CN1071382A - By electric motor driven train-type vehicle - Google Patents

Abstract

A kind of train-type vehicle, it has a tractor truck (1), a trailer (2) that drags by draw bar (14), it is steerable that tractor truck (1) has an axle at least, and drive wheel (3,4) is equipped with on its left side and right side at least on an axle, wheel is by the electrical motor of adorning respectively thereon (7,8) drive, and the electric current branch is delivered to electrical motor (7,8) by electronic controller (11).

Description

By electric motor driven train-type vehicle

The present invention relates to a kind of sensu lato electric motor driven train-type vehicle as claimed in claim 1.

" VDI reports Nr disclosed.578,1971 " introduced the automobile of " power drive " in.Not resembling usually, the combustion engine of adorning on this automobile do not link to each other with the mechanical type drive-system by transmission system, but the driving electrical generator.The drive wheel of this automobile is by being contained in the direct motor drive that axle is last or take turns, and its electric current comes from electrical generator, and the generating of electrical generator and the power supply of electrical motor are all by an electronic controller controls.Electrical motor and driving engine all usefulness be " multichannel electronic magnetic motor ".This motor internal has a stator, this stator is made up of many stator lasminations that are starriness, be wound with coil on it, each coil or every group of serial or parallel connection coil all are furnished with the converter plant that links with electronic controller, i.e. " multichannel current controller ", the stator outside was a rotor in one week, and it is adopted and is contained by interior dress that rare earth bores, the permanent-magnet material of iron is made magnetic guiding loop forms.Electronic controller controls the coil current rectifier, make it and export the electric current of required amplitude in the commutation of correct moment, owing to adopted the external-rotor-type structure, and the radial dimension of rotor is very thin, so compare with traditional DC machine, same outside dimension, the moment of torsion and the power of the transmission of multichannel electronic motor can improve twice.

The transfer of energy of this automobile from the combustion engine to the drive wheel adopted pure electric power mode, and efficient is very high.Must not irrespective structure problem when the mechanical drive of almost completely having avoided the design transmission is.

Various train-type vehicles as the truck of band trailer, carry and to drag formula automobile or articulated bus to be characterised in that the combustion engine that drives usefulness is housed on its tractor truck.The articulated bus has then adopted special mode, and combustion engine has been contained in the vehicle afterbody that is drawn by front part of vehicle, and drive wheel also is installed in the position of trailer on the automobile.The rideability of these train-type vehicles can also be improved widely, particularly improves its tractive force because on the tractor truck also be at the most a certain wheel on the axle be drive wheel.Or rather, (especially because the manufacturing cost height) just adopts twin shaft or three drivings just under special circumstances, except the articulated bus adopted " pushing-type driving ", (except speciality car) all do not have the driver train of self on the trailer of train-type vehicle.So only some is used for transferring power in the wheel on the train-type vehicle, this in addition the traditional type trailer be not easy very much reversing, particularly the axle of trailer is turnable all the more so, because the reversing of train-type vehicle is different with advancing, easily telescope mutually during reversing, promptly trailer very easily departs from desirable travel direction.When driving conditions was relatively poor, this phenomenon that telescopes mutually also happened occasionally at the train-type vehicle glancing impact.

DE3045115A1 has introduced a kind of articulated bus, it is driven by a common transmission system that has change-speed box by combustion engine from axle, the another kind of drive form of articulated vehicle is, its axis is equipped with by the driven by power of mains supply or electric liquid actuating device, does not consider to adopt simultaneously the scheme of this driven in two modes in this patent.

DE-A2705318 has introduced a kind of automobile of camping, and its wheel is by direct motor drive, and the electricity consumption of electrical motor is provided by battery or external power supply, but driven by power is only just worked when breaking away from tractor truck and dispatching camper.Turning to travels carries out easily in order to make, and can come wheels with corresponding different rotating speeds.

Also introduced a kind of device at DE3907763A1 in addition, adopted it can control the brake system of the train-type vehicle of forming by tractor truck and trailer, and measured the stressed of draw bar at tractor truck hook place with neutral ride characteristic.But it does not mention other purpose of utilizing measured drawbar pull to reach.

