CN105620272A - Magnetic current controlling electric hub device and driving and braking methods thereof - Google Patents

Abstract

The invention provides an electric hub device. The electric hub device comprises a hub (6), a speed reducing/torque changing device (2), a power source modulator (1), a driving control device (9a) and at least one set of electric device (3). Each electric device comprises a coaxial rotary body (3e), at least one stator unit (3a) and a plurality of rotor units (3b). The coaxial rotary body is an annular mechanical ring with a rotary shaft. The rotor units comprise at least one permanent magnet rotor unit (3b1) and at least one magnetizer rotor unit (3b2) which are arranged on the coaxial rotary body alternately. The stator units are mounted inside the coaxial rotary body and the relative air gaps (3d) between the stator units and the coaxial rotary body are not larger than 55 mm. The coaxial rotary body and the hub are coaxial, and the electric devices and the speed reducing/torque changing device are all disposed in the hub. The power source modulator obtains a driving/braking instruction through the driving control device and outputs electric currents to windings of the stator units in the corresponding time sequence. The electric devices achieve mechanical transmission with the hub through the speed reducing/torque changing device. The electric hub device is simple in structure, low in cost and adaptable to meeting an energy-saving design demand for an electric vehicle.

Description

Electric hub device that a kind of magnetic current controls and driving and braking method

Technical field

The present invention relates to the mains power design field of electric bicycle, the periodic timing electric current that produces particularly to a kind of power modulation, control program and the electric device method for designing driven.

Background technology

The current domestic electric bicycle market mainstream is adapted Electric Motor Wheel, this kind of Electric Motor Wheel is really the motor being arranged on axle by tradition and deforms in wheel hub, rotor extending design for torque is transferred to rim by machinery, make rotor extend around the pivoted arm of axle, be conducive to same power consumption to increase torque. Domestic electric machine industry seeks to be used in the technology successful experience of electric bicycle, is extended to the hub-type electric machine that electric automobile uses.

Strict, narrow sense wheel hub refers to the parts such as the flange, the bearing block that are connected with power transmission shaft, and the more wheel rim that refers to of current domestic user, the wheel hub described in this specification contains wheel hub and wheel rim two parts of narrow sense. Wheel hub motor technology is also known as wheel inner electric machine technology, and power, transmission and brake unit are all incorporated in wheel hub by its maximum feature exactly, are therefore greatly simplified by the mechanical part of electric vehicle. Wheel hub motor technology is not new things, and as far back as 1900, first Porsche was just manufactured that the electric automobile of front-wheel equipment wheel hub motor, and at 20 century 70s, this technology is applied in fields such as Mine haul cars; For the wheel hub motor used by passenger car, many international automobile industry giants are in exploitation at present, and domestic manufacturers also begin to set foot in.

The Electric Motor Wheel that current electric automobile market main flow uses, its structure is except hub body, critical piece generally comprises wheel hub motor, brake disc, brake callipers, Active Suspensions motor, suspension, damping spring etc., weight is far beyond traditional hub body design, and the deadweight of wheel hub motor is required higher by electric automobile, data instance with automobile, the aluminium alloy wheel hub of conventional sedan is ratio conventional steel wheel hub on average light about 2kg only, when speed is 60km/h, oil-saving rate can reach 5%-7%, if therefore motor can not be that multiple subtracts pound, the technical meaning being deformed into wheel hub is very limited, in recent years the technology much attempting to be simply deformed into traditional structure motor wheel hub motor is attempted, effect is all undesirable, only weighing with one index of power density of unit volume, existing motor does not reach far away the requirement that is typically designed of wheel hub electric motor, uses conventional art to manufacture and design wheel hub electric motor and also has longer road to walk.

The development of current electric motor car Market and Technology mainly has both direction, one is definite-purpose motor manufacture, two is electrical machine energy-saving control technology, but in technical development thinking, receive the bigger limitation of way of thinking, such as motor: it is ripe that market generally believes that motor technology has evolved into, motor for electric motor car design specialized is very little, and competition is concentrated mainly on the control of material and human cost. Such as motor controls again: oneself commonly used PWM technology of market controls the rotating speed of motor in recent years, industry common name PWM is pulse width modulating technology, the i.e. impulse waveform of variable duty ratio, by it, turn-on and turn-off of quasiconductor electrical device are controlled, but the power supply control thought of this advanced person, because being based upon on the basis of electromagnetic force conventional motion model, technological development income is unsatisfactory.

The permanent-magnet brushless DC electric machine of fast development in recent years, mainly it is made up of motor body, position detector and power inverter controller, general structure is that permanent magnet is arranged on rotor, the arrangement of magnetic pole N/S interleaved, some windings are arranged on stator, position detector constitutes electronic commutator together with inverter controller and replaces mechanical contact reversing arrangement, and winding energising forms rotating excitation field and makes rotor rotate; PWQ technology that control aspect is commonly used, the degree of approximation that the obvious problem of this conventional design is deformed sine wave controls, the employing PWQ technology modulation although its power is powered, but is still limited by the traditional design of motor interior rotating excitation field in control thought method.

Summary of the invention

The purpose of the present invention, it is in that to overcome the defect of the power supply mode of existing electric motor car institute adapted wheel hub electric motor, a kind of power supply plan that unidirectional current is changed into sequential electric current by power supply modulator is provided, simultaneously, the internal structure of electric hub device is different from conventional motors design, simple in construction, torque is big, and technique easily realizes.

A kind of electric hub device provided by the invention, described electric hub device includes wheel hub 6, deceleration/torque changing apparatus 2, power supply modulator 1, drives actuation means 9a and electric device 3; Described electric device includes coaxially turn 3e, at least one stator unit 3a and some rotor unit 3b; Described coaxially turning is an annular machinery circle with rotation axle; Described rotor unit includes at least one PM rotor unit 3b1 and at least one magnetic conductor rotor unit 3b2, it is alternate be arranged at and coaxially turn on, and with rotation of coaxially turning; Described stator unit is arranged close to the fixed position of coaxial rotating inner edge, and stator unit is not more than 55mm with the relative air gap 3d formed that coaxially turns; Described coaxially turning and wheel hub is coaxially disposed, electric device and deceleration/torque changing apparatus are arranged in wheel hub, at least provided with a set of electric device in wheel hub;

Described power supply modulator includes power input 1a, sequential current output terminal 1b and driving signal input 1d, the both positive and negative polarity of described power input electrical connection set of cells 8, the inside winding of sequential current output terminal electrical connection stator unit, driving signal input electrical connection drives actuation means; Described power supply modulator is by driving actuation means to obtain the driving instruction of user, and in the corresponding time sequence inside winding output current to stator unit, makes electric device, by deceleration/torque changing apparatus, wheel hub be realized driving/braking.

Described stator unit 3a/ rotor unit 3b can replace design each other at the position that confronting coaxial is turned, and coordinates relevant apparatus design also can obtain motorized effect.

Preferably, the rated power of electric hub device of the present invention is less than 20KW.

Described rotor unit 3b (to include PM rotor unit 3b1 and magnetic conductor rotor unit 3b2) alternate be arranged at coaxially turn on include being entrenched in its outer rim, inner edge or internal and with implementation integrated design manufacture of coaxially turning; Rotor unit is installed under the premise coaxially turned and does not limit shape not affecting; Several rotor units alternate setting when coaxially turning installation, it is preferable that uniformly arrange.

Preferably, described PM rotor unit 3b1 several on the 3e that coaxially turns homopolarity to setting, overlap with 6 coaxial normals 10 of turning/vertical 4 kinds of typical combination states including N/S the two poles of the earth line, and N/S the two poles of the earth line deflects less than 15 degree of angles on 4 kinds of typical combination state bases.

Preferably, described deceleration/torque changing apparatus 2 forms for some gear combination, its drive input with coaxially turn 3e mechanical attachment, its transmission output and wheel hub 6 mechanical attachment; Deceleration/torque changing apparatus can be independently arranged, or with coaxially turn or wheel hub integrated setting.

Preferably, described deceleration/torque changing apparatus 2 is arranged at coaxially turns between 3e and wheel hub 6, and with coaxially turn and wheel hub is coaxially disposed.

Preferably, described stator unit 3a is formed around the magnetic core of magnetic media material by the good conductor loop of least one set, and its Inside coil winding can arbitrarily connect by series, parallel, or forms multi-thread external loop by drawing centre tap between different windings; Externally the mode of electrical connection can be the loop of two lines or multi-thread composition; The arrangement state of the electromagnetic pole correspondence PM rotor unit 3b1 that stator unit energising is formed is set to the opposite polarity moved in opposite directions.

