CN104859437A - Distributive electric-drive hinge steering tracked vehicle - Google Patents
Distributive electric-drive hinge steering tracked vehicle Download PDFInfo
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- CN104859437A CN104859437A CN201510289660.0A CN201510289660A CN104859437A CN 104859437 A CN104859437 A CN 104859437A CN 201510289660 A CN201510289660 A CN 201510289660A CN 104859437 A CN104859437 A CN 104859437A
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Abstract
The invention discloses a distributive electric-drive hinge steering tracked vehicle, and belongs to the technical field of transmission of tracked vehicles. A hybrid power distributive electric drive system is applied to a tracked vehicle; and the system consists of an engine, a gearbox, a generator, an electric energy management module, a whole vehicle controller, a power battery set, a motor controller, four drive motors and a transmission. The engine, the gearbox and the generator are connected to form a power generation system for providing electric energy to an electric energy management system; the electric energy management module is connected with the power battery set and the motor controller for controlling the power battery set to charge and generate electricity and to provide the electric energy to the motor controller; the motor controller independently controls four drive motors; the four drive motors are connected with driving wheels through a reduction gearbox or the transmission; and the four driving wheels drive four tracks to rotate. The distributive electric-drive hinge steering tracked vehicle simplifies a transmission system, is flexible in power distribution, and improves the cross-country maneuvering and fuel economic performance.
Description
Technical field
The present invention relates to continuously tracked vehicle drive technology field, particularly relate to a kind of binodal articulation steering continuously tracked vehicle hybrid electric drive system.
Background technology
Binodal articulation steering continuously tracked vehicle has front vehicle body 11 and aftercarriage 13 two car bodies, connected by articulated steering device 12, as shown in Figure 2, articulated steering device 12 can realize the controls such as the relatively rotating of former and later two car bodies, pitching, has stronger by performance and maneuvering performance.Be widely used in the rapid transit vehicle of the complex-terrains such as mountain region, snowfield, marsh, river shoal, desert.Along with the raising that mobility performance, control stability and fuel economy require, adopt new efficient actuation techniques more urgent.Distributed electrical actuation techniques has flexible arrangement and saves the handling advantage such as by force of arbitrary distributed power between short energy-efficient, the between centers wheel of space, messenger chain, is the frontline technology direction of wheeled car transmission field.It also has application prospect huge on continuously tracked vehicle.
Traditional binodal articulation steering continuously tracked vehicle, adopt driving engine as single power source, power distributes to front and back car body by change speed gear box and auxiliary gear box, then is assigned to left and right driving wheel through diff.This type of drive needs the transmission shaft grown especially through the articulated steering device the car body of front and back and whole compartment after auxiliary gear box, and when through articulated steering device, need multiple driving universal joint, certain movement limit is produced to articulated steering device simultaneously.This type of drive structure is very complicated, takies the space of larger vehicle, and increase larger complete vehicle quality, and drive path is long, efficiency is lower.More difficult realize power between centers wheel between flexible allocation.
Utility model CN202174937U proposes a kind of all-hydraulic distributed drive scheme, and the program can realize distributing arbitrarily in the certain limit of power between centers wheel.But hydraulic separate cloth actuation techniques is not mature enough in control at present.Hydrostatic drive not only drive efficiency is not high, and control response is comparatively slow, also needs complicated ancillary system, as fluid infusion case, oil filter, hydraulic oil cooling system etc., higher to maintenance requirement equally.Hydraulic-driven only has single power source, can not realize overpower and run, the carrying capacity on extremely difficult road surface and in advancing anxious acceleration capacity limited.
Summary of the invention
In view of this, the invention provides a kind of distributed electrical and drive articulation steering continuously tracked vehicle, the demand that drive system needs flexible layout can be solved, vehicle handling stability, dynamic property and crossing ability can be improved, there is efficient energy-saving simultaneously, save the advantage taking volume weight.