DE-AS2010594 has introduced and has driven on the automobile of drive wheel by transmission device with electrical motor in addition, provide one and the proportional signal of turn radius by sensor, and provide the rotating speed of each wheel, but this document not narration how this technology is applied on the train-type vehicle.

In DE3725620, introduced at last a kind of driving design and braking design that is used for train-type vehicle.This train-type vehicle adopts combustion engine/electrical generator unit, supplies with the electricity consumption of the electrical motor of drive wheels, and it has adopted driving anti-skid device and braking anti-lock control setup, but does not mention the problem of trailer transmission.

The objective of the invention is, improve the rideability of this class train-type vehicle, particularly improve its tractive force, and required expense and not really high.

Adopt the described train-type vehicle of claim 1 of the present invention can reach this purpose.Other advantage of the present invention is referring to claim 2 to 12.

The present invention is described in detail below with reference to Fig. 1 to 4:

Fig. 1.The lateral plan that has the two-axle trailer train-type vehicle.

Fig. 2.The scheme drawing of train-type vehicle when turning driving that has two-axle trailer.

Fig. 3.The drive scheme scheme drawing of train-type vehicle of the present invention.

Fig. 4.The deflection angle of tractor truck and trailer is curve over time.

The tractor truck 1 of the truck formula of in Fig. 1, schematically having drawn and trailer 2, trailer 2 forms mechanical attachment by the hook on a draw bar 14 and the tractor truck 1 13, when train-type vehicle moves with certain speed V (as shown by arrows), just acted on a series of power thereon, these power can be regarded as resistance or propulsive effort, and also effect has the tensile force f that drives trailer 2 on tractor truck 1 _Z:

F _E-F _WG-F _WR-F _WS-F _WL-F _WB＝F _Z（1）

Wherein

F _EThe propulsive effort that=tractor truck drive system moment sends;

F _WGThe resistance of=tractor transmitting mechanism system;

F _WRThe rolling resistance of=tractor truck;

F _WLThe air resistance of=tractor truck;

F _WSThe grade resistance of=tractor truck;

F _WBThe resistance due to acceleration of=tractor truck;

Act on the resistance F on the tractor truck 1 ₂With by linking up with the 13 tractive force F that act on trailer 2 draw bars 14 _Z' absolute value equates, F _Z' direction identical with sense of motion.

F _Z＝F _Z′

For self traditional type trailer of tape drive mechanism not, following relational expression is arranged when pulling:

F _Z′＝F _WR′+F _WL′+F _WS′+F _WB′ （3）

Add one in the symbol and cast aside represented resistance of motion and act on the trailer, their meaning is identical with the foregoing meaning that acts on the resistance of motion on the tractor truck.

Because riding stability, should be tractive force as much as possible by the power that draw bar transmitted on the trailer in the time of to overtake, that is to say, definitely avoid trailer to push away the situation generation of tractor truck.This just means, F _ZAnd F _Z' action direction as shown in Figure 1, its value is forever greater than zero, and can not become negative value (pressure), but the traditional type trailer is to be not easy to accomplish very much this point when braking or descent run.

As shown in Figure 3, the present invention is to be departure point with controlled tractor truck, drive wheel 4 on it at least one axle is to be driven by independent electrical motor 8, every side at tractor truck all has at least one drive wheel 4 by electrical motor 8 drivings, the electricity consumption electric energy 18 of electrical motor 8 is controlled by electronic controller 11, and is provided by direct supply 15 by circuit 16.Direct supply 15 can adopt as using petrol-electric generating set, perhaps storage battery, or other similar equipment.A kind of very favorable mode is to adopt multichannel electronic magnetic motor to make electrical motor 8 to come powered vehicle, also can be used as electrical generator.When it is used as electrical generator, when electronic controller adopts the multichannel current control electrical generator is controlled, for big as far as possible tractive force being provided for tractor truck 1, load onto motor drive can for all drive wheels, in Fig. 3, clearly dotted out on the wheel 3 electrical motor 7 and the circuit 16 of dress, the train-type vehicle of common transmission system has been transformed into the needed expense of this class all-wheel drive form compares still lower with the wheel that only drives on the single drive shaft.

