CN107650678A - The chassis system of distributed pure electric vehicle - Google Patents
The chassis system of distributed pure electric vehicle Download PDFInfo
- Publication number
- CN107650678A CN107650678A CN201710867354.XA CN201710867354A CN107650678A CN 107650678 A CN107650678 A CN 107650678A CN 201710867354 A CN201710867354 A CN 201710867354A CN 107650678 A CN107650678 A CN 107650678A
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- China
- Prior art keywords
- wheel
- motor
- steering
- pure electric
- electric vehicle
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Classifications
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/358—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles all driven wheels being steerable
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of chassis system of distributed pure electric vehicle, the chassis system includes wheel independent driving system, wheel independent steering system, motor mounting rack, steering motor and steering gear mechanical interface, semiaxis, wheel, suspension system and brake system.Steering gear mechanical interface is put steering motor assembly output end with in-car and is connected；Suspension one end is connected with wheel, and the other end is connected with vehicle frame；Motor is fixed on vehicle frame, is rotated by semiaxis driving moment.The present invention realizes the chassis design that all wheels independently drive independent steering pure electric vehicle, and then all driving functions of general-utility car can be realized, the interface and element general with existing automobile suspension system are remained as much as possible simultaneously, realize good portability.
Description
Technical field
The present invention relates to electric automobile field, more particularly to a kind of chassis system of distributed pure electric vehicle.
Background technology
Traditional surface car due to using power drive and rigid mechanically operated steering mechanism is concentrated, cause wheel by
Shafting and connecting rod constraint it is more, four wheels can not be made to turn to without interfering with each other；Existing electric car majority is still using centralization
Power arrangement, i.e. only motor driving two or four wheel.And with the progress of motor technology, electric car is
Possesses the condition that four wheels independently drive.It is to cancel what traditional limiting wheel turned to using the advantage independently driven
Axletree and connecting rod, this causes electric car to possess the condition of four wheel independent steerings.
Existing wheel steering system, though from simple Purely mechanical steering, hydraulic power steering system, electronic
Hydraulic power-assist steering system develops into more energy-conservation and the more superior electric boosting steering system of maneuvering performance, improves vehicle
The control characteristic of steering force, reduces the steering burden of driver, but is limited to machine driving pattern, and steering gear ratio is solid
Fixed, steering characteristic is poor.In recent years, some cars enterprise uses electric line control steering (Steering By Wire System),
Steering wheel is connected with deflecting roller by control signal, improve the angle transmission characteristic of motor turning, but still using tradition
The unified hubbed mode turned to of all wheels, including front-wheel steer (2WS) or four-wheel steering (4WS), this just wastes electricity
The advantage for manipulating steering is passed, is not brought convenience and new experience to user particularly.
The content of the invention
It is contemplated that at least solves one of technical problem present in prior art.Therefore, the present invention proposes a kind of point
The chassis system of cloth pure electric vehicle, the chassis system of the distributed pure electric vehicle can realize four motorized wheels and steering and
The flexibility of chassis system is high, reliability is high, comfortableness is good.
The chassis system of distributed pure electric vehicle according to embodiments of the present invention, including：Vehicle frame, wheel, motor, turn
To motor, suspension and control system, the wheel is located at the bottom of the vehicle frame, and the suspension is connected to the vehicle frame and described
Between wheel；Wherein, the wheel is multiple that each wheel drives row using an independent motor
Sail, each wheel drives the wheel to occur partially with respect to travel direction using an independent steering motor
Turning, the quantity of the motor is equal with the quantity of the wheel, and the steering motor is equal with the quantity of the wheel, with
The distributed control of pure electric vehicle and torque transmission are realized,；In addition, each motor passes through semiaxis and the wheel
It is connected, each steering motor is connected by steering gear mechanical interface with the wheel, and each wheel is correspondingly arranged
There are an independent brake assemblies；To realize line traffic control, the control system also includes：Electrically connected with each motor
Motor drive control subsystem and the steering motor drive control subsystem electrically connected with each rotary electric machine,
And the brake control subsystem being connected with the brake assemblies.