Arranging around core or several combinations of described stator unit, it is preferred for obtaining maximum with its inside winding energising through the magnetic flux of air gap 3d.

Preferably, described electric hub device also includes sensing device, and described sensing device includes some sensing unit 3c that can sense described rotor unit 3b and stator unit 3a relative position; Described sensing unit electrically connects with the transducing signal input 1c of described power supply modulator; Described electric hub device at least interiorly or exteriorly arranges a sensing unit what coaxially turn;

Preferably, described sensing device includes the inside winding of stator unit, and described internal winding includes surrounding the winding of stator unit magnetic core or by the multi-thread external loop being in series between some stator unit windings.

Preferably, described electric hub device also includes electro-magnetic braking device 9b, described power supply modulator 1 also includes brake signal input 1e, it electrically connects electro-magnetic braking device, obtains the brake instruction of user and in the corresponding time sequence winding output current to the stator unit of electric device by electro-magnetic braking device.

Described driving actuation means 9a may be configured as conventional rotating handles formula, plug-type stick or other any manual control modes, including outside be set to remote control.

In the present invention, DC source is converted to sequential electric current by described power supply modulator, make the stator unit in electric device be limited at power supply modulator set time domain periodic be energized and power-off.

In the present invention, the electric motor car of described arbitrary electric hub device includes the electric motor car of one or more wheel and electronic, autocycle; The wheel of described electric motor car includes single-wheel and the quasi-single-wheel structure of coaxial two wheel hubs of compact installation.

The invention also discloses the driving method of a kind of aforementioned electric hub device, the method position relationship according to described rotor unit 3a and described stator unit 3b, control coaxially to turn and hub rotation by power supply modulator output timing electric current;

Described sequential defines according to coaxially turning direction of rotation, described sequential electric current combines the rotor unit number on coaxially turning according to stator unit electromagnetic field useful effect interval on coaxially turning and arranges several make and break periods T, and each make and break period T includes power supply time domain and power-off time domain; Described power supply time domain is positioned at the 25 degree�ܦȡ�90 degree corresponding time period, and described �� �� is the dynamic angle that rotor unit is formed around the direction of stator unit electromagnetic force suffered by axle Yu its normal component of force, and in described power-off time domain, power supply modulator 1 does not export electric current.

Preferably, the electric current of described power supply time domain not notch shape, frequency and dutycycle.

Preferably, described power supply modulator at least includes two sections of different period of the day from 11 p.m. to 1 a.m territories of different current amplitudes in power supply time domain, and up time sequence be that amplitude diminishes successively, and the amplitude in time domain of powering or its period of the day from 11 p.m. to 1 a.m territory is linearly successively decreased with sequential relation; Or in 2^KSuccessively decrease relation, described index K value 0.55 to 0.95; Or be following relation: I_t/ A=(I₀�DI_g) Sin ��, wherein I0 is initial energising intensity, I_gCurrent intensity for the end time that is energized.

Preferably, described energising time domain T₁The magnetic flux density of interior initial electric current, voltage or stator unit is obtained rotating speed instantaneous value of coaxially turning and combines the driving actuation means 9a instruction provided and adjust by sensing device.

Preferably, described method also includes aligning step; Described aligning step is that periodically trapping gap is relative, be in the state (�� is 0) of same normal as benchmark coordinate and fiducial time using stator unit and rotor unit, when rotor unit goes to reference seat timestamp every time, power supply modulator carries out a time and returns 0 calibration and record this cycle time, compare cycle time by going to reference seat target with rotor unit last time, thus knowing and coaxially turning and the spin cycle time of wheel hub, and control output electric current.

The invention also discloses the braking method of described electric hub device, the method is according to described rotor unit convergence stator unit, rotor unit relative with the same normal in stator unit place (�� is 0) and is in away from, at least one time domain of state, making power supply modulator 1 output timing electric current control coaxially to turn and wheel hub braking by manipulating electro-magnetic braking device 9b;

Described sequential defines according to rotation of wheel direction; Described rotor unit convergence stator unit is the 0�ܦȡ�35 degree corresponding time periods, and described �� is the dynamic angle that rotor unit is formed around the direction of stator unit electromagnetic force suffered by axle Yu its normal component of force on coaxially turning.

Preferably, described method also includes aligning step, and �� is 0 as benchmark coordinate and fiducial time by described aligning step, knows rotor unit convergence/relatively/away from the location status of stator unit by sensing device.

Described power supply modulator to electric device drive energising and braking energising logical relation be set to or.

Preferably, described output electric current rate-determining steps includes:

1) when driving actuation means 9 to power supply modulator 1 without input instruction, power supply modulator dormancy;

2) when driving actuation means 9 to provide assisted instruction, power supply modulator 1 output timing electric current;

3) when electric device rotating speed or energising frequency reach the threshold value set, described power supply modulator power-off.

The present invention is directed to the application characteristic of electric hub device, electrical source of power is implanted the Technology of NC Programming optimized, specify that the work-based logics such as the subset strength characteristics of the power supply timing cycle T of power current and energising time domain thereof and power-off time domain are constituted. Sensing device within electric hub device is always periodically sensed, power supply modulator is processed from its signal obtained in real time by data/address bus, the relative position knowing rotor unit with stator unit can be sentenced, thus stator unit winding optionally being sent the sequential electric current with regularity.

Above-mentioned design can bring two obvious energy-saving efficiencies: one is with being limited at the time domain periodic that power supply modulator the sets work that is energized of stator unit in electric device, need not the time domain dormancy of work, not only save electric energy but also decrease energising accumulated heat; Two is within the working cycle that power supply modulator sets, and energising intensity is in the regular change set and interrupts, and makes the service efficiency of electric energy improve further, and energising accumulated heat reduces further.

It is an advantage of the current invention that: there is the obvious energy-saving effect that sequential power supply control brings, the electric hub device simple in construction that is designed with this scheme, can the wheel variation combination of corresponding various electric motor cars, cost low, effectively adapt to the designing requirement of high-end energy-saving electric vehicle.

Accompanying drawing explanation

Fig. 1 a is a kind of base structure schematic diagram of electric hub device of the present invention.

Fig. 1 b is a kind of partial structurtes schematic diagram that the present invention is applied to electric two-wheel vehicle.

Fig. 1 c is a kind of partial structurtes schematic diagram that the present invention is applied to electric four-wheel vehicle.

Fig. 2 a is that PM rotor unit arranges schematic diagram at a kind of magnetic pole turned.

Fig. 2 b is that PM rotor unit arranges schematic diagram at the another kind of magnetic pole turned.

Fig. 2 c is that magnetic conductor rotor unit arranges schematic diagram in the one turned.

Fig. 3 a is that stator unit column type is set to the schematic diagram vertical with normal of coaxially turning around core.

Fig. 3 b is the schematic diagram that stator unit column type is set to around core overlap with normal of coaxially turning.

Fig. 3 c be stator unit matrix around core top just structural representation to coaxial rotating inner edge.

Fig. 4 a is base structure and the electromagnetic force Directional Decomposition schematic diagram of electric device in wheel hub.

Fig. 4 b is the view that rotor unit and stator unit are in coaxial normal.

Fig. 5 a is the groundwork logical schematic of power supply modulator.

Fig. 5 b is the block combiner schematic diagram of a kind of digital technology logic realizing power supply modulator.

Fig. 5 c is the work-based logic schematic diagram that power supply modulator sets up electro-magnetic braking device input.

Fig. 6 a is the power supply modulator output electric current time diagram in periodically break-make.

Fig. 6 b is that a kind of two rank constant currents taper off the electric current time diagram of relation.

Fig. 6 c is the time diagram of a kind of first rank current constant, the curved relation of successively decreasing of second order electric current.

Fig. 6 d is a kind of multi-stage current time diagram in relation of successively decreasing continuously.

Fig. 6 e is the pulse subset envelope schematic diagram of the curved relation of successively decreasing of a kind of amplitude.

Fig. 6 f is the one energising logical schematic of a corresponding stator unit one rotor unit of combination.

Fig. 7 a is a kind of partial structurtes schematic diagram of stator unit 8 rotor units of combination.

Fig. 7 b is the power on/off time domain schematic diagram of swing circle corresponding power manipulator of coaxially turning.