The maximum difference of the present invention and existing train-type vehicle is, not only tractor truck 1 has drive wheel, and trailer 2 also has drive wheel 5, under given conditions, if can all will be more favourable as drive wheel with trailer 2 all wheels 5,6, make train-type vehicle have tractive force limit like this, wheel 5,6 is by dress electrical motor 9,10 drivings thereon respectively, rotating speed and driving torque can be regulated separately, this also is because electronic controller 11 control, and it correspondingly divides electric energy by circuit 16 and delivers to electrical motor 9,10.

Fig. 3 dots out can select electrical motor 10 and the circuit 16 installed on the wheel 6.Dotted line 17 expression electronic controllers 11 receive the signal of the practical working situation of the needed relevant electrical motor 7,8,9,10 in control motor according to priority.

Two trailers 2 have one can turn to front axle (sub frame) in the example of Fig. 1 and Fig. 2, rotate because can unify to execute the commentaries on classics center with the front axle of draw bar 14 rigid attachment.In principle, trailer 2 can be a single shaft, also can be multi-shaft (for example axle series connection of back).

Another important feature of the present invention is, by electronic controller electric current distributed to electrical motor 9 and 10, and what make that trailer 2 imposes on tractor truck 1 is pulling force forever, that is to say, advances can not exist in travelling and pushes operating mode (as descending time).Current direction can promptly transfer electrical motor 9,10 to electrical generator conversely in needs for this reason, has so just produced a negative drive torque (lock torque).Adopt corresponding sensor (not express among the figure, as resistance strain gage) can monitor the pulling force size of draw bar 14, its signal and electronic controller 11 are connected, and regulate transmission power and can reach following perfect condition, and promptly the pulling force on the draw bar 14 can be as much as possible little.But also should be taken into account the lowest pull value F when travel conditions speed is high _ZLowest pull value F when specific rate is low _ZWant big.

Train-type vehicle of the present invention has also adopted some devices (as at sensor installation on the suspension of tractor truck 1 or in the deflector of wheel flutter 3), under the control of electronic controller 11, measure the deflection angle α of right front commentaries on classics 3 or the deflection angle β of the near front wheel 3, or measure this two deflection angle α, β simultaneously, in addition, electric controller is also being monitored the actual motion speed V of train-type vehicle always, adopt just can reach this purpose, but allow electronic controller also can calculate kinematic velocity V at an easy rate according to the rotating speed of the drive wheel of being surveyed 3,4,5,6 as tachogenerator.

Other key character of the present invention has, and a certain parameter value at this theoretical steering angle maybe can be represented in the theoretical steering angle of storing the trailer 2 that calculates by one of deflection angle α, β or by two deflection angle α, β with tabulated value mode or computing formula mode in electronic controller 11.Referring to Fig. 2, deflection angle α, β are the angle between the rotating shaft at the rotating shaft at wheel flutter 3 places and non-wheel flutter 4 places.The deflection angle ζ of trailer 2 is the angle between the rotating shaft at wheel 5,6 places, it equals the angle (pivot angle) between the draw bar 14 and trailer 2 longitudinal axis, for single-axle trailer, the angle of the draw bar (being the trailer longitudinal axis) and the tractor truck longitudinal axis just equals the pivot angle of trailer.

When trailer was done so-called ideal movements, when promptly travelling on dry antiskid pavement, if do not have drive wheel on the trailer, then the turning driving of train-type vehicle was to follow definite geometry rule as shown in Figure 2.Following relational expression is wherein arranged:

$\mathrm{yK}=\frac{L-\mathrm{SL}/2\&times;\tan a}{\tan a}---\left(4\right)$ $y=\arctan \frac{L_K}{\mathrm{yK}}---\left(5\right)$ $\mathrm{yKK}=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="yK"\; filenames="921114346\_DRIMG1.png"\; state="\{\{state\}\}">yK</figure-callout>}}^2+{\mathrm{LK}}^2}---\left(6\right)$ $\mathrm{\&xi;}=\arcsin \frac{L_H}{\sqrt{{\mathrm{\&gamma;KK}}^2-{L_D}^2}}---\left(7\right)$

Wherein

γ _K=Turning radius, i.e. distance between the tractor truck longitudinal axis and the turning center P;

Distance on the L=tractor truck between steering shaft and the non-steering shaft;

S _LDistance between the wheel flutter rotary middle point on the=tractor truck;

γ _KKHorizontal throw between hook on the=tractor truck and the turning center P.

