CN105522921A - Electric assisted driving system for automobile and control method thereof - Google Patents
Electric assisted driving system for automobile and control method thereof Download PDFInfo
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- CN105522921A CN105522921A CN201510964327.5A CN201510964327A CN105522921A CN 105522921 A CN105522921 A CN 105522921A CN 201510964327 A CN201510964327 A CN 201510964327A CN 105522921 A CN105522921 A CN 105522921A
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K2025/005—Auxiliary drives driven by electric motors forming part of the propulsion unit
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric assisted driving system for an automobile. The electric assisted driving system for the automobile comprises a battery, a control system and a motor, wherein the control system comprises a control switch, a trigger, a synchronizer, an electric controller, a balancer, a speed limiter, a sample detector and a braking feedback device; the control switch is connected with the battery; the battery is connected with the synchronizer and the electric controller; the trigger is connected with the synchronizer; the synchronizer is connected with an accelerator pedal; the electric controller is respectively connected with the synchronizer, the balancer, the speed limiter, the braking feedback device and the motor; and the sample detector is connected with the balancer. According to the invention, an engine and and the motor are simultaneously used for driving and both bear 50% of energy consumption; therefore, 50% fuel is saved by using 50% electricity, the electric assisted driving system is energy-saving and environment-friendly, environment pollution caused by tail gas is reduced, and technical problems, such as instable performance, heavy battery, high cost and the like, caused by pure electric driving are solved.
Description
Technical field
The invention belongs to automobile technical field, particularly relate to a kind of motorcar electric assistant drive system and control method.
Background technology
At present due to the shortage day by day of oil resources, add that the pollution of fuel-engined vehicle is more and more serious, increasing people puts on the substitute products of research fuel-engined vehicle, electronlmobil has zero-emission and does not use the performance of oil resources, the appearance of electronlmobil solves the rare problem of the energy well, has therefore occurred the electronlmobil of various structure:
One, the patent No. 201310458830.4 discloses a kind of electronlmobil, comprise electric machine controller, Li-ion batteries piles, battery manager, motor, described electric machine controller is connected with described Li-ion batteries piles, and described Li-ion batteries piles is provided with battery manager, and described electric machine controller is provided with E-gas; Described electric machine controller is by being connected with described motor without code-disc permagnetic synchronous motor frequency converter; Described motor comprises front left drive motor, front right drive motor, rear left drive motor and rear right drive motor, and described front left drive motor, front right drive motor, rear left drive motor are connected with rear right wheel with front revolver, front right wheel, rear revolver with transmission shaft by change speed gear box respectively with rear right drive motor; Described change speed gear box is connected between described motor and described transmission shaft.
Two, the patent No. 201380010354.8 discloses a kind of electronlmobil, and it is travelled by the rotary actuation drive wheel of electrical motor, and possess: vehicle body, it comprises vehicle frame; Driver module, it comprises can to the subframe of described vehicle frame dismounting, drive wheel, the actuating device making electronlmobil start to walk or accelerate, the drive wheel draft hitch being installed on described subframe and the drive wheel brake equipment making electronlmobil stop or slowing down, wherein, described actuating device has and is installed on described subframe and the electrical motor described drive wheel being given to propulsive effort; Connecting portion, it keeps the relative position relation of described vehicle body and described driver module when installing described subframe to described vehicle frame, and connects described vehicle body and described driver module by signal wire (SW); Control part, its incoming signal utilizing the described signal wire (SW) that connects via described connecting portion to input from described body side is to control described driver module.
Above electronlmobil, although solve that former fuel-engined vehicle brings seriously polluted, the problem of shortage of resources etc., but it brings again some new following technical matterss: electronlmobil unstable properties, battery weight, and cost is high, capacity is little, cannot support that electronlmobil travels for a long time, not be suitable for long-distance running and use, and there is refuse battery pollution, charging is inconvenient, charging expends time in length, loses time, the application of electronlmobil is subject to certain restrictions.For the existing electronlmobil that performance is better on the market, cost is very high again, needs more than 100 contingency platforms, and for the low electronlmobil of cost on the market, its performance is bad again, limited speed.
