motor without available off working state, then do not make driving processing to other motors, and dependent failure information only is passed through into event
Barrier suggestion device notifies driver.
Further, in the control method of above-mentioned hub drive system, the torque demand sent as entire car controller VCU
The nominal torque sum T1 for the Movable motor that T2 ＞ can work, then perform driving by T1 moments of torsion, i.e., all useable electric moters are at full capacity
Work, and dependent failure information is notified into driver by fault cues device.
In the control method of above-mentioned hub drive system, the advice method of the fault cues device is aobvious by instrument
Show or passed on by alarm device.
The beneficial effect comprise that：
On the one hand the multiple motor wheel hub drive system of the present invention is in work shape in constant speed and speed operation by control
The quantity of the separated motor of state, improves the operating efficiency of hub drive system, continual mileage is extended to a certain extent；It is another
Aspect is effectively evaded because of separated motor when some in running order separated motor breaks down by driving other separated motors
Failure and situation that the vehicle that causes can not continue traveling occurs, improve the reliability of wheel hub motor group；Effectively mesh is evaded
Preceding wheel hub motor be limited to reliability and economy and can not further genralrlization and application defect.
Brief description of the drawings
When considered in conjunction with the accompanying drawings, the present invention can more completely be more fully understood.Accompanying drawing described herein is used for providing
A further understanding of the present invention, embodiment and its illustrate be used for explain the present invention, do not constitute inappropriate limitation of the present invention.
Fig. 1 is a kind of structural representation of hub drive system of the invention；
Fig. 2 is a kind of control flow chart of hub drive system of the invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to technical scheme.
A kind of hub drive system as shown in Figure 1, available on pure electric automobile or hybrid vehicle.Including control
Portion processed, dynamic coupling device and the wheel hub motor group on wheel, control unit are connected with wheel hub motor group, the wheel hub electricity
Unit is connected by dynamic coupling device with wheel, and hub drive system of the invention can all be used with four wheels,
Can the pair of wheels of only front axle or rear axle use.The moment of torsion of each wheel is distributed to according to optimum efficiency according to entire car controller
Strategy, it is ensured that do not have the efficiency optimization of individual wheel hub motor, the economy of vehicle can farthest optimize.
Wherein：
Each wheel hub motor group include the n motors being connected in parallel (be respectively No. 1 motor, No. 2 motors ... n electricity
Machine)；
Control unit includes the main motor controller and several separated motor controllers (difference located at electronic control unit ECU
For No. 1 electric machine controller, No. 2 electric machine controllers ... n electric machine controllers, corresponding to No. 1 above-mentioned motor, No. 2 electricity
Machine ... n motors), the main motor controller, the electricity that each separated motor controller corresponds in wheel hub motor group
Machine.
The control method of above-mentioned hub drive system, main motor controller is also associated with fault cues device, fault cues
Device can be instrument or alarm device, for when any one motor breaks down, by the failure situation of motor and
Shi Tongzhi driver, and determine to be currently at the number i.e. motor work number variable x of the Movable motor of working condition, specific step
Suddenly it is：
When wheel hub drives, main motor controller detects the number t of current faulty motor first, and by faulty motor
Number t driver is notified by fault cues device；
If the motor sum that each wheel hub motor group contains is n, then the Movable motor number X=n-t that can be worked, main motor
The torque demand T2 that controller is sent according to entire car controller VCU, X Movable motor is evenly distributed to by moment of torsion；Wherein T2≤
The nominal torque sum T1 for the Movable motor that can be worked；Movable motor is tabled look-up according to the moment of torsion and current rotating speed that receive to be drawn currently
Efficiency, is efficiency one, then passes through efficiency one and obtained efficiency of being tabled look-up when moment of torsion to be evenly distributed to (X-1) individual Movable motor
Three compare, if the ＞ efficiency three of efficiency one, and motor work number variable x=X, i.e. X are the number of work drive motor, pass through separated motor
Controller controls each work drive motor to work；
If one≤efficiency of efficiency three, motor work number variable x=X-1, i.e. X-1 are the number of work drive motor, are passed through
Separated motor controller controls each work drive motor to work；The moment of torsion that main motor controller is sent again according to entire car controller VCU
Demand T2, and table look-up obtained efficiency two when T2 is evenly distributed into (x+1) and (x-1) individual Movable motor and efficiency three compares,
Efficiency of selection one, efficiency two motor number corresponding with peak efficiency in efficiency three are motor work number variable, and by dividing
The in running order Movable motor of motor controller controls；
In running order Movable motor is redefined again according to motor work number variable, so circulation.
When wheel hub stops, zero torque command is sent to separated motor controller by main motor controller, controls all work
Dynamic motor is in halted state.