A kind of distributed electrical drives articulation steering continuously tracked vehicle, comprises the front vehicle body and aftercarriage that are connected by articulated steering device, also comprises hybrid power distributed electrical drive system;
Described front vehicle body and aftercarriage all adopt caterpillar chassis;
Described hybrid power distributed electrical drive system is made up of driving engine, gearbox, electrical generator, electric energy management module, entire car controller, power battery pack, electric machine controller, four drive motor, change speed gear box and driving wheels;
For electric energy management module provides electric energy after described driving engine, gearbox and electrical generator are linked in sequence, electric energy management module is connected with power battery pack and electric machine controller simultaneously, the discharge and recharge of electric energy management module controls power battery pack, electric energy management module provides electric energy for electric machine controller, accept drive motor feedback braking electric energy simultaneously, electric machine controller controls four drive motor respectively, the output shaft of drive motor is connected with driving wheel by change speed gear box, and four driving wheels independently drive four crawler belts to rotate; Described entire car controller receives pilot control instruction by the communication network of vehicle, assigns control command to driving engine, electric energy management module, electric machine controller, articulated steering device.
Further, described driving engine, gearbox, electrical generator, electric energy management module, power battery pack, entire car controller and electric machine controller carry out flexible arrangement according to the special case of front vehicle body and aftercarriage inside.
Further, the position of described drive motor is determined by the position of driving wheel in compartment, and different according to the position of different automobile types driving wheel, drive motor and change speed gear box have corresponding placement variation.
Further, described change speed gear box is replaced by drop-gear box.
Further, described articulated steering device also comprises steering cylinder or the electric pushrod of connecting rod mechanism and the control front and back car body formation deflection angle with multiple degree of freedom.
Beneficial effect:
1, the present invention adopts electric transmission technology, improves the placement of flexible of driving system, reduces the volume weight that driving system takies, improves driving efficiency; Particularly eliminate the transmission shaft running through compartment, front and back and articulated steering device, reduce the design difficulty of articulated steering device, also improve the space of optimal design to articulated steering device.
2, the present invention adopt four independently drive motor realize distributed motor drive, to the traditional mechanical drive of response ratio handled and hydrostatic drive fast, and power can be made to distribute arbitrarily between centers wheel, fully, reasonably utilize the power of vehicle and the cohesive resistance on ground.
3, because continuously tracked vehicle mainly travels at country, face fluctuating and the change of properties on ground, how curved many obstacles, driving cycle very severe, runs at high speed and often occurs limiting condition.Distributed motor drives can provide direct yaw moment for vehicle, then coordinates road-holding property and the active safety that greatly can improve vehicle with articulated steering device.
4, the present invention adopts the dual energy source of driving engine and power battery pack, can greatly increase car load maximum power, utilize the crest discharge ability of battery pack, the twice of maximum power can be reached under special operation condition, the power of three times even higher provides, utilize the peak value drive performance of drive motor simultaneously, moment significantly lifting vehicle maneuverability; Under the condition ensureing enough power, relatively low power driving engine can be configured, save driving engine and take volumetric spaces, improve engine power degree of utilization, improve power system integral energy utilization ratio; Electric transmission is a kind of stepless transmission, and engine operation can be made at most economical oil consumption point.
5, because drive motor has four-quadrant operation characteristic, therefore can reclaim at the kinetic energy of damped condition to vehicle and power battery pack is charged; At small radii steering situation, inner side machine operation is at damped condition, and outside machine operation coordinates formation yaw moment to help Vehicular turn in driving operating mode, and inner side motor braking operating mode absorbed power generating can supply outside motor simultaneously, reduces energy ezpenditure.
6, hybrid power distributed electrical drive system of the present invention also has larger power supply capacity, for current vehicular high-power electrical equipment in the trend increased, can be various high power vehicular power electrical apparatus, as Active Suspensions, semi-active suspension etc.
7, the maintenance of power drive system is relatively low, and system reliability is high.
Accompanying drawing explanation
Fig. 1 is hybrid power distributed electrical drive system schematic layout pattern of the present invention;
Fig. 2 is the structural representation of binodal articulation steering continuously tracked vehicle.
Wherein, 1-driving engine, 2-gearbox, 3-electrical generator, 4-entire car controller, 5-power battery pack, 6-electric energy management module, 7-electric machine controller, 8-driving wheel, 9-drop-gear box, 10-drive motor, 11-front vehicle body, 12-articulated steering device, 13-aftercarriage.