Fig. 7 c is the one energising logical schematic of a corresponding stator unit 8 rotor units of combination.

Fig. 8 is a kind of partial structurtes schematic diagram of two stator unit 8 rotor units of combination.

Fig. 9 is a kind of partial structurtes schematic diagram of 12 stator unit 12 rotor units of combination.

Accompanying drawing identifies:

1, power supply modulator; 1a, DC supply input; 1b, sequential current output terminal; 1c, induced signal input; 1d, train signal input; 1e, brake signal input; 2, deceleration/torque changing apparatus; 3, electric device; 3a, stator unit; 3b, rotor unit; 3c, sensing unit; 3d, air gap; 3e, coaxially turn; 4, vehicle frame; 5, wheel; 6, wheel hub; 7, wheel shaft; 8, set of cells; 9a, driving actuation means; 9b, electro-magnetic braking device; 10, coaxial normal; 11, wheel tangent line; 12, winding two extreme direction line; The angle of ��, electromagnetic force and its normal component of force.

Detailed description of the invention

Below in conjunction with drawings and Examples, the present invention is described in detail further.

Fig. 1 is a kind of basis machinery structural representation of electric hub device of the present invention, and being clearly distinguished from of this frame for movement and general hub-type electric machine is in that:

1, electromagnetic force occurring source: coming from the separate unit of good wire wounded core, the basic technology scheme that this structure is arranged on stator groove from the internal winding of conventional electric motor is different; Described good wire generally uses copper material or copper-plated metal, and magnetic core uses conventional magnetic media material, such magnetizing mediums be known to the skilled person a kind of under the action of a magnetic field internal state change and affect the material that magnetic field exists or is distributed in turn.

2, coaxially turn upper: rotor unit has permanent magnet and magnetic conductor bi-material, and what such magnetic conductor was known to the skilled person a kind of senses magnetisation and the magnetic pole material contrary with outer magnetic field direction under the action of a magnetic field; When several PM rotor unit are arranged, N/S magnetic pole is in the same direction, and is arranged alternately not as routine techniques N/S magnetic pole.

Referring to Fig. 2 a, 3e outer rim of coaxially turning is provided with a PM rotor unit 3b1, S pole-face is to interior setting of coaxially turning, a stator unit 3a it is provided with in coaxially turning, both relative air gap 3d of motion are sufficiently small, if the N pole-face of stator unit energising is to coaxially turning, then, during the stator unit of PM rotor unit convergence energising, its electromagnetic attracting force can be subject to and the accelerated motion that makes coaxially to turn; In another embodiment, the S polar motion stator unit in opposite directions of PM rotor unit, body direction of rotation is reversed corresponding thereto in the N pole of stator unit winding energising, and both magnetic action are similarly attracting, as shown in Figure 2 b; If turned, 6 outer rims arrange magnetic conductor rotor unit 3b2, because of its load magnetic for by stator unit electromagnetic field inducing extremely, no matter how the energising direction of stator unit winding is arranged, and both magnetic action are attracting, as shown in Figure 2 c; This stator unit electromagnetic pole and the basic model that the setting of rotor unit attracting relation is electric hub device of the present invention, the rotor unit of two kinds of different substrate materials is set on coaxially turning and is because permanent magnet and magnetic conductor has and actively carries magnetic and by two kinds of different qualities of dynamic load magnetic, can combine according to its different qualities variation, to adapt to electric hub device driving, to brake the control of multiple real-time status.

As shown in fig. 4 a, during the stator unit that rotor unit convergence is energized, its suffered electromagnetic attraction F can be analyzed to the normal 10 direction F coaxially turning corresponding with axle₁₀With corresponding tangent line 11 direction F₁₁, wherein that rotor unit is contributive around axle motion is tangential forces F₁₁, F and F₁₀Direction define dynamic angle theta. Rotor unit is relevant in the interval coaxially turned to stator unit electromagnetic field effect around axle institute stress, it is the stator unit of column to one around core, its electromagnetism line of force passes through the maximum interval of air gap, corresponding to electromagnetic pole the two poles of the earth line 12 vertical to the corresponding normal 10 coaxially turned (parallel with corresponding tangent line 11), as shown in Figure 3 a; The two poles of the earth line that column also may be configured as electromagnetic pole around core overlaps to the corresponding normal coaxially turned, and as shown in Figure 3 b, this set-up mode is selected when being generally the combination arrangement of multiple stator unit. For matrix around core, its electromagnetic force is interval to the effect of rotor unit, is positioned at matrix around core top just to the two ends scope coaxially turned, as shown in Figure 3 c.

At said stator unit electromagnetic field effect in the interval coaxially turned, there is F and F₁₁The state particular point overlapped, this particular point shows as F and overlaps around axle tangential direction with rotor unit, interval with effective stress of electromagnetic force state description rotor unit, be positioned at rotor unit be in stator unit coaxial normal 10 (�� is 0 state) be benchmark, �� be �� 90 degree interval, position (direction of rotation that described �� basis is coaxially turned and relative define). When �� is 90, F₁₁For maximum; The F when �� is 0₁₁It is 0, F₁₀For maximum, to rotor unit around axle without contribution, as shown in Figure 4 b; To this real-time status, routine techniques thinking is to be continued to run with by control electric current paraphase, it is usually the electric current using brush or electronic installation that unidirectional current is modulated to energising direction checker, thus supervening the conventional arts such as current phase, induced current and corresponding phase angle position control thereof.

F₁₁And F₁₀Being shifting a pair kinematic variables, its theoretical strong and weak conversion, is energized in the state interval of �� > 45 degree when power supply modulator is corresponding with �� �� for 45 degree, to show as driving force F for separation₁₁It is main; And be energized in the state interval of �� < 45 degree when power supply modulator is corresponding, to show as brake force F₁₀It is main. The actuation techniques scheme of electric hub device of the present invention is to use F₁₁It is main state interval energising, power-off between all the other state areas, utilize the rotary inertia coaxially turned to continue to run with; Additionally, F also can be used₁₀The state being main is interval and rotor unit deviates from the state interval energising of stator unit and makes electric device obtain braking; The real-time transmission by deceleration/torque changing apparatus of coaxially turning of electric device, is transferred to corresponding driving/braking state on wheel hub.

The driving preferred version of electric hub device of the present invention is: the time domain energising of corresponding 25 degree�ܦȡ�90 degree of power supply modulator, all the other time domain power-off; In this energising time domain, the time domain of even 75 degree�ܦȡ�90 degree 60 degree�ܦȡ�90 degree should be selected to be energized based on the design of economize on electricity; Need to make full use of the design of rotary inertia of coaxially turning, may select the energising of the time domain of even 25 degree�ܦȡ�90 degree 45 degree�ܦȡ�90 degree; Due to �� �� in 45 degree of states of < with considerable F₁₀, lost preferred meaning in 25 degree of state energisings of �� <; The current switching time domain that this preferably drives as shown in Figure 6 a, wherein T₁For conduction time, T₂And T₀It is power-off time, (T₁+T₂+T₀) constitute Timing driver current cycle T. When electric hub device needs electromagnetic force braking function, power supply modulator correspondence T₂And T₀Part time domain or all time domain be set to energising, described T₂For the rotor unit time domain around corresponding 0 degree�ܦȡ�35 degree of axle convergence stator unit, T₀For rotor unit around the axle corresponding time domain away from stator unit; In like manner, owing to �� exists considerable tangential electromagnetic force F when 35 to 45 spend state₁₁, Brake Design is unhelpful. Drive and braking not notch shape, frequency and dutycycle in its accordingly energising time domain, its sequential work-based logic relation be set to or.

Above-mentioned power supply modulator according to �� state to switching electricity control, can approximate transform be relative time control in the scope that industrial design error allows, because �� is 0 state and �� is that 90 degree of states are aobvious state, power supply modulator can be sentenced by timing alignment and know that �� is from 90 degree to 0 degree, i.e. (T₁+T₂) time period, as long as set T₁With T₂Relative time, be namely equivalent to the switching electric control to �� corresponding state; Such as control the time domain energising of corresponding 90 degree to 45 degree of ��, can briefly be set as: at (T₁+T₂) time period initial 1/2 time domain energising, 1/2 time domain power-off afterwards; In like manner, when the time domain energising controlling corresponding 30 degree to 0 degree of ��, can briefly be set as: at (T₁+T₂) time period initial 2/3 time domain power-off, 1/3 time domain energising afterwards; (T₁+T₂) time period be an amount relevant to rotating speed of coaxially turning, determine that the �� state being 90 degree judges to there will be deviation when speed change state with cycle time, owing to power supply modulator correspondence �� is that 0 degree of state is provided with time calibration, must give and correcting in time in next cycle.