L _KThe adapter shaft of=trailer hitch and traction Chefei turn to the horizontal throw between the rotating shaft of trailing wheel;

L _DThe effective length of=trailer towing bar, i.e. horizontal throw between trailer steering shaft and the trailer hitch adapter shaft.

L _HDistance between the steering shaft of=trailer and the non-steering shaft.

The non-hind axle and the γ of turning to of γ=tractor truck _KKBetween angle;

The deflection angle of α, β=tractor truck;

The deflection angle of ζ=trailer.

Can calculate trailer α deflection angle ζ from relational expression (4) to (7) corresponding to each tractor truck 1 deflection angle α, as can be seen, this group relational expression equally also is suitable for the second deflection angle β of tractor truck 1, after its substitution, can calculate the parameter value (as electronic measurement signal or control signal) of representing deflection angle.Basic part of the present invention is, deflection angle ζ that electronic controller 11 usefulness are calculated by theory or the parameter value of representing this angle are controlled electrical motor 9 on trailer α drive wheel 5 and 6 and 10 rotating speed and moment of torsion, and trailer is moved along the desirable moving line of trailer as much as possible.

During because turn outboard wheels 5,6 than inboard wheel the distance of process long, so the former rotating speed is higher, the drive wheel 3 and 4 of tractor truck 1 also is so equally.Electronic controller must be considered between trailer 2 deflection angle ζ and tractor truck 1 deflection angle α, the β a time delay tpt relevant with kinematic velocity, and Fig. 4 has schematically expressed the relation curve α of deflection angle and time t=f(t), ζ=f(t).

Below for one turn to instability, be that the example of automobile negative understeer is explained this parameters relationship.Change the angle of tractor truck 1 bearing circle, also just changed the value of deflection angle α, β, electronic controller 11 collects their value by steering angle sensor, as previously mentioned, just can calculate the theoretical value of trailer 2 deflection angle ζ according to deflection angle α, the β of reality, if under the described situation, also just calculated the pivot angle of the trailer steering shaft that has wheel 5 in front.Electronic controller 11 calculates phase displacement t in trailer theoretical steering angle thus according to following relational expression _Ph:

t _ph＝（S/V）×C （8）

Wherein

Distance between the steering shaft of S=tractor truck and trailer;

The kinematic velocity of V=train-type vehicle;

The correction factor of between C=0～1.

Correction factor C can make this relational expression be applicable to the different steering modes of trailer 2.During forced steering, the value of C is about zero, and when pulling round, as shown in Figure 2, the value of C approaches 1, and the C value can be selected at the motoring condition of dry pavement (desirable trailer motion) with reference to non-driving trailer.In order to regulate the time delay of trailer deflection angle ζ, electronic controller 11 just must be continuously sampled and is stored the time history of the deflection angle α of tractor truck 1 and β, and the time range of its sampling and storage is greater than t _PhWhen learning that by the steering angle sensor of tractor truck 1 steering procedure begins, after t _PhTime after just begin a series of α=f(t), the functional value of ζ=f(t) relatively, wherein ζ=f(t) records and delivers to electronic controller 11 by corresponding angular transducer on the trailer 2, when knowing that trailer deflection angle ζ does not reach phase displacement t to the function of time and deflection angle α between to the function of time _PhThe time, electronic controller 11 is just revised driving.So preferably reduce the driving power of trailer 2 wheels 5,6, when turning, adopted the speed discrepancy control apparatus between outboard wheels and the inboard wheel besides, make actual steering angle ζ approach the theoretical steering angle.Certainly the deflection angle β with tractor truck 1 replaces deflection angle α also can finish corresponding work.In principle, the theoretical value that can calculate deflection angle by the transverse acceleration and the kinematic velocity of tractor truck 1 and/or trailer.In this case, also necessary with corresponding sensor measurement transverse acceleration.