In above-mentioned control method, the value of (x+1) can not be more than the Movable motor number that can currently work, i.e., can not be more than
The motor number of design subtracts faulty motor number；(x-1) value can not be less than 1, i.e., to ensure that wheel hub drives first.And in meter
During point counting Motor torque, the nominal torque sum for the Movable motor that only can currently work is met to be inputted more than entire car controller
Demand torque T2 condition when, correspondence motor number could be carried out and calculated.If T2 is 50Nm, the specified torsion of each Movable motor
Square is 10Nm, i.e. x answers >=5, and can only be with (x+1) (i.e. Movable motor number is 6) corresponding efficiency ratio, it is impossible to (x-1) ratio,
If total motor number of design subtracts the number x ＜ 5 of faulty motor, driving is performed by T1 moments of torsion, i.e., all available motors
Operate at full capacity, and fault display device (i.e. instrument show and/or failure report by way of) by failure situation
Convey to driver.
And when some in running order Movable motor breaks down, main motor controller passes through separated motor controller
The other Movable motors in off working state of driving.The reliability of wheel hub driving is ensure that, such as：
The motor worked of wheel hub motor group is No. 1 motor, No. 2 motors and No. 4 motors, in running order activity
Motor is No. 1 motor and No. 2 motors, and when detecting No. 2 motor failures, main motor controller passes through separated motor controller
4 No. 4 motors of driving make it start working, and the failure situation of No. 2 motors is notified into driver in time, can if currently no
The Movable motor of off working state, then do not make driving processing to other motors, and dependent failure information is conveyed into driver
.
As described above, being explained to embodiments of the invention, it is clear that as long as essentially without this hair of disengaging
Bright inventive point and effect, will be readily apparent to persons skilled in the art deformation, also be all contained in the guarantor of the present invention
Within the scope of shield.
Claims (9)
1. a kind of hub drive system, it is characterised in that the wheel hub electricity including control unit, dynamic coupling device and on wheel
Unit, the control unit is connected with the wheel hub motor group, and the wheel hub motor group passes through dynamic coupling device and wheel phase
Connection, wherein：
The wheel hub motor group includes the motor that several are connected in parallel；
The control unit includes main motor controller and several separated motor controllers, and the main motor controller is located at automobile
Electronic control unit ECU, the motor that each separated motor controller corresponds in wheel hub motor group；
Wherein, main motor controller determines to be currently at the number of the motor of working condition according to torque demand, i.e. motor works
Individual number variable x, what motor work number variable x was determined concretely comprises the following steps：
When wheel hub drives, main motor controller detects the number t of current faulty motor first, and by the number of faulty motor
T notifies driver by fault cues device；
If the design motor sum that each wheel hub motor group contains is n, then the Movable motor number X=n-t that can be worked, main motor
The torque demand T2 that controller is sent according to entire car controller VCU, X Movable motor is evenly distributed to by moment of torsion；Wherein T2≤
The nominal torque sum T1 for the Movable motor that can be worked；Movable motor is tabled look-up according to the moment of torsion and current rotating speed that receive to be drawn currently
Efficiency, is efficiency one, then passes through efficiency one and obtained efficiency of being tabled look-up when moment of torsion to be evenly distributed to (X-1) individual Movable motor
Three compare, if the ＞ efficiency three of efficiency one, and motor work number variable x=X, i.e. X are the number of work drive motor, pass through separated motor
Controller controls each work drive motor to work；
If one≤efficiency of efficiency three, motor work number variable x=X-1, i.e. X-1 are the number of work drive motor, pass through a point electricity
Machine controller controls each work drive motor to work；The torque demand that main motor controller is sent again according to entire car controller VCU
T2, and table look-up obtained efficiency two when T2 is evenly distributed into (x+1) and (x-1) individual Movable motor and efficiency three compares, select
Efficiency one, efficiency two motor number corresponding with peak efficiency in efficiency three are motor work number variable, and pass through separated motor
Controller controls in running order Movable motor；
In running order Movable motor is redefined again according to motor work number variable, so circulation.
2. wheel hub driving according to claim 1, it is characterised in that the main motor controller is also associated with fault cues
Device.
3. wheel hub driving according to claim 2, it is characterised in that the fault cues device is display instrument or police
Reporting device.
4. a kind of pure electric automobile, it is characterised in that be respectively equipped with right on the pair of wheels of front axle pair of wheels and/or rear axle
It is required that the hub drive system any one of 1-3.
5. a kind of hybrid vehicle, it is characterised in that power is respectively equipped with the pair of wheels of front axle pair of wheels and/or rear axle
Profit requires the hub drive system any one of 1-3.