The chassis system of distributed pure electric vehicle according to embodiments of the present invention, because each wheel is by a motor
Control the driving and steering of wheel respectively with a steering motor, realize independent driving and independent steering and the electric car of wheel
Distributed AC servo system and torque transmission, largely reduce radius of turn, realizing vehicle has more diversified row
Pattern is sailed, including points to the motor-driven translation separated with the direction of motion, pivot stud, snakelike traveling etc..At the same time, also as far as possible
Retain the interface with orthodox car parts, retain the suspension system of existing vehicle, assemble the brake system of existing vehicle, be easy to
Put goods on the market processing as early as possible.
In certain embodiments, each motor is correspondingly arranged on the first inspection for measuring corner and rotating speed
Part is surveyed, decelerator each can be set between the motor and the wheel, can also be not provided with decelerator, each driving
Motor is installed at the neighbouring corresponding wheel position of the vehicle frame, each between the motor and the wheel
Driven by half axis connection, each wheel is by configuring first detection piece, the motor, the semiaxis
Independent driving is realized, first detection piece electrically connects with the motor drive control subsystem.
In certain embodiments, the semiaxis includes connecting universal joint that the motor is connected with the wheel and short
Axle..
In certain embodiments, the second detection for measuring corner and rotating speed is equipped with each steering motor
Part, second detection piece electrically connect with the steering motor drive control subsystem, and each steering motor is by turning
It is connected to device mechanical interface with the wheel, each steering motor is electrically connected by the steering motor drive control subsystem
The independent steering of the wheel is realized in the control connect.
In certain embodiments, the chassis system of the distributed pure electric vehicle also includes connecting rod, one end of the connecting rod
It is rotatably connected with the wheel, the connecting rod is in described frame interior one end and the steering motor through steering gear machinery
Interface connects, and the steering motor converts rotational motion to the company by converting rotational motion into the device of linear motion
The motion of bar.
In some optional embodiments, the brake assemblies are disk type brake component.
In certain embodiments, at least one suspension is independent suspension.
In certain embodiments, multiple motors are electric-driving generation integrating machine.
In certain embodiments, the motor drive control subsystem includes：Generate motor control signal
Pedal, communication interface, electric machine controller and the slave computer being connected with vehicle autonomous driving system.
In certain embodiments, the steering motor drive control subsystem includes：Generate the direction of wheel steering signal
Disk, steering pattern selector, communication interface, electric machine controller and the slave computer being connected with vehicle autonomous driving system.
Alternatively, the control system includes host computer, and each slave computer passes through communication interface with the host computer
Connection, and receive the instruction of the host computer, feed back to the movable information of the host computer single-wheel.
In certain embodiments, the brake control subsystem includes：Brake pedal plate and the brake pedal plate link
Wheel driving power switch and by vehicle autonomous driving system control braking control device.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the wheel separate unit composition schematic diagram of the embodiment of the present invention.
Fig. 2 is the composition schematic diagram of the chassis system of the embodiment of the present invention.
Reference：
Chassis system 100, vehicle frame 1, suspension 2, wheel 3, semiaxis 4, motor 5, the driving electricity of distributed pure electric vehicle
Machine drive control subsystem 6, steering gear mechanical interface 7, steering motor 8, steering motor drive control subsystem 9, battery 10, under
Position machine 11, host computer 12, brake assemblies 13.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the tool of the chassis system 100 of Fig. 1-Fig. 2 descriptions distributed pure electric vehicle according to embodiments of the present invention
Body structure.
As Figure 1-Figure 2, the chassis system 100 of distributed pure electric vehicle according to embodiments of the present invention include vehicle frame 1,
Wheel 3, motor 5, steering motor 8, suspension 2 and control system, wheel 3 are located at the bottom of vehicle frame 1, and suspension 2 is connected to car
Between frame 1 and wheel 3.Chassis system includes four wheels 3, and four wheels 3 are connected to realize four with four motors 5 respectively
The independent driving of wheel, four wheels 3 are connected with four rotary electric machines to realize four-wheel independent steering respectively.Control system also include with
Four motor drive control subsystems 6 electrically connected of motor 5 and the steering electricity electrically connected with four rotary electric machines
Machine drive control subsystem 9.