Because electrical motor 7,8,9,10 rotating speed, moment of torsion and driving power are all being monitored by electronic controller 11, regulated quantity can be very not big so the driving of train-type vehicle of the present invention is skidded, each drive wheel 3,4,5,6 skidding above permissible value by relatively can learn at an easy rate between the vehicle wheel rotational speed, because electronic controller 11 is less than electrical motor 7 more once just in 1 second, 8,9,10 parameter, can reduce its driving power and driving torque in time respectively, make each wheel 3,4,5,6 no longer include the too high amount of skidding, and have also avoided wear on tyres and have saved energy.

The propulsive effort of train-type vehicle is assigned on the drive wheel 5,6 of trailer 2, makes on the tractor truck 1 always separately that the wheel 4 and 3 of transmission of drive force has alleviated load, also improved the possibility that these wheels transmit skid forces simultaneously.On the contrary, when wheel 34,5,6 acts on propulsive effort total value on the road surface when constant, the transitivity of skid force has just reduced naturally on the trailer 2.By electronic controller 11 (for example the deflection angle by tractor truck 1 relatively and trailer 2 is or/and by acting on the equilibrium of forces on the wagon coupling trip (13)) as can be known, the skid force of trailer 2 no longer passes to the road surface by wheel 5,6, reduced the propulsive effort of these blade wheels like this, also reduce simultaneously the speed V of train-type vehicle, can also give the driver with warning by sound or visual signal in addition.Except learning the loss of skid force on the wheel that has occurred in advance, can also revise like this this.For example, if train-type vehicle when turning or the speed per hour degree that on the less road surface of friction coefficient, travels too big, then at first be that skidding of drive wheel is the most serious, electronic controller 11 is by comparing the rotating speed and/or the moment of torsion of electrical motor, can learn this relatively large skidding at an easy rate, electronic controller 11 can not only be accomplished the corresponding driving moment that reduces above-mentioned, and can distribute the driving force to the drive wheel that is in " non-critical state ", make whole train-type vehicle set up the anti-sideslip measure of an actv..

When the electronic controller employing is the tensile force f that acts on the draw bar 14 _ZAnd/or just more embodied the advantage of this anti-sideslip measure when being worth over time during the deflection angle ζ cyclic fluctuation of trailer 2.Can also draw the relevant information that turns to sideslip like this, when the excessive cycle amplitude is excessive, just sends warning signal or reduce the speed of train-type vehicle simultaneously to the driver.In addition, with tractive force uniform distribution as much as possible to all drive wheels also be an advantage of the present invention.

Supplying with the electric current of electrical motor 7,8,9,10 can use as storage battery, but had better use the internal-combustion engine drives generator for electricity generation.This electrical generator equally also adopts the pattern identical with electrical motor 7,8,9,10, the i.e. electronically controlled magneto-electric machine of multichannel.

The reversing of train-type vehicle is because " telescoping mutually " is a problem always, but the present invention has carried out basic improvement to it, electronic controller 11 is easy to just can be dispensed to traction 1 and trailer 2 driving energy, make that tractor truck hauls trailer 2 forever in the actual motion, that is to say, acting on a lowest pull during reversing on the draw bar 14 always, when trailer 2 was multiaxis, the propulsive effort summation of advising acting on the wheel 5 on trailer 2 steering shafts was less than the propulsive effort summation that acts on the trailer 2 non-steering shafts.

Type of drive of the present invention is applied to the train-type vehicle of single-axle trailer or for example also has following advantage during the articulated bus: adopt simply and flexible way power supply because the electrical motor electricity consumption on the train-type vehicle of the present invention is connected by plug type, so no matter combustion engine/generator set is installed on the trailer 2 still is on the anterior vehicle, can not increase the difficulty of actuation techniques.For articulated bus of the present invention, its draw bar body directly combines with the back vehicle bottom that is dragged by the front portion.The present invention has initiated the articulated bus to be adopted carry out in the same way and has sailed before the detour and move backward, and this just has very big meaning when the urban traffic congestion and will shunt the time.