Summary of the invention
Object of the present invention is just to overcome the deficiencies in the prior art, provide a kind of motorcar electric assistant drive system, the present invention by increasing motorized motions on the flower wheel of former fuel-engined vehicle, do not change the structure design of former fuel-engined vehicle, when running car, engine drive drive wheel, motor drives flower wheel, driving engine and motor drive simultaneously, respectively bear the energy consumption of 50%, electricity with 50% saves the fuel oil of 50%, energy-conserving and environment-protective, reduce the environmental pollution that tail vapour brings, battery weight is light simultaneously, cost is low, alleviate battery pollution, because motor and driving engine drive simultaneously, even the automobile of low discharge capacity also can enjoy speed and the power of high discharge capacity.
To achieve these goals, the invention provides a kind of motorcar electric assistant drive system, comprise battery, control system and motor, described control system comprises master cock, binary pair, synchro, electric power controller, balancing device, velocity limiter, sample device and brake ultramagnifier, described master cock is connected with described battery, described battery is connected with electric power controller with described synchro, described binary pair is connected with described synchro, described synchro is connected with Das Gaspedal, described electric power controller respectively with described synchro, balancing device, velocity limiter, brake ultramagnifier is connected with motor, described sample device is connected with described balancing device.
Further, described motorcar electric assistant drive system also comprises charger, and described charger is connected with described battery.
Further, described binary pair is installed on the drive wheel.
Further, described master cock is arranged on gauge panel or control wheel.
Further, the output shaft of described motor is connected with the coaxial of two flower wheels.
Further, the output shaft of motor described in two is connected with the semiaxis of two flower wheels respectively.
Further, the output shaft of motor described in two is connected with the wheel hub of two flower wheels respectively.
Further, described velocity limiter is connected with the controller of connecting engine, and described brake ultramagnifier is connected with automobile brake system.
The control method of a kind of motorcar electric assistant drive system of the present invention, comprises the steps:
Step one, the master cock pressed on gauge panel, start battery, battery is that synchro and electric power controller are powered;
The rotating signal of step 2, binary pair induction drive wheel, and export the work of induced signal startup synchro, the hand of rotation of synchro synchronous drive wheel after receiving induced signal, concurrent outgoing direction adjustment signal, in addition, synchro also receives the tread-on quantity conditioning signal of Das Gaspedal, the rotating speed of synchro synchronous drive wheel after receiving the tread-on quantity conditioning signal of Das Gaspedal, and sends adjustment of rotational speed signal;
After the direction that step 3, electric power controller reception synchro sends adjusts signal and adjustment of rotational speed signal, the rotating speed of controlling and adjustment motor and hand of rotation, to adjust rotating speed and the hand of rotation of flower wheel, ensure that flower wheel is identical with the rotating speed of drive wheel, hand of rotation is consistent;
Step 4, measure the horsepower output of motor and the outputting power of driving engine by sample device, when the outputting power ratio of horsepower output and driving engine that sample device records motor is not in preset range, send ratio adjustment signal to balancing device, by the balancing device adjustment horsepower output of motor and the outputting power of driving engine, the regulated quantity signal obtained is sent to electric power controller, electric power controller adjusts the rotating speed of motor after receiving regulated quantity signal, to adjust the rotating speed of flower wheel;
Step 5, when the speed of automobile exceedes maximum speed limit, velocity limiter sends restricting signal to electric power controller, and electric power controller receives the rotating speed adjusting motor after restricting signal, to adjust the rotating speed of flower wheel;
Step 6, when automobile brake system brakes, by brake ultramagnifier feedback brake signal to electric power controller, electric power controller receives after brake signal and controls motor stalls.