Detailed description of the invention
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
As shown in figure 1 and 2, the invention provides a kind of distributed electrical and drive articulation steering continuously tracked vehicle, this vehicle comprises the front vehicle body 11 and aftercarriage 13 that are connected by articulated steering device 12, also comprises hybrid power distributed electrical drive system;
Described front vehicle body 11 and aftercarriage 13 all adopt caterpillar chassis;
Described hybrid power distributed electrical drive system is made up of driving engine 1, gearbox 2, electrical generator 3, electric energy management module 6, entire car controller 4, power battery pack 5, electric machine controller 7, four drive motor 10, change speed gear box 9 and driving wheels 8;
For electric energy management module 6 provides electric energy after described driving engine 1, gearbox 2 and electrical generator 3 are linked in sequence, electric energy management module 6 is connected with power battery pack 5 and electric machine controller 7 simultaneously, electric energy management module 6 controls power battery pack 5 discharge and recharge, electric energy management module 6 provides electric energy for electric machine controller 7, accept drive motor 10 feedback braking electric energy simultaneously, therefore, hybrid power distributed electrical drive system has driving engine 1 and power battery pack 5 two energy sources.
Electric machine controller 7 controls four drive motor 10 respectively, and the output shaft of drive motor 10 is connected with driving wheel 8 by change speed gear box 9, and four driving wheels 8 independently drive four crawler belts to rotate; Described entire car controller 4 receives pilot control instruction by the communication network of vehicle, assign control command to driving engine 1, electric energy management module 6, electric machine controller 7, articulated steering device 12, entire car controller 4 realizes coordination to whole drive system and control.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. distributed electrical drives an articulation steering continuously tracked vehicle, comprises the front vehicle body (11) and aftercarriage (13) that are connected by articulated steering device (12), it is characterized in that, also comprise hybrid power distributed electrical drive system;
Described front vehicle body (11) and aftercarriage (13) all adopt caterpillar chassis;
Described hybrid power distributed electrical drive system is made up of driving engine (1), gearbox (2), electrical generator (3), electric energy management module (6), entire car controller (4), power battery pack (5), electric machine controller (7), four drive motor (10), four change speed gear boxs (9) and four driving wheels (8);
Described driving engine (1), electric energy is provided for electric energy management module (6) after gearbox (2) and electrical generator (3) are linked in sequence, electric energy management module (6) is connected with power battery pack (5) and electric machine controller (7) simultaneously, electric energy management module (6) controls power battery pack (5) discharge and recharge, electric energy management module (6) provides electric energy for electric machine controller (7), accept drive motor (10) feedback braking electric energy simultaneously, electric machine controller (7) controls four drive motor (10) respectively, the output shaft of drive motor (10) is connected with driving wheel (8) by change speed gear box (9), four driving wheels (8) independently drive four crawler belts to rotate, described entire car controller (4) receives pilot control instruction by the communication network of vehicle, assigns control command to driving engine (1), electric energy management module (6), electric machine controller (7), articulated steering device (12).
2. distributed electrical as claimed in claim 1 drives articulation steering continuously tracked vehicle, it is characterized in that, described driving engine (1), gearbox (2), electrical generator (3), electric energy management module (6), power battery pack (5), entire car controller (4) and electric machine controller (7) carry out flexible arrangement according to the special case of front vehicle body (11) and aftercarriage (13) inside.
3. distributed electrical as claimed in claim 1 drives articulation steering continuously tracked vehicle, it is characterized in that, the position of described drive motor (10) is determined by the position of driving wheel (8) in compartment, different according to the position of different automobile types driving wheel (8), drive motor (10) and change speed gear box (9) have corresponding placement variation.
4. the distributed electrical as described in claim 1,2 or 3 drives articulation steering continuously tracked vehicle, and it is characterized in that, described change speed gear box (9) is replaced by drop-gear box.
