CN106671762B - Pure electric vehicle driven in distributed mode - Google Patents

Pure electric vehicle driven in distributed mode Download PDF

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Publication number
CN106671762B
CN106671762B CN201611178485.9A CN201611178485A CN106671762B CN 106671762 B CN106671762 B CN 106671762B CN 201611178485 A CN201611178485 A CN 201611178485A CN 106671762 B CN106671762 B CN 106671762B
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China
Prior art keywords
controller
vehicle controller
vehicle
braking
wheel hub
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CN201611178485.9A
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CN106671762A (en
Inventor
王震坡
曲昌辉
张雷
石文利
薛雪
刘旭泽
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/09—Means for mounting load bearing surfaces
    • 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
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a distributed driving pure electric vehicle, which comprises: a hub motor unit, two front wheels, two rear wheels, and a vehicle controller; the wheel hub motor group comprises two front wheel hub motors and two rear wheel hub motors, the two front wheel hub motors are respectively connected with one front wheel, the two rear wheel hub motors are respectively connected with one rear wheel, and the wheel hub motor group is electrically connected with the vehicle controller and is used for outputting corresponding torque to corresponding wheels according to a driving instruction of the vehicle controller so as to drive the pure electric vehicle to go straight, turn and brake. The pure electric vehicle provided by the invention directly drives the electric vehicle to go straight, turn and brake through the hub motor group. The pure electric automobile omits parts such as a clutch, a differential mechanism, a transmission shaft and the like in a transmission system, the chassis structure is relatively simplified, the whole automobile is small in size and light in weight, the effective riding space is large, and meanwhile favorable conditions are created for realizing efficient and intelligent chassis systems.

Description

Pure electric vehicle driven in distributed mode
Technical Field
The invention relates to the field of pure electric vehicles, in particular to the field of pure electric vehicles driven in a distributed manner.
Background
With increasing importance of people on energy conservation and environmental protection, the use of electric automobiles is gradually increased. The research and development of the novel automobile with energy conservation, environmental protection and safety changes the traditional automobile mode, and is the necessary direction for realizing sustainable development of the automobile industry.
At present, the battery pack structure and the frame structure of the electric automobile often adopt an independent design strategy, and the disadvantage of the battery pack structure is that the overall quality of the frame and the battery pack structure of the electric automobile is very large, and meanwhile, the omnibearing protection of the safety performance of the battery pack is difficult to realize. In the long-time working or collision accident process of the electric automobile, the integrity and the safety of the battery unit cannot be guaranteed by the battery pack structure, and the battery unit is easy to squeeze mutually to cause the phenomena of battery damage, battery spontaneous combustion and the like. The frame structure of the field pure electric vehicle is too simple, the rigidity of the whole structure of the frame is low, the safety is poor, and the requirements of the road vehicle are difficult to be met. In addition, the existing frames are not beneficial to the assembly of the electric automobile and are not suitable for the development requirement.
Meanwhile, the pure electric vehicle refitted by the traditional vehicle is limited by the existing vehicle type, so that the arrangement of parts of the whole vehicle is unreasonable, the system is difficult to match, the volume and the weight of the whole vehicle are large, the effective riding space is small, and the advantages of the electric vehicle cannot be exerted. Therefore, how to provide a pure electric vehicle with small volume, light weight and large effective riding space is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a distributed-driving pure electric vehicle which is small in size, light in weight and large in effective riding space.
In order to achieve the above object, the present invention provides the following solutions:
a distributed-drive electric vehicle, the electric vehicle comprising: a hub motor unit, two front wheels, two rear wheels, and a vehicle controller; wherein,
the wheel hub motor group comprises two front wheel hub motors and two rear wheel hub motors, the two front wheel hub motors are respectively connected with one front wheel, the two rear wheel hub motors are respectively connected with one rear wheel,
the hub motor unit is electrically connected with the vehicle controller and is used for outputting corresponding torque to corresponding wheels according to a driving instruction of the vehicle controller so as to drive the pure electric vehicle to move straight, steer and brake.