�� �� is the hidden variable of a respective rotor unit and stator unit relative motion, owing to air gap and magnetic action loop affect, rotor unit on coaxially turning around the exact position that axle correspondence �� is 90 degree be one to circular arc degree of coaxially turning, air-gap separation, stator unit around the relevant value of the parameters such as core shape and arrangement thereof, there is multiple theoretical model, should through test inhabitant area during specific design; After stator unit setting (including combination) scheme is determined, the aobvious state position that corresponding �� is 90 degree is determined simultaneously; During actual design, it is common that the aobvious state position using �� to be 90 degree judges the one foundation of the internal relative position of electric device as sensing device. Described power supply modulator exports the work-based logic of driving or stalling current accordingly, both can be controlled circuit by ordinary tap and realize, it is possible to adopts CPU programming in conjunction with power model group circuit realiration, or adopts the special chip that large scale integrated circuit technology manufactures to realize.

Rotor unit is moved around axle, T₂The little then T of value₁Time domain is big, but T₁Time domain is with the F showing as brake force₁₀, have one and drive and the optimal selection problem of braking, useful work and power consumption/heat radiation. Due to drive cannot by F in electric current₁₀It is completely separated, a kind of weakening F₁₀On the scheme of the potential accumulated heat impact of electric device it is: be set to successively decrease with sequential by energising intensity/amplitude, including arranging the subset that m >=2 energising intensity is successively decreased with sequential, m could be arranged to 2,20,3K or 30K etc., for instance constant current that constant current that after arranging two sections, rank are less than front rank intensity, 5 stage strengths successively decrease successively or the subset that 30K stage amplitude is successively decreased continuously; And in the period of the day from 11 p.m. to 1 a.m territory of energising subset, in like manner may be configured as intensity/amplitude and successively decrease according to sequential, not notch shape, frequency and dutycycle in energising time domain. Described energising intensity is successively decreased with sequential, it is different from by driving actuation means 9a to reduce the electric current mean intensity action effect to electric device, because always there is real-time micro-deviation in the optimum amounts of current of manual control, it is impossible to drop stream in time by due optimal way in very short time and fully save electric energy. The current maxima of described energising time domain, includes T₁Sequential arranges maximum when starting, or starts less than T₁/ 3 time domains reach maximum, successively decrease in any way with sequential afterwards, to T₁Sequential arranges minima or returns 0 when terminating.

The scheme that energising intensity is successively decreased with sequential is numerous, for instance be set to sequential linear decrease, it is possible to be set to by maximum by 2^KRelation sequential is successively decreased, and K span is the positive number of 0.55 to 0.95, etc.; Shown in Fig. 6 b is the designs successively decreased with sequential of a kind of two rank constant currents, Fig. 6 c is a kind of first rank current constant, the curved design successively decreased of second order electric current, Fig. 6 d is a kind of multi-stage current is the design successively decreased continuously, and the amplitude envelope of its multi-stage current intensity is closer to I_t/ A=(I₀�DI_g) preference relation of Sin ��, power savings is more good; The amplitude envelope trend schematic diagram that Fig. 6 e is the electric current of a kind of sequential end time that is energized is not 0, intensity is successively decreased with sequential therebetween.

One stator unit 3a combination coaxial is turned the analysis case of a upper PM rotor unit and a magnetic conductor rotor unit, the electromagnetic force useful effect that rotor unit is not at stator unit around the axial period �� most of the time is interval, should first consider the break period T of electric current timing cycles T during programming₀, and then preferred power-off time T₂With driving T conduction time₁, improving the utilization rate of electric energy, Fig. 6 f is that this analysiss case PM rotor unit 3b1 and magnetic conductor rotor unit 3b2 is separated by 180 degree when being symmetrical arranged, the driving of corresponding one of them rotor unit 3b1/3b2 is energized sequential logic schematic diagram. Combination arranges the advantage of bi-material rotor unit and is in that: if only arranging PM rotor unit on coaxially turning, owing to its magnetic pole is fixing, in the foundation motion model of present invention application, no matter how pole orientation arranges, all can not follow the electromagnetic force of stator unit with dynamic antipole form, energy conversion efficiency is high not as the magnetic conductor rotor unit of sensing magnetisation; If only arranging magnetic conductor rotor unit on coaxially turning, just because of its magnetic pole is sensing magnetisation, when its just at being in same normal 10 with stator unit trapping gap, �� be 0 time, electric motor car is difficult to start from static state, it is easy to stall occur. Upper alternate being provided with PM rotor unit 3b1 when turning, power supply modulator can be sentenced by induction installation and know that PM rotor unit �� is the position of 0, sends accordingly and static starts sequential electric current; The so-called static simple example starting sequential electric current, it is encounter above-mentioned stall, power supply modulator when setting time maximum and can not get sensing device feedback signal, send the starting current in opposite direction with normal drive current in real time, upper at least one PM rotor unit 3b1 that makes to turn is subject to the same polarity effect of repelling each other and deviates and be in the state of same normal with stator unit trapping gap, it is to avoid stall occurs.

One stator unit 3a is combined the analysis case of n rotor unit 3b (3b1/3b2), electromagnetic action is there is with n rotor unit 3b in stator unit 3a at the swing circle �� that coaxially turns, power supply modulator 1 preferably sends the energising sequential that n cycle is T, and the correspondence swing circle �� that coaxially turns has n T₁, n T₂And n T₀Sequential working logic, power supply modulator is proposed high requirement by this modular design. Rotor unit not arranges The more the better, and its number n on coaxially turning is limited to the interval corresponding space occupy-place of suffered stator unit electromagnetic force useful effect, and otherwise the sequential current cycle of power supply modulator correspondence output can overlap.

Fig. 7 a is the structural representation sketch of stator unit 8 rotor units of combination, stator unit coaxially turn swing circle �� respectively with 8 rotor unit generation magnetic action, the theoretical sequential electric current that power supply modulator is corresponding is divided into 8 (T₁+T₂+T₀) cycle, Fig. 7 b denotes a kind of T of setting as ��/8, at T corresponding to direction of rotation of coaxially turning₁��T₂And T₀Schematic frequency domain, Fig. 7 c is the energising logical schematic of one of them cycle T.

As shown in Figure 8, coaxially turning and be internally provided with two stator unit 3a, be provided with 8 rotor unit 3b on coaxially turning, in the swing circle coaxially turned, power supply modulator to provide 8 cycles for (T for two stator units respectively₁+T₂+T₀) sequential electric current, power supply modulator is proposed higher designing requirement by this combination. Optional 4 stator units combine 10 rotor units, 12 stator unit 12 rotor units (as shown in Figure 9) of combination etc. further. In theory when H stator unit and n rotor unit modular design, if power supply modulator is to H the discrete power supply of stator unit winding, need correspondence n*H electric current sequential of design, i.e. n*H (T₁+T₂+T₀) electric current sequential, programming is by sufficiently complex; Therefore in the utility system of multiple stator unit 3a designs, preferred H the electrically coupled in series combination of stator unit winding, or H stator unit winding is divided into some groups of external power supply manipulators, the inside windings in series of such as 4 stator units, tap totally three external electric connection of power supply manipulators of line are drawn in the middle of series connection winding, technically it is also with the difference of the differetial-potential that these three lines compare between two, as the signal source that a kind of rotor unit differentiates with stator unit relative position, substitute the sensing unit being independently arranged.

In theory, it is also possible in one rotor unit of installation and the combination of several stator units of coaxially turning, though but this equivalent arrangements can implement technically, but because the cost of stator unit is of a relatively high, not preferred scheme.

Power supply modulator 1 can use ordinary tap circuit design or pulse digit technology to realize, the fundamental functional modules of the latter generally comprises power converting circuit, interior storage has microprocessor and the signal input and output circuit of working procedure, can correspondingly be controlled to drive the sequential electric current of module output by sensing unit 3c feedback signal, electric device 3 is dynamically controlled, its work-based logic such as Fig. 5 a shows, and Fig. 5 b is the block combiner schematic diagram of a kind of digital technology logic realizing power supply modulator basic function.

