CN104904088A - 自主控制系统 - Google Patents

自主控制系统 Download PDF

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CN104904088A
CN104904088A CN201480003446.8A CN201480003446A CN104904088A CN 104904088 A CN104904088 A CN 104904088A CN 201480003446 A CN201480003446 A CN 201480003446A CN 104904088 A CN104904088 A CN 104904088A
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control system
self
wheel
power
battery
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CN104904088B (zh
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F·费勒-道莫·涅托
F·J·维坎蒂·乌纳努埃
C·J·伊里翁多·阿里萨瓦拉加
J·M·伊里翁多·阿里萨瓦拉加
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Small Electronic Equipment Projector Co
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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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0092—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption with use of redundant elements for safety purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/16—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to battery ageing, e.g. to the number of charging cycles or the state of health [SoH]
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/20—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having different nominal voltages
    • 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
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • 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
    • B60L2240/46—Drive Train control parameters related to wheels
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • 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
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/904—Component specially adapted for hev
    • Y10S903/907—Electricity storage, e.g. battery, capacitor

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  • Combustion & Propulsion (AREA)
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Abstract

车辆制动时生成的再生能量用于为辅电池供电，该辅电池独立于主电池，并且在所述主电池彻底失效的情况下，作为所述自主系统组合操作的结果，允许基本服务的持续操作，例如助力转向、照明、制动伺服单元以及电子设备，该自主系统包括电容器组，直接地或者经由辅电池为所述基本服务供电。该系统包括电子助力和控制单元的接口，应用于方向盘和踏板的电子助力和控制单元以及ECU电源控制器和端口。