Optionally, the pure electric vehicle further comprises an anti-lock braking component and a front wheel active steering mechanism, wherein,
the anti-lock braking assembly is connected with the vehicle controller and used for providing braking force according to a braking instruction of the vehicle controller and braking in cooperation with the hub motor unit;
the front wheel active steering mechanism is connected with the vehicle controller, is arranged between the two front wheels, is connected with the two front wheels and is used for driving the two front wheels to steer according to steering instructions of the vehicle controller.
Optionally, the anti-lock braking assembly specifically comprises a hydraulic braking assembly and a braking executing mechanism; wherein,
the hydraulic brake assembly is electrically connected with the vehicle controller and is used for providing braking force according to a braking instruction of the vehicle controller;
the brake actuating mechanism is respectively connected with the two front wheels and the two rear wheels and is used for transmitting the braking force provided by the hydraulic brake assembly to the corresponding wheels.
Optionally, the pure electric vehicle further comprises a power battery, which is respectively connected with the vehicle controller and the wheel hub motor group and is used for supplying power to the vehicle controller and the wheel hub motor; wherein,
the vehicle controller is also used for detecting the state of the power battery in real time.
Optionally, the pure electric vehicle further comprises a frame, and the vehicle controller and the power battery are arranged on the frame.
Optionally, the frame specifically includes: a frame type frame, a sealing plate and a floor, wherein,
the frame type frame is matched with the power battery, the floor is arranged at the bottom of the frame type frame, the sealing plates are arranged at the top, front, back, left and right sides of the frame type frame, and the frame type frame, the sealing plates and the floor form a sealed cavity.
Optionally, the power battery is disposed within the cavity.
Optionally, the driving instruction includes: the vehicle controller sends out a precursor command, a rear-drive command or a four-drive command according to the power requirement and the economical requirement.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the distributed driving pure electric vehicle provided by the invention directly drives the electric vehicle to move straight, turn and brake through the hub motor group. The pure electric automobile omits parts such as a clutch, a differential mechanism, a transmission shaft and the like in a transmission system, the chassis structure is relatively simplified, the whole automobile is small in size and light in weight, the effective riding space is large, and meanwhile favorable conditions are created for realizing efficient and intelligent chassis systems.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an electrical schematic diagram of a pure electric vehicle according to embodiment 1 of the present invention;
fig. 2 is a chassis structure diagram of a pure electric vehicle according to embodiment 2 of the present invention;
fig. 3 is a whole vehicle structure diagram of a pure electric vehicle according to embodiment 2 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a distributed-driving pure electric vehicle which is small in size, light in weight and large in effective riding space.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1:
as shown in fig. 1, which is an electrical schematic diagram of a pure electric vehicle, the pure electric vehicle with distributed driving provided by the invention further comprises the following components besides the traditional electric vehicle components such as a chassis and an electrical component: a frame, two front wheels 101, two rear wheels 102, a power battery 103, a front wheel active steering mechanism 104, an antilock brake Assembly (ABS), a hub motor unit and a vehicle controller. A vehicle controller and a power battery 103 are provided on the frame. Wherein,indicating a high voltage electrical connection, ">Indicating hydraulic connection +.>Indicating a mechanical connection +.>Representing a controller area network (Controller Area Network, CAN) bus connection.
The antilock brake assembly includes a hydraulic brake set 105 and a brake actuator (brake) 106, and is connected to the vehicle controller for providing a braking force according to a braking command of the vehicle controller, and braking in cooperation with the hub motor set. Specifically, the hydraulic brake assembly 105 is electrically connected to a vehicle controller for providing braking force in accordance with a braking command of the vehicle controller. The brake actuators 106 are connected to the two front wheels 101 and the two rear wheels 102, respectively, and transmit braking forces provided by the hydraulic brake assemblies 105 to the corresponding wheels.