The work-based logic transformation directive signal of power supply modulator usually obtains from being connected in the sensing unit coaxially turned interiorly or exteriorly, sensing unit is not limited to use magnetoelectric induction winding or Hall element, it is used as photoelectric encoder etc., when rotor unit is around axle 7 cycle movement, sensing unit can obtain the rate of change of electric current (voltage) and feed back to power supply modulator, and power supply modulator is sentenced, according to this induced signal, the relative position knowing rotor unit 3b and sent electric current sequential accordingly. According to the operating accuracy of sensing unit 3c and reliability requirement, sensing unit 3c can interiorly or exteriorly arrange one or several coaxially turning, even be deformed into from above-mentioned multiple stator unit windings in series become multi-thread circuit feedback mode and use stator unit 3a Double-wire ring around winding feedback mode obtain work-based logic transformation directive signal, now the induced signal input 1c of power supply modulator is built-in accordingly, and its response processes the working procedure logic to power supply modulator 1 and proposes high requirement. Development due to large scale integrated circuit technology, the programming technique realizing the conversion of above-mentioned work-based logic is that industry professional person is known, and institute is it is to be understood that sequential current cycle, energising subset time domain and amplitude change and the basic design parameter such as power-off time domain therebetween.

To sum up, described power supply modulator is a logic power switching system including the design of two-stage period/frequency, and one is T₁The period/frequency design of m subset in energising time domain, this frequency is more high more is beneficial to the amplitude of approaching theoretical economize on electricity optimization and successively decreases relation; Two is sequential power cycles/frequency, reflect the unit interval inner stator unit 3a energization action number of times to rotor unit 3b, energising amplitude required for the rotating speed of this time sequence frequency remote definition electric hub device and stator unit or electromagnetic force (coming from power supply modulator to be energized to the winding of stator unit), because T₁The amplitude of energising time domain is more big, and the energising of unit interval inner stator unit is more big to the active force of rotor unit, effect number of times is more many, and it is more fast that its result reflects rotating speed of coaxially turning. The sequential power frequency that power supply modulator exports, rotates cycle implicit (T with coaxially turning₁+T₂+T₀) sequential effect number of times, energising mean intensity and rotating speed be mutually corresponding all physical quantity relations, therefore when, after many entrance logic working states that imposes a condition of power supply modulator, the frequency controlling sequential energising namely controls rotating speed. This manually operated electric hub device rotating speed is by driving the input 1d of actuation means 9a electric connection of power supply manipulator to realize.

Electric hub device of the present invention can use T₂Electromagnetic force braking function is set up in time domain energising, and the brake signal input 1e that power supply modulator is set up accordingly electrically connects with electro-magnetic braking device 9b, as shown in Figure 5 c; When electric hub device needs to brake, not only T₂Time domain startup energising, and preferred T₀Part or all of time domain respective synchronization be transformed to energising strengthen braking effect, from the design concept of safety first, it is not necessary to for braking energising power saving too much consider; Electro-magnetic braking device 9b may be configured as a continuous or multistage rheostat, and its function is the stalling current intensity controlling power supply modulator output, and stalling current is more big, and electromagnetic braking effect is more good.

What stator unit 3a was connected with solid mechanical device in 3e inside of coaxially turning arranges main points, it is to make rotor unit relative air gap 3d of formed effective generation magnetic action in Periodic Rotating, this air gap is that stator unit transmits the energy channel of electromagnetic force to rotor unit, air gap is more little more is conducive to magnetic energy effect to transmit, but the too small easy generation Mechanical Contact of air gap, need to comprehensively hold rigidity and the machining accuracy of material during design; The solid mechanical device of described inside of coaxially turning, is similar to the stator mechanism of conventional motors.

Described deceleration/torque changing apparatus 2 is generally formed by some gear combination, can reach change the rotating speed of machine driving input or change the technical goal of torque by the combination of some gears, the design of deceleration/torque changing apparatus is more, the 3e that preferably and coaxially turns is coaxially disposed and is arranged at and coaxially turns and between wheel hub, as shown in Figure 1a. Deceleration/torque changing apparatus both can be independently arranged, it is also possible to coaxially turn or electric device entirety carry out integrated design, be even arranged at and coaxially turn and the local location of endless belt between wheel hub, or be deformed into and wheel hub integrated design; But this kind of design arranging deceleration/torque changing apparatus at hub interior local location, generally need to configure the device such as suspension, damping spring in wheel hub and adjust center of gravity, not preferred technical scheme.

The traditional product of described driving actuation means 9a is rheostat or the potentiometer of an easily manipulation deformation design, artificial, with technical development in recent years, the special actuation means being much based upon on photosensitive, Hall control principle basis reaches its maturity, this series products is typically designed as conventional rotating handles formula, also may be designed as plug-type stick or other any manual control modes, including remote control. The conventional use of illuminating lamp of electric motor car, turning/stop, tail and number plate light, sound ring etc. control function, it is usually and is made up of the switch of several electric connection of power supply, such on and off switch can be separately provided, and correlation function also can be implanted power supply modulator shared data bus and unify programming realization.

Electric hub device of the present invention can be taken turns above electric motor car at one and be arranged, and makes electric hub device of the present invention become main power driven system or auxiliary electric system, and multipath effectively saves electric energy. Described electric hub device is with electric motor car for stating example, but its application is not limited to electric motor car, is applicable to all electronic rotation systems. Described preference is only recommendation, and some technical schemes can be combined and use, can partly use and also can add other mature technologies. As long as the magnetic current energy feature according to electric device, by power supply modulator being designed the sequential electric current being accurately controlled, the basic fundamental target of the present invention program can be realized.

The professional person that electric motor car and wheel hub motor technology are relatively understood in depth, is not difficult on scheme basis of the present invention, ground deformation implementation present invention of drawing inferences about other cases from one instance. Such as on existing pulse direct current wheel hub motor basis, market, converted by the change of sensing mode and controller current sequence and partly implement the present invention. The amplitude of the electric current sequential control method of power supply modulator of the present invention and energising time domain is successively decreased design feature, the infrastructure arrangement of electric device and derivative technology deformation implementation thereof, all should be put into protection scope of the present invention.

Embodiment 1,

The electric hub device of a kind of assistance type electric two-wheel vehicle, is configured to trailing wheel, and as shown in Figure 1 b, wheel hub 6 outer rim girth is 1000mm to vehicle frame 4, and set of cells 8 selects ferric phosphate lithium cell, and set of cells 8 is arranged on the inside of vehicle frame 4; Electric hub device is located at the trailing wheel of car. The 3e that coaxially turns of electric device 3 is one to be had and rotates the annular titanium-aluminium alloy circle that axle, girth are 300mm, on the internal machinery being connected with dead axle of alloy ring, installs a stator unit 3a; The 3e that coaxially turns is co-axially mounted with wheel hub 6, is arranged between one by the deceleration/torque changing apparatus 2 of some gear combination, as shown in Figure 1; Electric device is realized and wheel hub machine driving by deceleration/torque changing apparatus, and the speed reducing ratio of deceleration/torque changing apparatus is 10:1.

The upper design of coaxially turning of electric device has two rotor units, 180 degree of installations of being separated by coaxially turning, and one of them is PM rotor unit 3b1, and material is neodymium iron boron, another is magnetic conductor rotor unit 3b2, selects market to be prone to the ferromagnet of buying, wherein, the two poles of the earth line of PM rotor unit 3b1 is parallel with the tangent line coaxially turned, and S pole-face is to direction of rotation of coaxially turning, as shown in Figure 2 b, two rotor units are processed into cell type junior unit, and the Design of length of this junior unit is 10mm, and width takes maximum when not affecting installation, snugly fits into the outer rim of the 3e that coaxially turns, stator unit 3a selects market to be prone to the channel magnet of buying around core, more magnetic domain is there is inside this ferromagnet, under outside magnetic field effect, magnetic domain easily turns to and produces the complementary field consistent and much better than with outer magnetic field direction, spill is processed into and corresponding arc of coaxially turning around core bottom, coil windings is formed around spill magnetic core 39 circle by the copper cash of a diameter 0.55mm, Installation features: stator unit is arranged on coaxially turn inside the fixed position near its inner rim 7mm, captive screw is fixed, spill around core top just to coaxial rotating inner edge (as shown in Figure 3 c), two ends correspondence is coaxially turned 38 degree of mechanical angles of occupy-place.