It is understood that each wheel is controlled respectively by a motor 5 and a steering motor 8 in the present invention
The driving and steering of wheel 3, the structure of four wheels 3 are symmetrically arranged, and eliminate for centralized driving and the machinery turned to
System, the distributed AC servo system of electric car is realized, and then the more diversified traveling mould of vehicle can be realized by Flight By Wire
Formula, including point to the motor-driven translation separated with the direction of motion, pivot stud, snakelike traveling etc..Meanwhile the present invention also protects as far as possible
The interface with orthodox car parts is stayed, retains the suspension system of existing vehicle, assembles the brake system of existing vehicle, is easy to the greatest extent
Put goods on the market processing soon.
The chassis system 100 of distributed pure electric vehicle according to embodiments of the present invention, because each wheel 3 is by a driving
Motor 5 and a steering motor 8 control the driving and steering of wheel 3 respectively, realize vehicle four motorized wheels and independent turn
To and electric car distributed AC servo system and torque transmission, largely reduce radius of turn, realize vehicle have more
Diversified driving mode, including point to the motor-driven translation separated with the direction of motion, pivot stud, snakelike traveling etc..It is same with this
When, also retain the interface with orthodox car parts as far as possible, retain the suspension system of existing vehicle, assemble the brake of existing vehicle
Car system, it is easy to the processing that puts goods on the market as early as possible.
In certain embodiments, each motor 5 is connected by semiaxis 4 with wheel 3.It is understood that driving
Motor 5 is arranged on vehicle frame 1 by motor mounting rack, is connected using semiaxis 4 with wheel 3 with driving moment.It is this by motor
The mode on wheel side is placed in, has less unsprung mass, less vehicle wheel rotation inertia, for the performance of vehicle compared to wheel hub motor
Improve a lot.In addition, such connected mode also eliminates vehicle bridge and power transmission shaft in existing automobile, chassis weight is reduced
Amount, improves traditional efficiency, makes whole vehicle more flexible.
Explanation is needed exist for, " vehicle bridge and power transmission shaft in existing automobile " mentioned above refers to favourable by favour
The teaching material of works《Automobile construction》(publishing house：Publishing house of Beijing Institute of Technology) in vehicle bridge and power transmission shaft described in page 270.
Alternatively, semiaxis 4 includes short axle and universal joint.Semiaxis 4 connects motor 5 and wheel 3, realizes the biography of torque
Pass.Universal joint realizes the power transmission of varied angle, changes transmission axis direction, solves potential difference that wheel hop is brought etc. and asks
Topic.
In certain embodiments, the first detection piece for measuring corner and rotating speed is equipped with each motor 5, the
One detection piece electrically connects with motor drive control subsystem 6.Thus, can be to each motor 5 in automobilism
Operation conditions detected.
It should be noted that motor 5 can include decelerator and can not make herein specifically including decelerator
Limitation.First detection piece can be used for the sensor for measuring corner and rotating speed for encoder or made of Hall element, but
Not limited to this.
In certain embodiments, the second detection piece for measuring corner and rotating speed is equipped with each steering motor 8, the
Two detection pieces electrically connect with steering motor drive control subsystem 9.Thus, can be to each driving electricity during motor turning
The operation conditions of machine 5 is detected.Second detection piece can be encoder or be used to measure corner made of Hall element
With the sensor of rotating speed, but not limited to this.
In certain embodiments, steering motor 8 is connected by steering gear mechanical interface 7 with wheel 3, steering gear mechanical interface
7 are provided with connecting rod, and connecting rod is rotatably connected with wheel 3.
It is understood that four steering motors 8 are separate, and are respectively placed in four wheel sides, made by leading screw, hydraulic pressure
The translation for being converted into steering link of motor is finally realized the steering of wheel by the similar devices such as dynamic device.The wherein company of steering
Bar and the part-structure and the bar linkage structure of conventional truck that are connected with connecting rod with wheel are essentially identical, the length only to steering link
Adjusted, to coordinate steering motor 8 and wheel 3 to use.Above-mentioned connected mode eliminates the steering of conventional central output type
The drive part of device, only retain conventional steering device steering link partial-length and with wheel and the connecting portion of vehicle frame 1
Point, connecting rod connects to vehicle body one end and the steering diverted device mechanical interface 7 of the assembly of motor 5.Thus, not only realize
Four-wheel independent steering controls, and also simplify the steering structure of vehicle.