6. a kind of wheel hub drive control method, it is characterised in that main motor controller determines to be currently at work according to torque demand
Make the number of the motor of state, i.e. motor work number variable x, what motor work number variable x was determined concretely comprises the following steps：
When wheel hub drives, main motor controller detects the number t of current faulty motor first, and by the number of faulty motor
T notifies driver by fault cues device；
If the design motor sum that each wheel hub motor group contains is n, then the Movable motor number X=n-t that can be worked, main motor
The torque demand T2 that controller is sent according to entire car controller VCU, X Movable motor is evenly distributed to by moment of torsion；Wherein T2≤
The nominal torque sum T1 for the Movable motor that can be worked；Movable motor is tabled look-up according to the moment of torsion and current rotating speed that receive to be drawn currently
Efficiency, is efficiency one, then passes through efficiency one and obtained efficiency of being tabled look-up when moment of torsion to be evenly distributed to (X-1) individual Movable motor
Three compare, if the ＞ efficiency three of efficiency one, and motor work number variable x=X, i.e. X are the number of work drive motor, pass through separated motor
Controller controls each work drive motor to work；
If one≤efficiency of efficiency three, motor work number variable x=X-1, i.e. X-1 are the number of work drive motor, pass through a point electricity
Machine controller controls each work drive motor to work；The torque demand that main motor controller is sent again according to entire car controller VCU
T2, and table look-up obtained efficiency two when T2 is evenly distributed into (x+1) and (x-1) individual Movable motor and efficiency three compares, select
Efficiency one, efficiency two motor number corresponding with peak efficiency in efficiency three are motor work number variable, and pass through separated motor
Controller controls in running order Movable motor；
In running order Movable motor is redefined again according to motor work number variable, so circulation.
7. wheel hub drive control method according to claim 6, it is characterised in that when some in running order activity
When motor breaks down, main motor controller drives other Movable motors in off working state by separated motor controller；
If other motors are not made driving processing by the Movable motor without available off working state, only dependent failure information is led to
Cross fault cues device and notify driver.
8. wheel hub drive control method according to claim 6, it is characterised in that the torsion sent as entire car controller VCU
The nominal torque sum T1 for the Movable motor that square demand T2 ＞ can work, then perform driving by T1 moments of torsion, i.e., all useable electric moters
Operate at full capacity, and dependent failure information is notified into driver by fault cues device.
9. wheel hub drive control method according to claim 6, it is characterised in that the notice side of the fault cues device
Formula is to be shown or passed on by alarm device by instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410428691.5A CN104175863B (en) | 2014-08-27 | 2014-08-27 | Hub driving system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410428691.5A CN104175863B (en) | 2014-08-27 | 2014-08-27 | Hub driving system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN104175863A CN104175863A (en) | 2014-12-03 |
| CN104175863B true CN104175863B (en) | 2017-08-08 |
Family
ID=51957332
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| CN201410428691.5A Expired - Fee Related CN104175863B (en) | 2014-08-27 | 2014-08-27 | Hub driving system and control method thereof |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105584385A (en) * | 2015-12-15 | 2016-05-18 | 杭州伯坦科技工程有限公司 | Optimized control method for multi-motor torque output |
| CN105584383B (en) * | 2015-12-15 | 2017-12-12 | 杭州伯坦科技工程有限公司 | A kind of more Motor torque output control methods |
| CN105584382B (en) * | 2015-12-15 | 2017-10-20 | 杭州伯坦科技工程有限公司 | A kind of many Motor torque output distribution control methods |
| CN105539201A (en) * | 2016-01-27 | 2016-05-04 | 北京理工大学 | Multi-motor parallel drive system of electric car |
| CN111703411B (en) * | 2020-05-25 | 2021-12-10 | 武汉理工大学 | Coordination control method and device for hub motor of electric automobile |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103795181A (en) * | 2014-02-17 | 2014-05-14 | 江苏大学 | Wheel hub motor with multiple inner motors connected in parallel |
| CN103963662A (en) * | 2014-05-28 | 2014-08-06 | 王大方 | Independent four-hub electrically driven system of electric automobile, voltage-power design method of each unit and control method of independent four-hub electrically driven system |
| CN204196687U (en) * | 2014-08-27 | 2015-03-11 | 北京新能源汽车股份有限公司 | Wheel hub driving system and pure electric or hybrid electric vehicle comprising same |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL203642A (en) * | 2010-02-01 | 2014-01-30 | Yesaiahu Redler | Apparatus and method for optimizinmg current use during control of multiple motors and a projectile device containing the same |
| KR101249296B1 (en) * | 2011-01-24 | 2013-04-01 | 자동차부품연구원 | In-wheel driving system |
| JP5985178B2 (en) * | 2011-11-24 | 2016-09-06 | Ntn株式会社 | Motor control device |
| US20120161497A1 (en) * | 2011-12-30 | 2012-06-28 | Jing He | Wheel hub flywheel-motor kinetic hybrid system and method |
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2014
- 2014-08-27 CN CN201410428691.5A patent/CN104175863B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103795181A (en) * | 2014-02-17 | 2014-05-14 | 江苏大学 | Wheel hub motor with multiple inner motors connected in parallel |
| CN103963662A (en) * | 2014-05-28 | 2014-08-06 | 王大方 | Independent four-hub electrically driven system of electric automobile, voltage-power design method of each unit and control method of independent four-hub electrically driven system |
| CN204196687U (en) * | 2014-08-27 | 2015-03-11 | 北京新能源汽车股份有限公司 | Wheel hub driving system and pure electric or hybrid electric vehicle comprising same |
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| CN104175863A (en) | 2014-12-03 |
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