Setting the maximum speed per hour of electric two-wheel vehicle and be about 20km/h and 5.6m/s (5.6 turns/s), meter is picked up the car and taken turns corresponding spin cycle time is 180ms; The 3e that coaxially turns is 56 turns/s through the speed limit of deceleration/torque changing apparatus 2 correspondence, corresponding spin cycle time 18ms, (the T that namely electric device is powered by power supply modulator 1₁+T₂+T₀) timing cycles minima T is 18ms; Power supply modulator 1 controls circuit by conventional electrical and realizes, and designs maximum overload capacity 350W, sets T in timing cycles₁: (T₂+T₀) for 1:35, the T that the timing cycles that namely speed limit is corresponding is powered₁Value 0.5ms, all the other 17.5ms are off-position; The current intensity of the corresponding maximum speed per hour output of power supply modulator is 15A when rated voltage is set to 24V, and this current value designs and through test inhabitant area in conjunction with electric device 3 according to complete vehicle weight, the specified body weight of driver. Electric hub device is located at the trailing wheel of two wheeler.

The power input 1a of power supply modulator 1 electrically connects the both positive and negative polarity of set of cells 8, Timing driver current output terminal 1b electrically connects the coil windings of stator unit 3a, induced signal input 1c electrically connects sensing unit 3c, train signal input 1d electrical connection and drives actuation means 9a. The energising direction of the internal winding of stator unit, be set to shown in Fig. 2 b around the extremely inverse direction of rotation of coaxially turning of core N. Sensing unit 3c is made up of a magnetoelectric induction winding, and sensing unit is connected in the position of the internal and close its inner rim of the 3e that coaxially turns by captive screw.

What this electric two-wheel vehicle was external drives actuation means 9a to adopt the rotating potentiometer of stepless variable resistance, Conventional hand grips formula, by the Aided design with electronic control circuit, can pass through to change resistance and control the current intensity of power supply modulator 1 output in real time, thus controlling the normal speed of electric motor car. The control unit 2 of the power on/off manipulations such as the conventional use of illuminating lamp of electric motor car, turning/stop, tail and number plate light, sound ring, all adopts commercial products supporting.

The work-based logic that power supply modulator 1 sets as: with stator unit 3a and rotor unit 3b, periodically trapping gap 3d is relative, the state that is in same normal 10 (�� is as 0) is designated as benchmark coordinate and fiducial time, signal and sensing unit 3c perception rotor unit 3b is driven to go to the moment of the position that �� the is 90 degree (initial time that respective rotor unit entrance spill is relative within the scope of core two ends around axle 7 when manpower assistant or driving actuation means 9a provide, this fine moment is as the criterion with experiment value), power supply modulator starts output 10A electric current; When rotor unit 3b goes to reference seat timestamp around axle 7 every time, power supply modulator carries out a time and returns 0 calibration and record this cycle time, compare cycle time by going to reference seat target last time with rotor unit, know the instantaneous value of this cycle time, and according to real-time status, further work logic is judged: if driving actuation means 9a to power supply modulator without input instruction, power supply modulator dormancy; If driving the actuation means 9a instruction provided is accelerate, then power supply modulator is at next cycle respective rotor unit 3b around the time period that axle to �� is 90 degree of positions, performs T₁With (T₂+T₀) ratio is the switching electricity sequential of 1:35, the mean intensity of energising is by driving actuation means to provide in real time; If driving actuation means to maintain the power supply modulator output electric current state close to 15A, the logic state of above-mentioned setting is by more and more higher for the sequential energising frequency making power supply modulator, in corresponding wheel 5 each cycle, the electromagnetic force number of times of rotor unit 3b is got more and more by stator unit 3a, and speed is more and more faster; When sequential be energized frequency maintain the state of 15A higher than set 1/18ms (correspondence coaxially turn 56 turns/s of rotating speed) or the power supply modulator output continuous 4s of electric current time, the unconditional power-off of power supply modulator and reach the design object of automatic speed-limiting.

This electric motor car can also install foot-operated big sprocket wheel additional under riding seat, it is connected with the flywheel being arranged on hind axle by chain, owing to electric device uses ferromagnet and is equipped with the control of sequential electric current, damp little than the electric motor car configuring common permanent magnet motor during foot-operated use, make electric motor car electronic, that pedal double-purpose performance is all superior.

Embodiment 2,

The sequential electric current of the power supply modulator of embodiment 1 electric hub device is changed into: T₁Energising time domain is set to the constant current that two sections of time and intensities are mutually corresponding, and feature is the current intensity I of rear 1/2 time₂/ A is front 1/2 time current intensity I₁The half of/A; Power supply modulator work-based logic is adjusted to: when sensing unit 3c notice starts energising, with I in 4s₁Intensity 12A (corresponding I₂For 6A) automatically strengthen 1.2% output intensity for benchmark, the correspondence every next cycle of swing circle of coaxially turning, the relative scale of two sections of energising time domains is 1:1; From actuation means further work instructions to be driven such as 5s are initial: if driving actuation means 9a without input instruction, power supply modulator dormancy; If driving the actuation means 9a instruction provided is accelerate, then power supply modulator is when next cycle starts energising, performs T₁With (T₂+T₀) ratio is 1:35 and I₁With I₂Current intensity 2:1, conduction time ratio 1:1 electric current sequential, in real time the mean intensity of energising is by driving actuation means to provide.

Remaining design is identical with embodiment 1, and the present embodiment is because being designed as slow acceleration mode, it is thus achieved that smooth acceleration effect, adapts to the electric motor car designing requirement with safety first. Stator former unit winding starts the moment of energising, it is possible to change into (T₁+T₂) time period is reference value time delay 1% to 4%.

Embodiment 3,

The basis of embodiment 2 electric hub device optimizes the power-up procedure of power supply modulator: by T₁Energising time domain is set to that 5 periods of conduction time is identical but electric current that current intensity rule is successively decreased, and 5 sections of energising intensity press K*I₁The linear relationship hierarchical subtractive clustering of/A, degradation factor K is 0.71, namely when the initial current intensity of 5 periods of conduction times is 12.0A, T₁The rule that current intensity in sequential is 12.0A, 8.2A, 5.6A, 3.8A, 2.6A automatically is successively decreased. This power-up procedure logic uses the design that conventional electronic circuitry realizes controlling more complicated, and manufacturing cost is also higher, power supply modulator changes into employing pulse digit technology and realizes.

Power supply modulator nucleus module includes the driving module of a conventional CPU and design power 500W, its refinement work-based logic is as shown in Figure 5 b, wherein impulse transfer modulate circuit has been mainly pulse signal has been converted to step signal, pulse signal generator mainly produces required pulse signal, secondly through peaker output spike pulse, it is then passed through amplitude limiter circuit to be filtered by the negative half period of spike, only remaining positive axis spike, it is integrated adding up with the integrating circuit of integrated transporting discharging composition, plus voltage comparator and control circuit, just constitute complete step pulse signal, each element of circuit is carried out parameter adjustment, thus being met the step signal of work-based logic requirement. power supply modulator 1 is at T₁In energising sequential, making driving module produce the pulse current that a series of amplitudes are successively decreased, pulse frequency 30KHz with sequential by control chip (CPU), all the other are similar with embodiment 2, acquired power performance is similar to Example 2, but power savings is relatively good.

Embodiment 4,

The pulse subset amplitude of embodiment 3 electric hub device is changed and is set to successively decrease continuously, i.e. power supply modulator correspondence T₁When starting current is 12A, the amplitude envelope trend of the energising time domain rule in (12-2.6) Sin �� is successively decreased, and wherein �� is electromagnetic force F direction suffered by rotor unit and its normal component of force F₁₀The dynamic angle that direction is formed. For improving the functional reliability of position signalling sensing, sensing unit is set to two by the present embodiment.

The present embodiment successively decreases relation because pulse subset envelope that power supply modulator 1 exports have selected the sequential more optimized, and the saving electric energy effect that electric motor car travels is better than embodiment 3. Electric hub device described in the present embodiment, also can be arranged on front-wheel and the single block of two wheeler and tricycle accordingly.

Embodiment 5,

Above electric hub device embodiment all adopts traditional mechanical mode to brake, and the present embodiment uses T₂Embodiment 4 electric hub device is set up electromagnetic force braking function by time domain energising.