The vehicle controller specifically includes: a vehicle controller 107, four motor controllers 108, an antilock brake controller (ABS controller) 109, a steering mechanism controller 110, and a power battery controller (Battery Management System, BMS) 111. The whole vehicle controller 107 is respectively connected with the motor controller 108, the anti-lock brake controller 109, the steering mechanism controller 110 and the power battery controller 111 through the CAN bus, and an intelligent interface is reserved in the whole vehicle controller 107. The wheel hub motor group specifically includes two front wheel hub motors 112 and two rear wheel hub motors 113. The four motor controllers 108 respectively control the corresponding front wheel hub motors 112 and rear wheel hub motors 113 to output respective torques to the corresponding wheels according to instructions of the whole vehicle controller 107. The antilock brake controller 109 controls the hydraulic brake system 105 to output a braking force according to a command of the vehicle controller 107.
The motor controller 108 implements a steering command using a front wheel hub motor torque difference according to the steering command of the whole vehicle controller 107. The steering mechanism controller 110 compensates the differential steering by controlling the front wheel steering angle according to the instruction of the vehicle controller. The front wheel active steering 104 is connected to a steering controller 110 in the vehicle controller, and is disposed between the two front wheels 101 and connected to the two front wheels 101. The vehicle controller 107 sends a steering command to the steering mechanism controller 110, and the front wheel active steering mechanism 104 drives the two front wheels 101 to steer according to the steering command of the steering mechanism controller 110, and compensates the differential steering by controlling the steering angle of the front wheels. The front-wheel active steering mechanism 104 and the four wheel hub motors perform differential steering and active steering coordination control steering operations on the vehicle according to the vehicle control system instructions.
The vehicle controller sends a front drive command, a rear drive command or a four-drive command according to the power demand and the economical demand. The power battery 103 is respectively connected with the vehicle controller and the hub motor group and supplies power for the vehicle controller and the hub motor. The power battery controller 111 detects the power battery state and transmits information of the power battery 103 to the vehicle controller 107 in real time in the CAN longitudinal direction.
The frame specifically comprises a frame type frame, a sealing plate and a floor. The frame type frame is matched with the power battery 103, the floor is arranged at the bottom of the frame type frame, the sealing plates are arranged at the top, front, back, left and right sides of the frame type frame, the sealing plates and the floor form a sealed cavity, and the power battery 103 is arranged in the sealed cavity.
The pure electric vehicle provided by the invention effectively simplifies the structure of the vehicle, improves the performance of the vehicle such as dynamic performance, operation stability, braking performance and the like, and prolongs the endurance mileage. Compared with the traditional internal combustion engine or the centralized driving type pure electric automobile, the electric automobile has the following obvious advantages:
(1) Compared with the traditional internal combustion engine or the centralized driving type pure electric vehicle, the quick and accurate response characteristic of the hub motor is utilized, the response characteristic of the system in operation can be greatly improved, and the performance of the whole vehicle is systematically improved.
(2) The distributed driving electric automobile has the advantages of four-wheel independent driving, easy measurement of rotational speed and torque and the like, is convenient to adopt systems such as steer-by-wire, brake-by-wire and the like, and is an ideal carrier for integrated control of an automobile chassis.
(3) The vehicle control system controls the braking system, the braking system and the steering system through a reasonable control strategy, so that the whole vehicle achieves optimal economical efficiency, safety, steering stability and drivability.
(4) And reserving an intelligent interface in the vehicle control system to provide an interface for loading of a subsequent intelligent automobile.
(5) The frame structure of the invention reasonably designs the installation positions and reasonable spaces of the motor, the motor controller and the battery pack.
Example 2:
the power of the embodiment is provided by four hub motors and power batteries. The hub motor and the brake disc are integrated together, and meanwhile, the hub motor is connected with the power battery through a high-voltage wire harness, and the power battery provides power. The four hub motors are directly connected with the wheels, and the output torque of the hub motors is directly transmitted to the wheels to drive the vehicle.
In the embodiment, ABS and four hub motors are adopted for combined braking. The ABS is connected to the four brake disks by actuators. Simultaneously, four brake discs are respectively connected with four wheels, braking operation is performed by controlling braking force, and four hub motors are performed by motor resistance moment. When a driver presses a brake pedal or a vehicle controller in the whole vehicle controller calculates that braking is needed, according to a braking command of the vehicle controller, the ABS and the four hub motors are used for braking in a coordinated mode.