Claims (12)

1, a kind of train-type vehicle, it has a tractor truck (1), a trailer (2) that drags by draw bar (14), it is steerable that tractor truck (1) has an axle at least, drive wheel (3 is equipped with at least in its left side and right side on an axle, 4), wheel is driven by the electrical motor of adorning respectively thereon (7,8), and by electronic controller (11) the electric current branch is delivered to electrical motor (7,8).This train-type vehicle is characterised in that:

The draw bar (14) and the rigid attachment of one trailer (2), the left side of trailer and right side have drive wheel (5) at least, drive wheel is driven by motor (9) separately, and by electronic controller 11 distribution electricity consumptions, and the propulsive effort of the electrical motor (9) that is distributed by electronic controller (11) is no more than the pulling force that acts on draw bar of a minimum in to overtake, this power can be measured by a sensor.

The one direct or indirect method of learning at least one deflection angle (α, β) and tractor truck (1) speed and sending electronic controller to.

One in electronic controller (11) storage have tabulated value mode or computing formula, the theoretical steering angle that can calculate trailer maybe can represent a certain parameter value at this theoretical steering angle (theoretical trailer drive condition under) by at least one deflection angle (α, β) of tractor truck (1).

One electronic controller (11) adopts a time delay tph with the tractor truck velocity correlation, make on the trailer and draw bar (14) turning medial electrical motor (9) rotating speed of the drive wheel (15) on the shaft coupling mutually, make and worry the deflection angle that (2) can enough theories when ideal movements.This control process all be with at least one deflection angle (α, β) relevant.

2, train-type vehicle as claimed in claim 1 is characterized in that, all wheels (5,6) of trailer (2) are all driven by electrical motor (9,10), and electronic controller (11) is delivered to each electrical motor with the electric current branch.

3, train-type vehicle as claimed in claim 1 or 2 is characterized in that, all wheels (3,4) of tractor truck (1) are all driven by electrical motor (7,8), and electronic controller (11) is delivered to each electrical motor with the electric current branch.

4, require described train-type vehicle as arbitrary in the claim 1 to 4, it is characterized in that, when having proposed directly or indirectly to learn actual steering angle (ζ) the deviation theory deflection angle of trailer (2) by electronic controller (11), can regulate and draw bar (14) electrical motor (9) rotating speed of the wheel (5) on the shaft coupling mutually, deviation is reduced.

5, require described train-type vehicle as arbitrary in the claim 1 to 5, it is characterized in that, electronic controller (11) is according to wheel (5,6) actual driving moment or according to wheel (5,6) speed discrepancy or according to the skidding of this two benchmark monitoring trailer (2) drive wheels (5,6), and electronic controller (11) reduces drive wheel (5 by reducing electric current, 6) drive torque, thus the excessive amount of skidding regulated.

6, require described train-type vehicle as arbitrary in the claim 1 to 5, it is characterized in that tractor truck (1) is equipped with a petrol-electric generating set, in order to give electrical motor (7,8,9,10) power supply.

As the train-type vehicle of one of described requirement of claim 1 to 6, it is characterized in that 7, electrical motor (7,8,9,10) and generator set all are the electronically controlled magneto-electric machines of multichannel.

8, require described train-type vehicle as arbitrary in the claim 1 to 7, it is characterized in that, during reverse travel, by electronic controller (11) control motor (7,8,9,10) electricity consumption makes trailer (2) impose on (1) pulling force of tractor truck by draw bar (14).

9, require described train-type vehicle as arbitrary in the claim 1 to 8, it is characterized in that, when trailer (2) is multiaxial type, electronic controller 11 when reverse travel to electrical motor (9,10) power supply, make with draw bar (14) mutually shaft coupling wheel (5) propulsive effort summation less than the propulsive effort sum of trailer (2) on other.

10, require described train-type vehicle as arbitrary in the claim 1 to 9, it is characterized in that, electronic controller (11) has adopted pulling force and/or trailer (the cyclic fluctuation value of 2 deflection angle that acts on the draw bar (14), when regulating excessive cyclic fluctuation, reduced the speed V of train-type vehicle, and tractive force whole drive wheels (3 have been assigned to as far as possible equably, 4,5,6) on.

11, require described train-type vehicle as arbitrary in the claim 1 to 9, it is characterized in that trailer (2) is a single axle.

12, train-type vehicle as claimed in claim 11 is characterized in that, tractor truck (1) and trailer (2) have been formed the articulated bus.

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