Explanation is needed exist for, " being rotatably connected " mentioned above is referred to by the teaching material of Wang Xiao cutting edge of a knife or a sword works《Automobile
Chassis design》(publishing house：Publishing house of Tsing-Hua University) in connecting rod described in the 384-394 pages to the machinery dress between wheel
Put.
In certain embodiments, suspension 2 uses the suspension frame structure of conventional truck, so that the bottom of distributed pure electric vehicle
Disc system can quickly put goods on the market into production and use.Need to illustrate when, the type of suspension 2 of front wheels and rear wheels can be with identical
Can be different, restriction is not made to the form of front wheels and rear wheels suspension 2 herein.
Advantageously, the structure of suspension 2 is independent suspension form.
In certain embodiments, wheel 3 uses the car wheel structure of prior art, so that the bottom of distributed pure electric vehicle
Disc system can quickly put goods on the market into production and use.Need to illustrate when, the types of front wheels and rear wheels can with it is identical can also
Difference, restriction is not made to front wheels and rear wheels form herein.
In certain embodiments, the chassis system 100 of distributed pure electric vehicle also includes the brake group acted on wheel 3
Part 13, control system also include the brake control subsystem being connected with brake assemblies 13.
Specifically, brake control subsystem includes：Brake pedal plate, the wheel driving power to be linked with brake pedal plate are opened
The braking control device for closing and being controlled by vehicle autonomous driving system.
It should be noted that the brake assemblies 13 of the present invention are to increase a Motorized vacuum by existing vehicle brake component 13
What pump was formed, so remain the brake machinery structure of existing vehicle so that the chassis system of the embodiment of the present invention can be quick
Put goods on the market into production and use.
Advantageously, brake assemblies 13 select disk type brake component.
In embodiments of the present invention, conventional wheel assembly structure identical wheel can be selected, and front and back wheel can be with
Select various forms of wheel sets.
Explanation is needed exist for, " conventional wheel assembly structure " mentioned above is referred to by the religion of the favourable works of favour
Material《Automobile construction》(publishing house：Publishing house of Beijing Institute of Technology) in wheel set described in page 280 structure.At some
In embodiment, motor drive control subsystem 6 includes：Generate the pedal, autonomous with vehicle of motor control signal
Communication interface, electric machine controller and the slave computer 11 of control loop connection.
In certain embodiments, steering motor drive control subsystem 9 includes：The steering wheel of generation wheel steering signal,
Steering pattern selector, the communication interface being connected with vehicle autonomous driving system, electric machine controller and slave computer 11.
Specifically, each wheel 3 controls driving by same slave computer 11 and turned to.It should be noted that slave computer
11 can be the various ways such as single-chip microcomputer, computer or embedded hardware system, herein not to the particular type of slave computer 11
Make restriction.
More specifically, control system includes host computer 12, each slave computer 11 is connected with host computer 12 by communication interface,
And receive the instruction of host computer 12, feed back to the movable information of the single-wheel of host computer 12.
In certain embodiments, motor 5 is configured to electric-driving generation integrating machine.It is understood that motor 5 has
There is energy recovery function, it is possible thereby to electric energy is saved, it is green.
The chassis system 100 of the distributed pure electric vehicle of a specific embodiment of the invention is described below with reference to Fig. 1-Fig. 2
Concrete structure.
As shown in Fig. 2 the chassis system 100 of the distributed pure electric vehicle of the present embodiment includes vehicle frame 1, wheel 3, driving electricity
Machine 5, steering motor 8, suspension 2, control system and battery 10.Wheel 3 is located at the bottom of vehicle frame 1, and suspension 2 is connected to the He of vehicle frame 1
Between wheel 3.
The chassis system of the present embodiment includes four wheels 3, and four wheels 3 are connected with reality with four motors 5 respectively
Existing four motorized wheels, four wheels 3 are connected with four rotary electric machines to realize four-wheel independent steering respectively
Control system includes 6, four steering motors of motor drive control subsystem that four motors 5 electrically connect
The steering motor drive control subsystem 9 of electrical connection and the brake control subsystem being connected with brake assemblies 13.