When steering, the steering mechanism controller controls the front wheel active steering mechanism to perform front wheel active steering operation in cooperation with the differential steering of the hub motor according to the steering instruction of the whole vehicle controller. When a driver performs steering operation or a vehicle control system in the whole vehicle controller sends a steering instruction to a motor controller corresponding to a front wheel hub motor, the two front wheel hub motors receive the torque instruction of the motor controller, and the steering instruction is completed by utilizing the torque difference of the two hub motors. Meanwhile, the front wheel active steering mechanism compensates the steering angle of the vehicle by controlling the front wheels to actively steer.
The whole vehicle controller obtains the vehicle state and the vehicle state predicted by the model according to the sensor to perform information fusion, establishes the vehicle required power and the expected motion track based on the economy, the safety and the operation stability of the vehicle, calculates the control instruction of each controller in real time, namely, the whole vehicle controller determines the driving force, the braking force and the steering angle control instruction required by four wheels, distributes the driving force and the braking force to four hub motors and ABS respectively through the hub motor controller and the ABS controller, and sends the steering angle instruction to the front wheel active steering mechanism through the steering mechanism controller, thereby ensuring that the vehicle always works in the optimal state.
And the ABS controller controls the hydraulic brake assembly in the ABS to execute the braking force command according to the braking force command distributed by the whole vehicle controller. And the steering mechanism controller controls the active steering mechanism of the wheels to realize the steering angle instruction according to the steering angle instruction sent by the whole vehicle controller.
The frame of this embodiment mainly includes automobile body frame, preceding frame, back frame, has the supporting part that is used for parts such as fixed suspension, group battery on the frame design. The frame type frame consists of a plurality of cross beams and longitudinal beams, and the middle part of the frame type frame is used for placing a battery pack. The sealing plate and the floor are fastened and connected with the orthogonal energy absorption structure by using sealing rubber strips, rivet nuts embedded in the orthogonal energy absorption structure and bolts, and the sealing plate and the floor play a sealing role on the battery box.
Specifically, as shown in fig. 2 and 3, the frame specifically includes: the rear suspension cross arm 1, the rear longitudinal beam 2, the rear suspension longitudinal arm 3, the rear suspension supporting plate 4, the rear suspension supporting frame 5, the rear cross beam 6, the floor 7, the battery compartment 8, the steering wheel mounting frame 9, the front suspension longitudinal arm 10, the front longitudinal beam 11, the front suspension supporting plate 12, the whole vehicle controller bracket 13, the orthogonal energy absorbing cross beam 14, the front seat support 15, the fixed support 16, the rear seat support 17, the vehicle body connecting port 18, the rear vehicle body frame 19, the vehicle body frame roof longitudinal beam 20, the vehicle body frame roof cross beam 21 and the front vehicle body frame 22.
The front frame is positioned at the front end of the frame type frame, the rear frame is positioned at the rear position of the frame type frame, the front frame is connected with the rear frame through longitudinal energy absorbing structures positioned at the left side and the right side of the orthogonal energy absorbing structure, and the threshold structure is in transitional connection with the orthogonal energy absorbing structure through a thin-wall pipe structure. The sealing plate and the floor are fastened and connected with the orthogonal energy absorption structure through sealing rubber strips, and rivet nuts and bolts embedded in the orthogonal energy absorption structure. The power battery is arranged in a sealed cavity formed by the frame type frame, the floor and the sealing plate.
The front frame is positioned at the front end of the frame, the rear frame is positioned at the rear position of the frame, the front frame and the rear frame are connected through longitudinal energy absorption structures positioned at the left side and the right side of the orthogonal energy absorption structure, and the threshold structure is in transitional connection with the orthogonal energy absorption structure through a thin-wall pipe structure;
the front frame consists of a frame front longitudinal beam, a cross beam, a shock absorber fixing plate, a shock absorber fixing support beam, a front wall, an upper longitudinal beam, a cross beam and a reinforcing beam, wherein the front bumper is fixedly connected with the front frame longitudinal beam; the rear frame consists of a rear longitudinal beam, a shock absorber fixing plate, a shock absorber fixing support beam and a cross beam, and the rear bumper is fixedly connected to the cross beam.