Power supply modulator increases a brake signal input 1e accordingly and electrically connects electro-magnetic braking device 9b, and as shown in Figure 5 c, electro-magnetic braking device is ten grades of rheostats; When Artificial Control electro-magnetic braking device sends brake signal, power supply modulator cuts off T₁The electric current of corresponding sequential, starts T₂Time domain is energized, this braking energising time domain be set in sensing unit 3c perception rotor unit 3b around axle to �� be 15 degree to the time period that �� is 0 position; This braking energising time domain T₂Can also corresponding cycle sequential T and briefly set: at (T₁+T₂) in sequential, initial 5/6 time domain power-off, afterwards 1/6 time domain energising.

The stalling current that power supply modulator exports, ten grades of resistance shelves of corresponding electro-magnetic braking device 9b are set to ten grades of intensity, sets the current intensity that exports as: chopped-off head 5A, final stage 16A, ten grades of electric currents are on average arranged.

The present embodiment electric hub device is owing to having additional the soft braking function of electromagnetism, and slowing effect is mild.

Embodiment 6,

The brake logic of embodiment 5 electric hub device is optimized for further: power supply modulator starts T₂While time domain energising, by T₀The work-based logic of part time domain synchronizes to be transformed to energising, this T₀The numerical value of part time domain and (T₁+T₂) equal, T₀Energising Startup time is with �� for 0 beginning timing; Power supply modulator is at this T₀Current intensity that part time domain exports and T₂Time domain is identical, and this scheme can strengthen electromagnetic force braking effect.

The braking energising of stator unit winding is added the present embodiment rotor unit and stator unit is in the time domain away from state; This braking energising time domain T₂Can also corresponding cycle sequential T and briefly set: at (T₁+T₂+T₀) in sequential, initial 5/12 time domain power-off, afterwards 7/12 time domain energising.

Aforementioned braking time domain �� is the time period that can also change to time period of 15��0 degree of positions 35��0 degree of positions.

Embodiment 7,

Configuration is coaxially mounted in parallel the electric hub device of the extraordinary two wheeler of two wheels, and wheel hub outer rim girth is 1500mm, and set of cells 8 selects plumbic acid colloid battery, is arranged on the ad hoc position of vehicle frame 4.

The 3e that coaxially turns within electric hub device is one to be had and rotates the annular alloy steel ring that axle, girth are 500mm, internal chimeric 8 rotor units, including 4 PM rotor unit 3b1 and 4 magnetic conductor rotor unit 3b2, the S of 4 PM rotor unit 3b1 is extremely all just to the axle turned, the permanent magnet of 8 rotor units and the alternate average setting of magnetic conductor, its partial structurtes are as shown in Figure 7a; On the internal machinery connected with dead axle of steel ring, the stator unit 3a of and steel ring inner edge spacing 8mm is installed; Coaxially turn and wheel hub 6 concentric installed, be arranged between one by the deceleration/torque changing apparatus 2 of some gear combination, decelerations/torque changing apparatus with coaxially turn and the installation of wheel hub 6 concentric, the speed reducing ratio of deceleration/torque changing apparatus is 9:1.

The present embodiment underlying parameter designs with reference to embodiment 1 and adjusts, the coil windings of stator unit is adjusted to 60 circles, the mechanical angle of corresponding occupy-place of coaxially turning is 45 degree, continue to select speed limit 20Km/h and 5.6m/s (3.7 turns/s), the speed limit through deceleration/torque changing apparatus 2 correspondence of coaxially turning is 33.3 turns/s, it is 30ms that meter takes spin cycle time corresponding to speed limit, because of be arranged on the stator unit coaxially turned outside 3e in a swing circle of coaxially turning respectively with 8 rotor unit generation electromagnetic forces, (T that electric device is powered by power supply modulator₁+T₂+T₀) timing cycles correspondence speed limit value is 3.75ms, chooses (T₁: T₂: T₀) for 0.775:1.1:1.875; Power supply modulator selects large scale digital logic switch integrated circuit to realize, and designs maximum overload capacity 1500W. The power supply modulator energising direction to stator unit inside winding, is set to around the extremely inverse direction of rotation of coaxially turning of core N.

The work-based logic that power supply modulator sets is similar with the method for embodiment 1, by the sequential of period regulation record energising frequency, would know that real-time speed, when sequential be energized frequency higher than 1/3.75ms (correspondence coaxially turn 33.3 turns/s of rotating speed) time, the unconditional power-off of power supply modulator and reach the design object of automatic speed-limiting.

The present embodiment uses two set electric devices to drive two wheels, makes electrical vehicular power double; Because two electric hub devices are co-axially mounted on the back rest, during turning driving, there is differential, therefore should be specifically designed speed limit, or by the differential program to the built-in turning driving of power supply modulator 1, make turning driving more stable.

In the present embodiment, drive power supply time domain T₁Also may be defined as �� from 90 degree to 45 degree the corresponding time period, be briefly set as: at (T₁+T₂+T₀) in sequential, initial 1/4 time domain energising, 3/4 time domain power-off afterwards.

Embodiment 8,

Being set up by the stator unit 3a of embodiment 7 electric hub device is two, titanium-aluminium alloy coaxially turn 3e with integrated forming technique in inside chimeric 8 rotor unit 3b, rotor unit includes 4 PM rotor unit 3b1 and 4 magnetic conductor rotor unit 3b2, the S of 4 PM rotor unit 3b1 is extremely all just to the axle turned, the permanent magnet of 8 rotor units and magnetic conductor alternate average setting between two.

Two stator units change cylinder into around core, umber of turn is all 60 circles, cylindrical vertical with corresponding normal 10 of coaxially turning around core two ends during installation, as shown in Figure 3 a; Two stator units are arranged on the annular position of the center of the internal plane normal of the 3e that coaxially turns, close coaxial rotating inner edge 6mm, technology requires that the mechanical spacing adjoining rotor unit 3b with direction of rotation is identical, the winding of two stator units is electrically connected in series, common 8 rotor unit generation electromagnetic forces equally distributed with it in 3e swing circle of coaxially turning; Power supply modulator correspondence spin cycle time of coaxially turning is identical. In the present embodiment, drive power supply time domain be defined as �� from 90 degree to 25 degree the corresponding time period, brake power time domain be defined as �� from 25 degree to 0 degree the corresponding time period.

The present embodiment is because have employed two stator unit 3a, and power effect doubles.

The mechanical layout of two stator unit 3a in the present embodiment, can also change into and internal monosymmetric determine body region installation turning, namely the centrage with internal plane normal of turning is benchmark, determines the installation of body region lateral symmetry accordingly, the winding of two stator units is electrically connected in series, and electromagnetic pole direction is identical.

Embodiment 9,

It is arranged on the electric hub device of two trailing wheels of electric four-wheel vehicle, selects four-wheel vehicle frame as illustrated in figure 1 c; In the present embodiment, the machinery internal ad hoc for 3e of coaxially turning of electric hub device arranges 12 stator unit 3a, what stator unit was selected is cylindrical around core, umber of turn is identical with embodiment 7, during installation, cylinder overlaps with corresponding normal 10 of coaxially turning around core two ends line 12, as shown in Figure 3 b, and at the annular position near coaxial rotating inner edge 8mm it is uniformly distributed; Power supply modulator, to the energising direction after stator unit combination, is set to the extremely inverse direction of rotation of coaxially turning of N. Titanium-aluminium alloy coaxially turn 3e with integrated forming technique in inside the rotor unit 3b of chimeric 12 alternate settings, including 3 PM rotor unit 3b1 and 9 magnetic conductor rotor unit 3b2, the N of 3 PM rotor unit 3b1 is extremely all just to the axle turned, during installation, alternate 1 the PM rotor unit of every 3 magnetic conductor rotor units, 12 rotor unit alternate average settings on turning.

The winding of 12 stator units is electrically connected in series, tap is drawn in the middle of the winding of every 4 stator units, externally form 3 lines and form electric external loop (being similar to the star-star-delta connection Y-Y of the internal winding of conventional motors), 12 rotor unit generation electromagnetic forces equally distributed with it in 3e swing circle of coaxially turning; The electric connection mode correspondence of power supply modulator is designed as three wire circuit, its time sequential pulse electric current mean allocation in each loop that three lines are constituted exported accordingly; The present embodiment can compare differetial-potential difference between two further with the external biphase feedback of stator unit 3a winding, as the signal source that a kind of interior location differentiates, substitutes the sensing unit being independently arranged.