Further, in step 5, when the speed of automobile exceedes maximum speed limit, send restricting signal to the controller of connecting engine by velocity limiter, by the outputting power of the controller adjustment driving engine of connecting engine, to adjust the rotating speed of drive wheel.
Compared with prior art, beneficial effect of the present invention:
1, the present invention by increasing motorized motions on the flower wheel of former fuel-engined vehicle, do not change the structure design of former fuel-engined vehicle, when running car, engine drive drive wheel, motor drives flower wheel, driving engine and motor drive simultaneously, respectively bear the energy consumption of 50%, the electricity with 50% saves the fuel oil of 50%, energy-conserving and environment-protective, reduce the environmental pollution that tail vapour brings, reduce the environmental pollution of former fuel-engined vehicle 50%.
2, motor of the present invention and driving engine drive simultaneously, and therefore required battery weight is light, and cost is low, alleviates battery pollution.
3, performance of the present invention is good, and integral vehicle cost is low, very economical practicality, even the automobile of the low discharge capacity of the present invention simultaneously also can enjoy speed and the power of high discharge capacity.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the block schematic illustration of the embodiment of the present invention.
Fig. 2 is the structural representation of type of drive one of the present invention.
Fig. 3 is the structural representation of type of drive two of the present invention.
Fig. 4 is the structural representation of type of drive three of the present invention.
Above-mentioned Reference numeral:
1 master cock, 2 batteries, 3 binary pairs, 4 synchros, 5 electric power controllers, 6 motors, 7 Das Gaspedals, 8 sample devices, 9 balancing devicees, 10 velocity limiters, 11 brake ultramagnifiers, 12 flower wheels.
Detailed description of the invention
Below in conjunction with accompanying drawing, invention is further illustrated, but be not used for limiting the scope of the invention.
Embodiment
It should be noted that, in the present invention when a part " is connected " with another part, the connection between two parts can be direct connection, or there is the connection of part placed in the middle.
As shown in Figure 1, a kind of motorcar electric assistant drive system provided by the invention, comprise battery 2, control system and motor 6, described control system comprises master cock 1, binary pair 3, synchro 4, electric power controller 5, balancing device 9, velocity limiter 10, sample device 8 and brake ultramagnifier 11, described master cock 1 is connected with described battery 2, described battery 2 is connected with electric power controller 5 with described synchro 4, described binary pair 3 is connected with described synchro 4, described synchro 4 is connected with Das Gaspedal 7, described electric power controller 5 respectively with described synchro 4, balancing device 9, velocity limiter 10, brake ultramagnifier 11 is connected with motor 6, described sample device 8 is connected with described balancing device 9.
Described motorcar electric assistant drive system of the present invention also comprises charger, and described charger is connected with described battery 2.Preferably, battery 2 of the present invention adopts lithium cell.Realized the charging of battery 2 by charger, when battery 2 electricity is too low, electric power controller 5 sends a signal to acoustic-optic alarm, prompting battery 2 electricity is too low, charges in time, when electricity is full of, electric power controller 5 sends a signal to acoustic-optic alarm, and prompting battery 2 is full of.
Described binary pair 3 of the present invention is installed on the drive wheel.The rotating signal of drive wheel responded to by binary pair 3, works to start synchro 4.Binary pair 3 comprises magnet and coil, when the direction of drive wheel changes, binary pair 3 is triggered, and sends induced signal to synchro 4, starts synchro 4 and works, the direction of the synchronous drive wheel of synchro 4 and rotating speed, synchro 4 sends adjustment signal to electric power controller 5, is adjusted rotating speed and the hand of rotation of motor 6 by electric power controller 5, thus the rotating speed of adjustment flower wheel 12 and hand of rotation, ensure that drive wheel is identical with the rotating speed of flower wheel 12, hand of rotation is consistent.
