CN107650678B - Chassis system of distributed pure electric vehicle - Google Patents
Chassis system of distributed pure electric vehicle Download PDFInfo
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- CN107650678B CN107650678B CN201710867354.XA CN201710867354A CN107650678B CN 107650678 B CN107650678 B CN 107650678B CN 201710867354 A CN201710867354 A CN 201710867354A CN 107650678 B CN107650678 B CN 107650678B
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- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims 1
- 239000000758 substrate Substances 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
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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
- 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
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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
- 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
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- 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
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- 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
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- 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
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- 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)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a chassis system of a distributed pure electric vehicle, which comprises a wheel independent driving system, a wheel independent steering system, a motor mounting bracket, a steering motor and steering gear mechanical interface, a half shaft, wheels, a suspension system and a brake system. The mechanical interface of the steering gear is connected with the output end of the steering motor assembly arranged in the vehicle; one end of the suspension is connected with the wheel, and the other end of the suspension is connected with the frame; the driving motor is fixed on the frame and drives the wheels to rotate through the half shafts. The invention realizes the chassis design of the pure electric vehicle with all wheels independently driven and independently steered, further realizes all running functions of the common vehicle, simultaneously reserves interfaces and elements which are universal with the existing automobile suspension system as far as possible, and realizes good transportability.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to a chassis system of a distributed pure electric vehicle.
Background
The traditional ground vehicle adopts a steering mechanism with centralized power drive and hard mechanical transmission, so that the wheels are more restrained by a shaft system and a connecting rod, and the four wheels cannot be steered without mutual interference; most of the existing electric vehicles still adopt a centralized power arrangement, namely only one electric motor drives two or four wheels. With the progress of motor technology, the electric vehicle has a condition that four wheels are driven independently. The advantage of using independent drive is that the traditional axle and connecting rod for limiting the wheel steering can be eliminated, which makes the electric vehicle have the condition of independent steering of four wheels.
Although the existing vehicle steering system is developed from a simple pure mechanical steering system, a hydraulic power steering system and an electric hydraulic power steering system to an electric power steering system which is more energy-saving and has more excellent operation performance, the control characteristic of the vehicle steering force is improved, and the steering burden of a driver is reduced, the existing vehicle steering system is limited by a mechanical transmission mode, the steering transmission ratio is fixed, and the steering characteristic is poorer. In recent years, some vehicle enterprises adopt an electronic steer-By-Wire System (Steering By Wire System) to connect a Steering wheel and a Steering wheel through control signals, so that the angle transmission characteristic of vehicle Steering is improved, but a traditional centralized mode that all wheels are uniformly steered is adopted, wherein the centralized mode comprises front wheel Steering (2WS) or four-wheel Steering (4WS), so that the advantages of the fly-By-Wire Steering System are wasted, and particularly, convenience and new experience are not brought to users.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the chassis system of the distributed pure electric vehicle can realize four-wheel independent driving and steering, and is high in flexibility, reliability and comfort.
The chassis system of the distributed pure electric vehicle comprises the following components: the device comprises a frame, wheels, a driving motor, a steering motor, a suspension and a control system, wherein the wheels are arranged at the bottom of the frame, and the suspension is connected between the frame and the wheels; the system comprises a plurality of wheels, wherein each wheel is driven to run by an independent driving motor, each wheel is driven to deflect relative to the running direction by an independent steering motor, the number of the driving motors is equal to that of the wheels, and the number of the steering motors is equal to that of the wheels, so that distributed control and torque transmission of the pure electric vehicle are realized; in addition, each driving motor is connected with the wheel through a half shaft, each steering motor is connected with the wheel through a steering gear mechanical interface, and each wheel is correspondingly provided with an independent brake assembly; to achieve drive-by-wire, the control system further comprises: the driving motor driving control subsystem is electrically connected with each driving motor, the steering motor driving control subsystem is electrically connected with each rotating motor, and the brake control subsystem is connected with the brake assembly.
According to the chassis system of the distributed pure electric vehicle, each wheel is respectively controlled by one driving motor and one steering motor to drive and steer, so that independent driving and independent steering of the wheels and distributed control and torque transmission of the electric vehicle are realized, the turning radius is reduced to the greatest extent, and the vehicle has more diversified driving modes, including translational maneuvering, pivot steering, snake-shaped driving and the like with separated pointing direction and moving direction. Meanwhile, interfaces with traditional automobile parts are kept as far as possible, a suspension system of the existing vehicle is kept, and a brake system of the existing vehicle is assembled, so that the automobile is convenient to put into the market for processing and production as soon as possible.
In some embodiments, each driving motor is correspondingly provided with a first detection piece for measuring a rotation angle and a rotation speed, a speed reducer may or may not be provided between each driving motor and the wheel, each driving motor is mounted adjacent to the position corresponding to the wheel of the vehicle frame, each driving motor and the wheel are connected and driven through the half shaft, each wheel is independently driven through the arrangement of the first detection piece, the driving motor and the half shaft, and the first detection piece is electrically connected with the driving motor drive control subsystem.
In some embodiments, the axle shaft includes a universal joint connecting the drive motor to the wheel and a stub shaft. .
In some embodiments, each steering motor is provided with a second detection element for measuring a rotation angle and a rotation speed, the second detection element is electrically connected with the steering motor drive control subsystem, each steering motor is connected with the wheel through a steering gear mechanical interface, and each steering motor realizes independent steering of the wheel through control of electrical connection of the steering motor drive control subsystem.
In some embodiments, the chassis system of the distributed electric vehicle further includes a connecting rod, one end of the connecting rod is rotatably connected to the wheel, one end of the connecting rod inside the frame is connected to the steering motor through the steering mechanical interface, and the steering motor converts the rotational motion into the motion of the connecting rod through a device for converting the rotational motion into the linear motion.