The front frame meets the arrangement and fixation of the suspension damper, the bumper, the hub motor, various motor controllers and the whole vehicle controller, the main body frame bears the seat, the passenger, the battery pack and the vehicle body, and the rear frame meets the arrangement and the installation of the rear damper, the bumper and the like. Meanwhile, the suspension, the hub motor, the steering mechanism and the like are connected with the front frame and the rear frame by adopting rubber suspension.
By adopting the vehicle control system provided by the invention, the electric vehicle driven in a distributed manner can realize the following functions:
differential steering function: in the process of steering operation carried out by a driver according to driving intention, a vehicle control system formulates driving moment and braking moment required by four wheel hub motors according to signals such as steering wheel torque, steering wheel rotation angle, rotation speed of each wheel, output voltage of an electronic accelerator pedal and the like measured by a sensor, and simultaneously sends a steering instruction to a steering mechanism controller, the steering mechanism controller drives a front wheel active steering mechanism to act, and the four wheel hub motors and the steering mechanism controller coordinate to finish steering operation. The differential steering function can effectively reduce steering wheel angle input at the same steering radius, and improves the steering performance of the vehicle. In the steering process, when the vehicle speed is reduced, the torque of the two hub motors of the rear wheels is controlled to be increased, so that the power performance is compensated.
And the hydraulic and electric composite braking function: in the process of executing braking operation according to driving intention, a vehicle control system transmits signals of steering wheel rotation angle, wheel speed, vehicle speed, pedal stroke, yaw rate, brake master cylinder, wheel cylinder pressure and the like to the vehicle control system according to the signals measured by the sensors, the vehicle control system carries out comprehensive analysis and judgment, a control command which is required to be sent out in the current state is calculated, namely, estimated required braking torque is sent to an ABS controller and a motor controller, the ABS controller sends the command to a braking executing mechanism, and the motor controller switches the working state of a hub motor and sends the command to the hub motor. The power battery controller detects the working state of the power battery in real time, mainly obtains the residual electric quantity (State Of Capacity, SOC) of the power battery, and provides a reference element for the composite brake control strategy. The vehicle control system is in real-time communication with the motor controller and the power battery controller through the CAN bus, so that the real-time distribution of hydraulic braking torque and motor braking torque in the vehicle hydraulic and electric composite braking process is realized.
Drive control function: in the driving operation process of the driver according to the driving intention, the vehicle control system transmits signals such as accelerator pedal input, steering wheel rotation angle, vehicle speed, longitudinal acceleration, lateral acceleration and the like to the vehicle control system according to the signals measured by the sensors, the vehicle control system performs comprehensive analysis and judgment, the driving requirement of the driver in the current state is calculated, the running state of the vehicle is identified, the configuration form (front drive, rear drive and four drive) and the functional mode (dynamic property and economical efficiency) are selected, torque instructions are sent to the four motor controllers to meet the whole vehicle torque requirement under different functional modes, and the four motor controllers respectively send torque instructions to the four hub motors to realize the torque closed-loop control.
In this embodiment, the whole vehicle controller, the steering mechanism controller, the ABS controller, the motor controller and the power battery controller may all be implemented by using a single-chip microcomputer.