Description

自主控制系统
发明目的
更具体的，本发明涉及一种自主能量生成系统，使用车辆制动时生成的再生能量为辅电池供电，该辅电池独立于主电池，并且在所述主电池彻底失效的情况下，作为所述自主系统组合操作的结果，允许例如助力转向、照明、制动伺服单元以及电子设备这样的基本服务的持续操作，所述自主系统包括电容器组，经由辅电池为所述基本服务供电。
背景技术
在现有市场上存在不同车辆模型，其配备有至少一个电机作为推进装置，由传统的电池(主电池)供电，并具有称为辅电池的第二电池，当车辆静止时为起动提供特定的车辆功能。
作为这些车辆类型的推进系统的一种结果，它们需要定期为主电池充电，我们说大概是300伏特，并且这不仅为推进电机提供能量，还为其它车辆服务提供能量，例如助力转向、伺服制动、ABS、以及利用不同的辅助电机进行的例如电动车窗、座椅和座椅靠背的移动、空调、照明及其它服务。
车辆运行过程中主电池的完全失效会导致所有主要的车辆系统不可操作，例如这种情况下的驾驶员需要仅靠体力移动方向盘，并且对于制动，踩下制动踏板时缺少了倍率将导致更加微弱的制动，因此，在这些情况下的危险状况仅在上述服务失效时都是非常高的，并且将导致事故或与其它车辆相碰撞。
辅电池，我们称之为电动车辆具有的信号电池(12伏特)，在主电池放电时是不足以密集使用的，与具有内燃机且配备有交流发电机为电池充电的车辆不同，这些在电动车辆中不存在，其需要节省能量并最大化主电池的持续时间，从而为尽可能长的公里数维持操作。
主电池和辅电池装置具有不同的线路系统，前者是300伏特，后者是12伏特，用于起动、稳定的供电信号以及应急。
例如在实用新型第201200498号中，其目的是“用于电动车辆快速充电的电子设备”，该设备用于为铅电池或锂电池快速充电，其中仅有后者可以接受慢充。如该报告所指出的，该设备通过高容量的电容器组使用暂时的能量存储，该电容器组通过与主电力连接的充电器来进行充电。
发明范围
在车辆主电池完全失效的情况下，通过自主控制系统的方式，使用再生制动产生的能量为基本服务供电，以此实现其中下述优势：
-减少主电池的充电次数，提高其寿命，因为所提出的系统将使用存储在辅电池中的再生能量来驱动转向和制动电机。
-实现更大的能量效率，因其不需要使用中间步骤。
-更大的安全性，在主电池无法供电的情况下，能够通过辅电池维持车辆单元的基本控制，直至它能够安全地停下。
本发明的另一目标是，除了基本服务外，提供电动车窗操作、加热、空调和舒适功能。
发明内容
本发明适用于所谓的混合动力或纯电动车辆，它们的马达之一是电动的，车轮配备有至少一个电机用于牵引，并且一个或多个电机用于转向。除此之外，每个车轮装有电机，具有牵引控制电子设备，例如EPS和ABS，其上装有检测位置和速度的传感器(编码器)，从而牵引(ESP)和防滑制动(ABS)可被控制为在制动时使用再生能量，再生能量发送至电容器组，实现两个目的：通过修正制动时在电子设备中产生的电流峰值来稳定再生能量，并且将其存储作为辅电池的储备。
电容器组可安装在车辆的每个车轮上，或者所有车轮使用一个电池，安装在车辆平台上。在第一种情况下，牵引(电机)、转向和制动以及自主控制系统(ACS)，其控制牵引(EPS类型)和制动(ABS类型)，所依从(adherence)的控制是完全自主且独立于车辆的剩余部分，并且在主电池失效的情况下，其将持续工作。
再生能量由牵引电机生成，当主电池不供电时，将作为简单的发电机工作。
本发明涉及的自主控制系统，接下来称为ACS，包括如下主要构件：
-EPC的端口和控制器，由辅电池供电；
-应用于方向盘和踏板的电子助力和控制单元，我们将称之为EPC；
-上述单元的接口，位于方向盘上；
-自动车轮控制设备(每个车轮均有一个)。
通过控制单元，当ACS检测到主电池供电失效时，ACS从辅电池取电，其将暂时取代主电池，由此维持车辆及其主要构件的控制，基本上它们集中于车轮的电子控制，概括为转向+牵引+制动+制动+ABS+EPS。
另选的，自主控制系统的操作可以不需要前轮、后轮或所有四个车轮的任何改变。
其它的细节和特征示出在下述参考附图的描述中，其仅是示例性的示出并不将本发明限制于附图中。
附图说明
下面是系统不同部件的列表，在图中使用附图标记指示：(10)车轮、(11)传感器、(12)平台、(13)电容器组、(14)主电池、(15)辅电池、(16)灯、(17)助力转向、(18)制动伺服单元、(19)ABS、(20)EPS、(21)ACS、(22)电容器组、(23)自动车轮控制设备、(24)电子助力和控制单元的接口、(25)用于方向盘和踏板的电子助力和控制单元、(26)EPC电源控制器和端口、(27)牵引电机。
图1是具有所涉及的主要部件的电动车轮的示意性俯视图。
图2是自动控制系统(21)的框图。
图3是显示车轮的加速和减速的不同时刻下发生的改变的图。
具体实施方式
在本发明的一个优选实施例中，如图1所示，车轮具有平台(12)，车轮(10)安装在平台(12)的角落附近，在平台(12)和车轮(10)之间，每个车轮(10)并入有伺服转向(17)、伺服制动器(18)和牵引电机(27)。
同样在平台(12)上部后方是主电池(14)，在中间区域是辅电池(15)和电容器组(22)，主电池(14)为电牵引电机(27)和部分服务供电，辅电池(15)在车辆静止时为其它有效服务供电，例如座椅的移动、内部照明和其它。
如图2所示，主电池(14)传输车轮(10)正常操作所需的电力，每个车轮具有安装的自动控制设备(23)，其包括下述电机：
-助力转向(17)；
-伺服制动单元(18)、ABS及依从的控制(adherence control)；
-牵引(27)，EPS类型。
伺服转向(17)和伺服制动(18)、牵引电机(27)及其相应的电子设备，单独存在于每个车轮(10)上，通过称为EPC(即电子助力和控制单元)的电子设备(23)在每个车轮(10)上进行控制，其从安装在车辆方向盘上的接口(24)、通过被分配给伺服转向(17)的方向盘以及伺服制动(18)的控制和助力单元(25)接收相应的信号，在主电池(14)失效的情况下，由辅电池(15)所需的电力控制器端口(26)供电，如图2所示，增加为本发明的一个目标，编码器类型传感器(11)检测车轮旋转的速度突变，在ACS电子设备(21)的帮助下，通过改变牵引电机(27)的极性，将牵引电机(27)在制动时生成的再生能量转变成发送给电容器组(22)的强度，除了存储车辆制动时生成的电力外，还稳定了再生能量的峰值，将它们从电容器组(22)转移至辅电池(15)。
本发明的另一目标是在主电池(14)完全供电失效的情况下，由辅电池(15)为伺服转向和伺服制动(17-18)供电，由此避免危险状况并使得使用者能够安全地将车辆停下(17-18)。
本发明的再一目标是直接使用当利用伺服制动(17)制动时生成的能量，而不需要传至辅电池(15)，将牵引电机(27)产生的再生能量存储在上述的电容器组(22)中，使得由于ACS(21)的电容器组(22)的集成，主电池(14)的充电次数减少了，提高了为位于每个车轮(10)上的伺服制动和伺服转向(17-18)电机供电的服务寿命。
ACS(21)自主控制系统在车辆使用者踩下制动踏板时开始操作，此时传感器(11)立刻检测到车轮(10)的角速度的突变，并通过改变极性，转换位于每个车轮(10)上的电牵引电机(27)的旋转，由此电机作为电流发电机，类似于发电机，如图3所示，为电容器组(22)充电，其中一种可能性是电容器组(22)直接为伺服转向(17)和伺服制动(18)供电，或者为辅电池(15)充电并流向伺服转向和伺服制动(17-18)。
作为本发明的其中一个目标，ACS控制系统(21)可以应用于四个或只应用于两个车轮(10)。
使用附图已经充分地描述了本发明，容易理解的是可对细节做各种合适的修改，任何时候这些修改并不改变所附权利要求总结的本发明的本质。