Motor drive control subsystem 6 includes the pedal of generation motor control signal, independently driven with vehicle
Sail communication interface, the electric machine controller of system connection.Steering motor drive control subsystem 9 includes generation wheel steering signal
Steering wheel, steering pattern selector, communication interface, the electric machine controller being connected with vehicle autonomous driving system.Brake control
System includes brake pedal plate, with the wheel driving power switch of brake pedal plate linkage and by vehicle autonomous driving system
The braking control device of control.
Control system also include with slave computer 11 and host computer 12, slave computer 11 respectively with motor drive control subsystem
Electrical connection between system 6 and steering motor drive control subsystem 9 be present to control the driving and steering of four wheels 3.Slave computer
11 are connected with host computer 12 by communication interface, and are received the instruction of host computer 12, fed back to the fortune of each wheel 3 of host computer 12
Dynamic information.
Four motors 5 are connected with four wheels 3 respectively by semiaxis 4, and are equipped with and are used on each motor 5
The first detection piece of corner and rotating speed is measured, the first detection piece electrically connects with motor drive control subsystem 6.
Four steering motors 8 are connected with four wheels 3 respectively by steering gear mechanical interface 7, and in each steering motor 8
It is equipped with for measuring the second detection piece turned to rotating speed, the second detection piece is electrically connected with steering motor drive control subsystem 9
Connect.Each steering gear mechanical interface 7 is provided with connecting rod, and connecting rod is rotatably connected with the wheel 3.
The chassis system 100 of the distributed pure electric vehicle of the present embodiment remains the mechanical interface of a large amount of existing vehicles, adopts
With the suspension system of existing vehicle, brake system and wheel 3, can quickly put goods on the market production and application.The present embodiment four
Wheel employs completely self-contained motor driving, and there is no the mechanical connection between driving wheel, four wheels can carry out independence
Driving force distribution, add the freedom of motion of vehicle.At the same time, four steering mechanism are also separate, therefore significantly
Improve the navigability of vehicle and improve the flexibility of Vehicular turn, and then realize that snakelike traveling, pivot stud etc. are new
Driving model.In addition, the chassis system 100 of the distributed pure electric vehicle of the present embodiment can also in the single dynamical system of vehicle or
Brake system has the ability to be switched to emergency rating when breaking down, by remaining intact drive system guarantee driving safety to most
Near maintenace point.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (12)
- A kind of 1. chassis system of distributed pure electric vehicle, it is characterised in that including：Vehicle frame, wheel, motor, steering electricity Machine, suspension and control system, the wheel are located at the bottom of the vehicle frame, and the suspension is connected to the vehicle frame and the wheel Between；Wherein,The wheel is multiple, and each wheel drives traveling, Mei Gesuo using an independent motor State wheel drives the wheel to be deflected with respect to travel direction using an independent steering motor, the driving The quantity of motor is equal with the quantity of the wheel, and the steering motor is equal with the quantity of the wheel, pure electronic to realize The distributed control of car and torque transmission；In addition,Each motor is connected by semiaxis with the wheel, and each steering motor passes through steering gear machinery Interface is connected with the wheel, and each wheel is correspondingly arranged on an independent brake assemblies；To realize line traffic control, the control system also includes：The motor drive control electrically connected with each motor Subsystem and the steering motor drive control subsystem electrically connected with each steering motor and with the brake group The connected brake control subsystem of part.
- 2. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that each motor The first detection piece for measuring corner and rotating speed is correspondingly arranged on, can each be set between the motor and the wheel Put decelerator, can also be not provided with decelerator, each motor is installed in the neighbouring corresponding wheel of the vehicle frame Opening position, each driven between the motor and the wheel by half axis connection, each wheel passes through Configure first detection piece, the motor, the semiaxis and realize independent driving, first detection piece and the driving Drive and control of electric machine subsystem electrically connects.
- 3. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that the semiaxis includes connection The universal joint and short axle that the motor is connected with the wheel.