Compared with the traditional internal combustion engine automobile and the centralized driving type electric automobile, the electric automobile driven by the hub motor has the advantages that each wheel of the electric automobile can be rapidly driven and braked by the hub motor, and the steering sensitivity is greatly increased by utilizing differential steering control. Because parts such as a transmission system clutch, a differential mechanism and a transmission shaft are omitted, the chassis structure is relatively simplified, the mass of the whole vehicle is greatly reduced, the weight of the whole vehicle is reduced to the greatest extent, and meanwhile, favorable conditions are created for realizing the high-efficiency intelligent of the chassis system. In addition, the hub motor has the advantages of quick response and easy measurement, and the hub motor and the motor controller can be used for realizing accurate control of driving and braking of single or multiple wheels. Thus, the vehicle can realize straight running, turning running and acceleration and deceleration movement. The electric automobile driven by the hub motor is easy to realize the functions of regenerative energy feedback and the like of the wheels of the electric automobile.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (1)

1. A distributed-drive pure electric vehicle, characterized in that the pure electric vehicle comprises: a hub motor unit, two front wheels, two rear wheels, and a vehicle controller; wherein,
the wheel hub motor group comprises two front wheel hub motors and two rear wheel hub motors, the two front wheel hub motors are respectively connected with one front wheel, the two rear wheel hub motors are respectively connected with one rear wheel,
the hub motor unit is electrically connected with the vehicle controller and is used for outputting corresponding torque to corresponding wheels according to a driving instruction of the vehicle controller so as to drive the pure electric vehicle to move straight, steer and brake;
the vehicle controller specifically includes: the system comprises a whole vehicle controller, four motor controllers, an anti-lock brake controller, a steering mechanism controller and a power battery controller; the whole vehicle controller is respectively connected with the motor controller, the anti-lock brake controller, the steering mechanism controller and the power battery controller through the CAN bus, and an intelligent interface is reserved in the whole vehicle controller;
the four motor controllers respectively control the corresponding front wheel hub motors and rear wheel hub motors to output corresponding torque to corresponding wheels according to the instruction of the whole vehicle controller; the motor controller realizes a steering instruction by utilizing the torque difference of the front wheel hub motor according to the steering instruction of the whole vehicle controller;
the steering mechanism controller compensates differential steering by controlling the steering angle of the front wheel according to the instruction of the whole vehicle controller; the front wheel active steering mechanism and the four wheel hub motors perform differential steering and active steering coordination control steering operation on the vehicle according to the command of the vehicle control system;
the pure electric vehicle also comprises an anti-lock braking component and a front wheel active steering mechanism, wherein,
the anti-lock braking assembly is connected with the vehicle controller and used for providing braking force according to a braking instruction of the vehicle controller and braking in cooperation with the hub motor unit;
the front wheel active steering mechanism is connected with the vehicle controller, is arranged between the two front wheels, is connected with the two front wheels and is used for driving the two front wheels to steer according to steering instructions of the vehicle controller;
the anti-lock braking component and the hub motor unit are used for braking in a combined mode; the anti-lock brake assembly is connected to the four brake discs through an actuating mechanism; simultaneously, the four brake discs are respectively connected with four wheels, the brake discs perform braking operation by controlling braking force, and the four hub motors perform braking operation by motor resistance moment;
when a driver presses a brake pedal or the vehicle controller calculates that braking is required, the anti-lock brake assembly and the four hub motors are used for performing coordinated operation to perform braking according to a braking command of the vehicle controller;
the anti-lock braking assembly specifically comprises a hydraulic braking assembly and a braking executing mechanism; wherein,
the hydraulic brake assembly is electrically connected with the vehicle controller and is used for providing braking force according to a braking instruction of the vehicle controller;
the brake actuating mechanism is respectively connected with the two front wheels and the two rear wheels and is used for transmitting the braking force provided by the hydraulic brake assembly to the corresponding wheels;
the driving instruction includes: any one of a precursor instruction, a rear-drive instruction and a four-drive instruction is sent out by the vehicle controller according to the dynamic requirement and the economical requirement;
the pure electric vehicle further comprises a power battery which is respectively connected with the vehicle controller and the wheel hub motor group and is used for supplying power for the vehicle controller and the wheel hub motor; wherein,
the vehicle controller is also used for detecting the state of the power battery in real time;
the pure electric vehicle further comprises a frame, and the vehicle controller and the power battery are arranged on the frame;
the frame specifically comprises: a frame type frame, a sealing plate and a floor, wherein,
the frame type frame is matched with the power battery, the floor is arranged at the bottom of the frame type frame, the sealing plates are arranged at the top, front, back, left and right sides of the frame type frame, and the frame type frame, the sealing plates and the floor form a sealed cavity;
the power battery is disposed within the sealed cavity.
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