5. distributed electrical as claimed in claim 1 drives articulation steering continuously tracked vehicle, it is characterized in that, described articulated steering device (12) also comprises steering cylinder or the electric pushrod of connecting rod mechanism and the control front and back car body formation deflection angle with multiple degree of freedom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510289660.0A CN104859437A (en) | 2015-05-29 | 2015-05-29 | Distributive electric-drive hinge steering tracked vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510289660.0A CN104859437A (en) | 2015-05-29 | 2015-05-29 | Distributive electric-drive hinge steering tracked vehicle |
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| CN104859437A true CN104859437A (en) | 2015-08-26 |
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| CN201510289660.0A Pending CN104859437A (en) | 2015-05-29 | 2015-05-29 | Distributive electric-drive hinge steering tracked vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275073A (en) * | 2016-10-31 | 2017-01-04 | 重庆宗申巴贝锐拖拉机制造有限公司 | A kind of electrically controlled transport car |
| CN108502034A (en) * | 2018-04-18 | 2018-09-07 | 东北石油大学 | A kind of Modular track formula all-terrain vehicle |
| CN114987610A (en) * | 2022-07-06 | 2022-09-02 | 北华大学 | Differential steering device of articulated tracked vehicle and control method |
| CN115416771A (en) * | 2022-08-15 | 2022-12-02 | 中国北方车辆研究所 | Self-walking crawler wheel, self-walking crawler wheel vehicle and heat dissipation system |
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| CN1071382A (en) * | 1991-10-09 | 1993-04-28 | 曼内斯曼股份公司 | By electric motor driven train-type vehicle |
| US5533587A (en) * | 1993-10-26 | 1996-07-09 | Byron Enterprises, Inc. | Track vehicles and power drive apparatus for motivating tracked vehicles |
| JP2001339812A (en) * | 2000-03-19 | 2001-12-07 | Kazumichi Fujioka | Electric motor car |
| CN202264834U (en) * | 2011-10-24 | 2012-06-06 | 常熟理工学院 | Obstacle-surmounting rescue vehicle |
| CN102700611A (en) * | 2012-05-25 | 2012-10-03 | 北京理工大学 | Steering system with coupling of electric drive tracked vehicle steering motor and unilateral drive motor |
| CN103332109A (en) * | 2013-07-04 | 2013-10-02 | 北京理工大学 | Tracked vehicle electromechanical coupling transmission device |
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2015
- 2015-05-29 CN CN201510289660.0A patent/CN104859437A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1071382A (en) * | 1991-10-09 | 1993-04-28 | 曼内斯曼股份公司 | By electric motor driven train-type vehicle |
| US5533587A (en) * | 1993-10-26 | 1996-07-09 | Byron Enterprises, Inc. | Track vehicles and power drive apparatus for motivating tracked vehicles |
| JP2001339812A (en) * | 2000-03-19 | 2001-12-07 | Kazumichi Fujioka | Electric motor car |
| CN202264834U (en) * | 2011-10-24 | 2012-06-06 | 常熟理工学院 | Obstacle-surmounting rescue vehicle |
| CN102700611A (en) * | 2012-05-25 | 2012-10-03 | 北京理工大学 | Steering system with coupling of electric drive tracked vehicle steering motor and unilateral drive motor |
| CN103332109A (en) * | 2013-07-04 | 2013-10-02 | 北京理工大学 | Tracked vehicle electromechanical coupling transmission device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275073A (en) * | 2016-10-31 | 2017-01-04 | 重庆宗申巴贝锐拖拉机制造有限公司 | A kind of electrically controlled transport car |
| CN108502034A (en) * | 2018-04-18 | 2018-09-07 | 东北石油大学 | A kind of Modular track formula all-terrain vehicle |
| CN114987610A (en) * | 2022-07-06 | 2022-09-02 | 北华大学 | Differential steering device of articulated tracked vehicle and control method |
| CN114987610B (en) * | 2022-07-06 | 2023-09-19 | 北华大学 | Differential steering device and control method for articulated tracked vehicle |
| CN115416771A (en) * | 2022-08-15 | 2022-12-02 | 中国北方车辆研究所 | Self-walking crawler wheel, self-walking crawler wheel vehicle and heat dissipation system |
| CN115416771B (en) * | 2022-08-15 | 2023-12-22 | 中国北方车辆研究所 | Self-walking crawler wheel and vehicle and heat dissipation system thereof |
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Application publication date: 20150826 |
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