Described master cock 1 of the present invention is arranged on gauge panel or control wheel.Master cock 1 is arranged on gauge panel or control wheel, and convenient operation realizes the integration control function of automobile.
The mode that is in transmission connection of motor 6 of the present invention and two flower wheels 12 is as follows:
One, shown in Fig. 2, the output shaft of described motor 6 is connected with two the coaxial of flower wheel 12, the coaxial axle namely connecting two flower wheels 12, and in mode one, only need a motor 6, motor 6 drives co-rotation by retarder, thus drives two flower wheels 12 to rotate.
Two, shown in Fig. 3, the output shaft of motor 6 described in of the present invention two is connected with the semiaxis of two flower wheels 12 respectively, and in mode two, two flower wheels 12 configure a motor 6 respectively, and motor 6 is rotated by retarder jack shaft, thus drives two flower wheels 12 to rotate.
Three, shown in Fig. 4, the output shaft of motor 6 described in of the present invention two is connected with the wheel hub of two flower wheels 12 respectively, in mode three, two flower wheels 12 configure a motor 6 respectively, the output shaft of motor 6 is connected with wheel hub, flower wheel 12 without the need to image space formula one and mode two such, configure coaxial and semiaxis, when motor 6 rotates, two flower wheels 12 drive and rotate.
The present invention by increasing motorized motions on the flower wheel 12 of former fuel-engined vehicle, do not change the structure design of former fuel-engined vehicle, when running car, engine drive drive wheel, motor 6 drives flower wheel 12, driving engine and motor 6 drive simultaneously, respectively bear the energy consumption of 50%, electricity with 50% saves the fuel oil of 50%, energy-conserving and environment-protective, reduce the environmental pollution that tail vapour brings, solve the unstable properties that now pure motorized motions is brought, battery 2 weight, speed governing such as to neglect at the technical matters, battery 2 of the present invention is lightweight, battery 2 cost is low, alleviate battery 2 to pollute, because motor 6 and driving engine drive simultaneously, even low discharge capacity automobile also can enjoy speed and the power of high discharge capacity.
In addition, when running car, if the electricity of battery 2 is too low, when cannot realize motorized motions again, automobile still can use fuel oil to drive, can not as existing pure electric automobile, when battery 2 does not have electricity, after must being first full of, could continue to travel, lose time, affect the traveling of automobile, simultaneously because battery 2 does not have electricity not fix in place, therefore the website of charging electric vehicle must be set in many places, but battery 2 charges slowly, this this all greatly describe the technical matters that pure electric automobile brings, therefore cause pure electric automobile to be applied and there is certain limitation.And the present invention is on the basis of the structure design not changing former fuel-engined vehicle, increase motorized motions, do not reequip former fuel-engined vehicle, therefore flexibility ratio is high, reduces manufacturing cost.When battery 2 has electric, adopt driving engine and motor 6 to drive simultaneously, to save the fuel oil of 50% with the electricity of 50%, energy-conserving and environment-protective, reduce environmental pollution, when battery 6 is without electricity, automobile can continue through fuel oil and travel, do not affect the traveling of automobile, without the need to charging to battery 2 in time yet.
Velocity limiter 10 of the present invention is connected with the controller of connecting engine, and described brake ultramagnifier 11 is connected with automobile brake system.Velocity limiter 10 prevents vehicle load hour from occurring driving, plays a protective role, after preventing automobile power from strengthening, and chaufeur furious driving.Whether brake ultramagnifier 11 brakes for feeding back automobile brake system, if brake, feeds back signal to electric power controller 5, control motor 6 and stop operating, realize the process of braking automobile by electric power controller 5 by brake ultramagnifier 11.