Claims (7)

1.一种自主控制系统，该自主控制系统适用于混合动力和/或电动车辆，以使用每个车轮制动时产生的再生能量，目的是为车辆电池充电，其特征在于，包括用于每个车轮(10)的传感器(11)，所述自主控制系统与辅电池(15)和电容器组(22)相结合地为位于每个车轮(10)上的电机供电，所述自主控制系统控制伺服转向(17)、伺服制动(18)和牵引电机(27)，并且稳定所述车辆制动时由如同发电机与所述自主控制系统(21)相结合地工作的这些电机(27)所产生的再生电流的峰值，所述自主控制系统(21)在主电池(14)失效时被激活。
2.根据权利要求1所述的自主控制系统，其特征在于，ACS(21)包括：
-EPC的端口和控制器(26)，由所述辅电池(15)供电；
-应用于方向盘和踏板的电子助力和控制单元，我们将称之为EPC(25)；
-上述单元的接口(24)，位于所述方向盘上；
-自动(23)车轮控制设备(每个车轮都有一个)。
3.根据权利要求1所述的自主控制系统，其特征在于，所述ACS(21)能够从所述电容器组(22)直接工作，为所述伺服转向(17)、伺服制动(18)和牵引电机(27)供电，或者所述再生能量可为所述辅电池(15)充电，辅电池(15)接着将电力供应给位于每个车轮(10)上的电机，激活所述伺服转向(17)和所述伺服制动(18)。
4.根据权利要求1所述的自主控制系统，其特征在于，所述车辆制动时产生的再生能量用于为例如照明、电动车窗、通用车辆电子设备这样的其它服务供电，而不需要通过所述主电池(14)。
5.根据权利要求1所述的自主控制系统，其特征在于，所述车辆(10)包括两个线缆，一个线缆用于由所述主电池(14)以300伏特供电的保护信号，另一个线缆是由所述辅电池(15)供应的12伏特线缆。
6.根据权利要求1所述的自主控制系统，其特征在于，所述系统(21)安装在每个车轮(10)上。
7.根据权利要求1所述的自主控制系统，其特征在于，另选的，所述系统(21)安装在平台(12)上。
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