- 4. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that each steering motor On be equipped with the second detection piece for measuring corner and rotating speed, second detection piece and steering motor drive control System is electrically connected, and each steering motor is connected by steering gear mechanical interface with the wheel, each steering electricity The independent steering of the wheel is realized in the control that machine is electrically connected by the steering motor drive control subsystem.
- 5. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that described also including connecting rod One end of connecting rod is rotatably connected with the wheel, and the connecting rod is described in described frame interior one end and steering motor warp Steering gear mechanical interface is connected, and the steering motor is turned rotary motion by converting rotational motion into the device of linear motion Change the motion of the connecting rod into.
- 6. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that the brake assemblies are disk Formula brake assemblies.
- 7. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that at least one suspension For independent suspension.
- 8. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that multiple motors For electric-driving generation integrating machine.
- 9. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that the motor driving Control subsystem includes：Generate motor control signal pedal, be connected with vehicle autonomous driving system communication interface, Electric machine controller and slave computer.
- 10. the chassis system of distributed pure electric vehicle according to claim 1, it is characterised in that the steering motor is driven Dynamic control subsystem includes：The steering wheel, steering pattern selector and vehicle autonomous driving system for generating wheel steering signal connect Communication interface, electric machine controller and the slave computer connect.
- 11. the chassis system of the distributed pure electric vehicle according to claim 9 and 10, it is characterised in that the control system System includes host computer, and each slave computer is connected with the host computer by communication interface, and receives the finger of the host computer Make, feed back to the movable information of the host computer single-wheel.
- 12. the chassis system of distributed pure electric vehicle according to claim 6, it is characterised in that brake control System includes：Brake pedal plate and the wheel driving power of brake pedal plate linkage switch and by vehicle autonomous driving The braking control device of system control.
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| CN201710867354.XA CN107650678B (en) | 2017-09-22 | 2017-09-22 | Chassis system of distributed pure electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867354.XA CN107650678B (en) | 2017-09-22 | 2017-09-22 | Chassis system of distributed pure electric vehicle |
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| CN107650678B CN107650678B (en) | 2021-08-17 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608846A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Front-wheel trailing wheel cooperates with the chassis system for turning to vehicle respectively |
| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN109080700A (en) * | 2018-09-19 | 2018-12-25 | 山东金惠新达智能制造科技有限公司 | A kind of 4 wheel driven independent steering gear |
| CN109094650A (en) * | 2018-07-09 | 2018-12-28 | 北京理工大学 | A kind of unmanned vehicle chassis module that can independently splice |
| CN111267955A (en) * | 2020-02-21 | 2020-06-12 | 南京航空航天大学 | Steer-by-wire system with energy recovery function and road feel control method thereof |
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| CN108995711A (en) * | 2018-07-09 | 2018-12-14 | 北京理工大学 | A kind of all-wheel steering motorized vehicle chassis independently driven |
| CN109094650A (en) * | 2018-07-09 | 2018-12-28 | 北京理工大学 | A kind of unmanned vehicle chassis module that can independently splice |
| CN109080700A (en) * | 2018-09-19 | 2018-12-25 | 山东金惠新达智能制造科技有限公司 | A kind of 4 wheel driven independent steering gear |
| CN113002615A (en) * | 2019-12-20 | 2021-06-22 | 庞巴迪运输有限公司 | Steering system for autonomous vehicle |
| EP3838718A1 (en) * | 2019-12-20 | 2021-06-23 | Bombardier Transportation GmbH | Steering system for an autonomous vehicle |
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| CN111267955B (en) * | 2020-02-21 | 2021-07-27 | 南京航空航天大学 | Steer-by-wire system with energy recovery function and road feel control method thereof |
| CN112622604A (en) * | 2020-12-30 | 2021-04-09 | 徐工集团工程机械股份有限公司 | Device and method for improving steering performance of four-wheel independent drive wheel carrier adjustable vehicle |
| CN112895884A (en) * | 2021-03-03 | 2021-06-04 | 山东科技大学 | New forms of energy 6X 6 special chassis car drive structure |
| CN116461607A (en) * | 2023-05-12 | 2023-07-21 | 爱搏特科技(深圳)有限公司 | Distributed drive-by-wire and steering-by-wire method and related device |
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