The control method of a kind of motorcar electric assistant drive system of the present invention, comprises the steps:
Step one, the master cock 1 pressed on gauge panel, start battery 2, battery 2 is powered for synchro 4 and electric power controller 5;
The rotating signal of drive wheel responded to by step 2, binary pair 3, and export induced signal start synchro 4 work, the hand of rotation of synchro 4 synchronous drive wheel after receiving induced signal, concurrent outgoing direction adjustment signal, in addition, synchro 4 also receives the tread-on quantity conditioning signal of Das Gaspedal 7, the rotating speed of synchro 4 synchronous drive wheel after receiving the tread-on quantity conditioning signal of Das Gaspedal 7, and sends adjustment of rotational speed signal;
After step 3, electric power controller 5 receive the direction adjustment signal and adjustment of rotational speed signal that synchro 4 sends, the rotating speed of controlling and adjustment motor 6 and hand of rotation, to adjust rotating speed and the hand of rotation of flower wheel 12, ensure that flower wheel 12 is identical with the rotating speed of drive wheel, hand of rotation is consistent;
Step 4, measure the horsepower output of motor 6 and the outputting power of driving engine by sample device 8, when the outputting power ratio of horsepower output and driving engine that sample device 8 records motor 6 is not in preset range, send ratio adjustment signal to balancing device 9, the horsepower output of motor 6 and the outputting power of driving engine is adjusted by balancing device 9, the regulated quantity signal obtained is sent to electric power controller 5, electric power controller 5 adjusts the rotating speed of motor 6 after receiving regulated quantity signal, to adjust the rotating speed of flower wheel 12;
Step 5, when the speed of automobile exceedes maximum speed limit, velocity limiter 10 sends restricting signal to electric power controller 5, and electric power controller 5 adjusts the rotating speed of motor 6 after receiving restricting signal, to adjust the rotating speed of flower wheel 12;
Step 6, when automobile brake system brakes, by brake ultramagnifier 11 feed back brake signal to electric power controller 5, electric power controller 5 controls motor 6 and stops operating after receiving brake signal.
In step 5, when the speed of automobile exceedes maximum speed limit, send restricting signal to the controller of connecting engine by velocity limiter 10, by the outputting power of the controller adjustment driving engine of connecting engine, to adjust the rotating speed of drive wheel.
Motorcar electric assistant drive system of the present invention, the rotating signal of drive wheel is responded to by binary pair 3, the tread-on quantity conditioning signal of Das Gaspedal 7 is received by synchro 4, synchro 4 receives the induced signal that binary pair sends simultaneously, binary pair 3 is utilized to follow the tracks of the rotating of drive wheel, what synchro 4 followed the tracks of Das Gaspedal tramples conditioning signal, namely synchro 4 follows the tracks of the rotating speed of drive wheel, thus the rotating speed of the drive wheel obtained and rotating signal are sent to electric power controller 5, by rotating speed and the hand of rotation of electric power controller 5 controlling and adjustment motor 6, to adjust rotating speed and the hand of rotation of flower wheel 12, realize the autoamtic boosting process of motorized motions of the present invention, to reduce the consumption of fuel oil, and measure the horsepower output of motor 6 and the outputting power of driving engine in real time by sample device 8, when the horsepower output of motor 6 and the outputting power of driving engine be not within the scope of predetermined ratio, the ratio of the horsepower output of motor 6 and the outputting power of driving engine is regulated by balancing device 9, with the outputting power of the horsepower output and driving engine that make motor 6 within the scope of predetermined ratio, realize driving engine and motor 6 drives simultaneously, with when battery 2 has electric, to save the fuel oil of 50% with the electricity of 50%, energy-conserving and environment-protective, reduce environmental pollution.
More than show and describe groundwork of the present invention, principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present invention; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (10)
1. a motorcar electric assistant drive system, it is characterized in that: comprise battery, control system and motor, described control system comprises master cock, binary pair, synchro, electric power controller, balancing device, velocity limiter, sample device and brake ultramagnifier, described master cock is connected with described battery, described battery is connected with electric power controller with described synchro, described binary pair is connected with described synchro, described synchro is connected with Das Gaspedal, described electric power controller respectively with described synchro, balancing device, velocity limiter, brake ultramagnifier is connected with motor, described sample device is connected with described balancing device.