The Method And Principle that the driving of the present embodiment, brake control mode and stator former unit are arranged at inside of coaxially turning is similar, drive power supply time domain be defined as �� from 90 degree to 70 degree the corresponding time period, brake power time domain be defined as �� from 22.5 degree to 0 degree the corresponding time period.

The driving of the present embodiment is powered time domain T₁Also can briefly be set as: at (T₁+T₂+T₀) in sequential, initial 2/9 time domain energising, 7/9 time domain power-off afterwards. Braking power supply time domain T₂Also can briefly be set as: at (T₁+T₂+T₀) in sequential, initial 3/8 time domain power-off, afterwards 5/8 time domain energising.

The present embodiment, because have employed 12 stator unit combinations, uses two set electric hub devices to drive two wheels, and power effect is greatly enhanced. There is differential during because of two Electric Motor Wheel turning drivings, speed limit should be specifically designed, or by the differential program to the built-in turning driving of power supply modulator 1, make turning driving more stable.

Embodiment 10,

In embodiment 1 spill around the top of core just on the basis of the inner edge of the 3e that coaxially turns, spill deflects 4 degree of angles around the top of core against rotation of wheel direction, and all the other are similar with embodiment 1. The present embodiment, because forming the deflection angle of electromagnetic field after the internal winding energising of stator unit 3a, more meets dynamic model periodically attracting during rotor unit 3b rotates with the 3e that coaxially turns, and acquired implementation result is more relatively good than embodiment 1.

Embodiment 11,

Sensing unit 3c described in embodiment 1 is connected in inside the 3e that coaxially turns of electric hub device, sensing unit 3c is arranged on the vehicle frame 4 of front-wheel by the present embodiment, in front-wheel 5 cycle in the face of the annular region any part of sensing unit 3c, one piece of permanent magnet is set specially, the sensing winding making sensing unit 3d rotates with wheel 5 and periodically obtains induced signal, and acquired implementation result is similar with embodiment 1.

The sensing unit 3c of previous embodiment 1 it can also be provided that two even more than, can further improve the functional reliability of electric hub device interior location sensing.

Embodiment 12,

The stator unit winding of embodiment 1 is changed into two-wire wounded core, two windings are enclosed by the copper cash wounded core 39 of two 0.55mm and form, one of them winding loop is powered for power, electric connection of power supply manipulator 1, another winding loop is used as to substitute the sensing unit 3b being independently arranged, as the rotor unit 3b differentiation signal source with position of rotation of coaxially turning.

In addition stator unit Winding Design can be optimized for further: power power winding by the copper cash of a diameter 0.55mm around spill magnetic core 39 circle form, sensing winding is formed around spill magnetic core 16 circle by the copper cash of a diameter 0.20mm, can more save copper material.

Above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to embodiment, it will be understood by those within the art that, technical scheme is modified or equivalent replacement, without departure from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention.

Claims (12)

1. an electric hub device, it is characterized in that, described electric hub device includes wheel hub (6), deceleration/torque changing apparatus (2), power supply modulator (1), drives actuation means (9a) and electric device (3); Described electric device (3) includes coaxially turning (3e), at least one stator unit (3a) and some rotor units (3b); Described coaxially turning is an annular machinery circle with rotation axle; Described rotor unit includes at least one PM rotor unit (3b1) and at least one magnetic conductor rotor unit (3b2), it is alternate be arranged at and coaxially turn on, and with rotation of coaxially turning; Described stator unit is arranged close to the fixed position of coaxial rotating inner edge, and stator unit is not more than 55mm with the relative air gap (3d) formed of coaxially turning; Described coaxially turning and wheel hub is coaxially disposed, electric device and deceleration/torque changing apparatus are arranged in wheel hub, at least provided with a set of electric device in wheel hub;

Described power supply modulator includes power input (1a), sequential current output terminal (1b) and driving signal input (1d), the both positive and negative polarity of described power input electrical connection set of cells (8), the inside winding of sequential current output terminal electrical connection stator unit, driving signal input electrical connection drives actuation means; Described power supply modulator is by driving actuation means to obtain the driving instruction of user, and in the corresponding time sequence inside winding output current to stator unit, makes electric device, by deceleration/torque changing apparatus, wheel hub be realized driving/braking.

2. electric hub device according to claim 1, it is characterized in that, described deceleration/torque changing apparatus (2) includes some gear combination, its drive input with coaxially turn (3e) mechanical attachment, its transmission output and wheel hub (6) mechanical attachment; Deceleration/torque changing apparatus is independently arranged, or with coaxially turn or wheel hub integrated setting.

3. electric hub device according to claim 1, it is characterized in that, described stator unit (3a) is formed around the magnetic core of magnetic media material by the good conductor loop of least one set, by connected in series or in parallel between the winding that its several combination obtains, or form multi-thread external loop by drawing centre tap between different windings.

4. electric hub device according to claim 1, it is characterized in that, described electric device also includes sensing device, and described sensing device includes some sensing units (3c) that can sense described rotor unit (3b) and stator unit (3a) relative position; Described sensing unit electrically connects with the transducing signal input (1c) of described power supply modulator; Described electric device at least interiorly or exteriorly arranges a sensing unit what coaxially turn.

5. electric hub device according to claim 4, it is characterized in that, described sensing device includes the inside winding of stator unit (3a), and described internal winding includes surrounding the winding of stator unit magnetic core and by the multi-thread external loop being in series between some stator unit windings.

6. electric hub device according to claim 1, it is characterized in that, described electric hub device also includes electro-magnetic braking device (9b), described power supply modulator also includes brake signal input (1e), its electrical connection electro-magnetic braking device (9b), obtains the braking instruction of user and in the corresponding time sequence inside winding output current to the stator unit (3a) of electric device by electro-magnetic braking device.

7. containing the electric motor car of the arbitrary electric hub device of claim 1��6, described electric motor car includes the electric motor car of one or more wheel and electronic, autocycle; The wheel of described electric motor car includes single-wheel and the quasi-single-wheel structure of coaxial two wheel hubs of compact installation.

8., based on the driving method of the arbitrary electric hub device of claim 1��6, the method controls hub rotation by power supply modulator 1 according to the position relationship output timing electric current of described rotor unit (3a) and described stator unit (3b);

Described sequential defines according to rotation of wheel direction, described sequential electric current combines the rotor unit number on coaxially turning according to stator unit electromagnetic field in the useful effect interval coaxially turned on (3e) and arranges several make and break periods, and each make and break period includes power supply time domain and power-off time domain; Described power supply time domain is positioned at the 25 degree�ܦȡ�90 degree corresponding time period, and described �� is the dynamic angle that rotor unit is formed around the direction of stator unit electromagnetic force suffered by axle Yu its normal component of force; In described power-off time domain, power supply modulator (1) does not export electric current.

9. method according to claim 8, it is characterised in that described power supply modulator at least includes two sections of different current amplitudes in power supply time domain, and diminishes successively in amplitude chronologically, the amplitude in power supply time domain or its period of the day from 11 p.m. to 1 a.m territory is linearly successively decreased with sequential relation;

Or in 2^KSuccessively decrease relation, described index K value 0.55 to 0.95;

Or be following relation: I_t/ A=(I₀�DI_g) Sin ��, wherein I₀For initial energising intensity, I_gCurrent intensity for the end time that is energized.

10. method according to claim 8 or claim 9, it is characterized in that, the magnetic flux density of electric current initial in described energising time domain, voltage or stator unit (3a) is obtained rotating speed instantaneous value of coaxially turning and combines the instruction driving actuation means (9a) to provide and adjust by sensing device.

11. method according to claim 8 or claim 9, it is characterised in that described method also includes aligning step; Described aligning step is rotor unit is relative with the coaxial normal in stator unit place, �� be 0 state as benchmark coordinate and fiducial time, when rotor unit goes to reference seat timestamp every time, power supply modulator (1) carries out a time and returns 0 calibration and record this cycle time, compare cycle time by going to reference seat target with rotor unit last time, thus knowing the spin cycle time coaxially turned, and control output electric current.

12. the braking method based on the arbitrary electric hub device of claim 1��6, the method is relative with the coaxial normal in stator unit place at described rotor unit convergence stator unit, rotor unit and is in away from least one time domain of state, and output timing electric current controls wheel hub braking;

Described rotor unit convergence stator unit is the 0�ܦȡ�35 degree corresponding time periods, and described �� is the dynamic angle that rotor unit is formed around the direction of stator unit electromagnetic force suffered by axle Yu its normal component of force.