2. motorcar electric assistant drive system according to claim 1, is characterized in that, described motorcar electric assistant drive system also comprises charger, and described charger is connected with described battery.
3. motorcar electric assistant drive system according to claim 1, is characterized in that, described binary pair is installed on the drive wheel.
4. motorcar electric assistant drive system according to claim 1, is characterized in that, described master cock is arranged on gauge panel or control wheel.
5. motorcar electric assistant drive system according to claim 1, is characterized in that, the output shaft of described motor is connected with the coaxial of two flower wheels.
6. motorcar electric assistant drive system according to claim 1, is characterized in that, the output shaft of motor described in two is connected with the semiaxis of two flower wheels respectively.
7. motorcar electric assistant drive system according to claim 1, is characterized in that, the output shaft of motor described in two is connected with the wheel hub of two flower wheels respectively.
8. motorcar electric assistant drive system according to claim 1, is characterized in that, described velocity limiter is connected with the controller of connecting engine, and described brake ultramagnifier is connected with automobile brake system.
9. a control method for the motorcar electric assistant drive system as described in any one of claim 1 ~ 8, comprises the steps:
Step one, the master cock pressed on gauge panel, start battery, battery is that synchro and electric power controller are powered;
The rotating signal of step 2, binary pair induction drive wheel, and export the work of induced signal startup synchro, the hand of rotation of synchro synchronous drive wheel after receiving induced signal, concurrent outgoing direction adjustment signal, in addition, synchro also receives the tread-on quantity conditioning signal of Das Gaspedal, the rotating speed of synchro synchronous drive wheel after receiving the tread-on quantity conditioning signal of Das Gaspedal, and sends adjustment of rotational speed signal;
After the direction that step 3, electric power controller reception synchro sends adjusts signal and adjustment of rotational speed signal, the rotating speed of controlling and adjustment motor and hand of rotation, to adjust rotating speed and the hand of rotation of flower wheel, ensure that flower wheel is identical with the rotating speed of drive wheel, hand of rotation is consistent;
Step 4, measure the horsepower output of motor and the outputting power of driving engine by sample device, when the outputting power ratio of horsepower output and driving engine that sample device records motor is not in preset range, send ratio adjustment signal to balancing device, by the balancing device adjustment horsepower output of motor and the outputting power of driving engine, the regulated quantity signal obtained is sent to electric power controller, electric power controller adjusts the rotating speed of motor after receiving regulated quantity signal, to adjust the rotating speed of flower wheel;
Step 5, when the speed of automobile exceedes maximum speed limit, velocity limiter sends restricting signal to electric power controller, and electric power controller receives the rotating speed adjusting motor after restricting signal, to adjust the rotating speed of flower wheel;
Step 6, when automobile brake system brakes, by brake ultramagnifier feedback brake signal to electric power controller, electric power controller receives after brake signal and controls motor stalls.
10. the control method of motorcar electric assistant drive system according to claim 9, it is characterized in that, in step 5, when the speed of automobile exceedes maximum speed limit, restricting signal is sent to the controller of connecting engine by velocity limiter, by the outputting power of the controller adjustment driving engine of connecting engine, to adjust the rotating speed of drive wheel.
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| CN201510964327.5A CN105522921B (en) | 2015-12-21 | 2015-12-21 | Motorcar electric assistant drive system and control method |
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| CN201510964327.5A CN105522921B (en) | 2015-12-21 | 2015-12-21 | Motorcar electric assistant drive system and control method |
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| CN105522921B CN105522921B (en) | 2019-02-05 |
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| CN115817187A (en) * | 2022-12-19 | 2023-03-21 | 潍柴动力股份有限公司 | Energy recovery method for hybrid vehicle |
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