In some alternative embodiments, the brake assembly is a disc brake assembly.
In some embodiments, at least one of the suspensions is an independent suspension.
In some embodiments, a plurality of the driving motors are all-in-one electric generators.
In some embodiments, the drive motor drive control subsystem comprises: the automatic control system comprises a pedal for generating a control signal of a driving motor, a communication interface connected with an automatic driving system of the vehicle, a motor controller and a lower computer.
In some embodiments, the steering motor drive control subsystem comprises: the device comprises a steering wheel for generating wheel steering signals, a steering mode selector, a communication interface connected with an autonomous driving system of the vehicle, a motor controller and a lower computer.
Optionally, the control system comprises an upper computer, and each lower computer is connected with the upper computer through a communication interface, receives the instruction of the upper computer, and feeds back the motion information of the single wheel of the upper computer.
In some embodiments, the brake control subsystem comprises: the vehicle automatic driving system comprises a brake pedal, a wheel driving power switch linked with the brake pedal, and a brake control device controlled by the vehicle automatic driving system.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of the wheel independent unit composition of the embodiment of the present invention.
Fig. 2 is a schematic configuration diagram of the chassis system according to the embodiment of the present invention.
Reference numerals:
the distributed pure electric vehicle comprises a chassis system 100, a frame 1, a suspension 2, wheels 3, half shafts 4, a driving motor 5, a driving motor drive control subsystem 6, a steering gear mechanical interface 7, a steering motor 8, a steering motor drive control subsystem 9, a battery 10, a lower computer 11, an upper computer 12 and a brake assembly 13.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A specific structure of a chassis system 100 of a distributed electric vehicle according to an embodiment of the present invention is described below with reference to fig. 1 to 2.
As shown in fig. 1-2, a chassis system 100 of a distributed-type pure electric vehicle according to an embodiment of the present invention includes a vehicle frame 1, wheels 3, a driving motor 5, a steering motor 8, a suspension 2, and a control system, wherein the wheels 3 are disposed at the bottom of the vehicle frame 1, and the suspension 2 is connected between the vehicle frame 1 and the wheels 3. The chassis system comprises four wheels 3, wherein the four wheels 3 are respectively connected with four driving motors 5 to realize four-wheel independent driving, and the four wheels 3 are respectively connected with four rotating motors to realize four-wheel independent steering. The control system also includes a drive motor drive control subsystem 6 electrically connected to the four drive motors 5, and a steering motor drive control subsystem 9 electrically connected to the four turning motors.
It can be understood that, in the invention, each wheel is respectively controlled by a driving motor 5 and a steering motor 8 to drive and steer the wheel 3, the four wheels 3 are symmetrically arranged left and right, a mechanical system for centralized driving and steering is eliminated, distributed control of the electric vehicle is realized, and further more diversified driving modes of the vehicle can be realized through telex operation, including translational maneuvering, pivot steering, snake driving and the like which point to be separated from the moving direction. Meanwhile, the invention also reserves interfaces with traditional automobile parts as much as possible, reserves a suspension system of the existing vehicle, is assembled with a brake system of the existing vehicle, and is convenient to be put into the market for processing and production as soon as possible.
According to the chassis system 100 of the distributed pure electric vehicle, each wheel 3 is respectively controlled by one driving motor 5 and one steering motor 8 to drive and steer the wheel 3, so that the four-wheel independent drive and independent steering of the whole vehicle and the distributed control and torque transmission of the electric vehicle are realized, the turning radius is reduced to the greatest extent, and the vehicle has more diversified driving modes, including translational maneuvering, pivot steering, snake-shaped driving and the like with separated pointing direction and moving direction. Meanwhile, interfaces with traditional automobile parts are kept as far as possible, a suspension system of the existing vehicle is kept, and a brake system of the existing vehicle is assembled, so that the automobile is convenient to put into the market for processing and production as soon as possible.
In some embodiments, each drive motor 5 is connected to a wheel 3 via a half shaft 4. It will be appreciated that the drive motor 5 is mounted to the frame 1 by a motor mounting bracket and is connected to the wheels 3 by means of half-shafts 4 to drive the wheels. Compared with a hub motor, the mode of placing the motor beside the wheel has smaller unsprung mass and smaller rotational inertia of the wheel, and the performance of the vehicle is greatly improved. In addition, the connecting mode also saves an axle and a transmission shaft in the existing automobile, reduces the weight of the chassis, improves the traditional efficiency and enables the whole automobile to be more flexible.
It should be noted that the above-mentioned "axle and propeller shaft in existing automobile" means the axle and propeller shaft described on page 270 of the textbook "automobile construction" (press: beijing university press) by favorable works.
Optionally, half-shafts 4 comprise stub shafts and universal joints. The half shaft 4 connects the driving motor 5 and the wheel 3 to realize the transmission of the torque. The universal joint realizes the power transmission with variable angles, changes the direction of a transmission axis and solves the problems of potential difference and the like caused by wheel jumping.
In some embodiments, each driving motor 5 is provided with a first detecting member for measuring the rotation angle and the rotation speed, and the first detecting member is electrically connected with the driving motor driving control subsystem 6. In this way, the operating state of each drive motor 5 can be detected during operation of the motor vehicle.
It should be noted that the driving motor 5 may include a speed reducer and may not include a speed reducer and is not particularly limited herein. The first detecting member may be an encoder or a sensor made of a hall element for measuring a rotation angle and a rotation speed, but is not limited thereto.
In some embodiments, each steering motor 8 is provided with a second detection member for measuring the rotation angle and the rotation speed, and the second detection member is electrically connected with the steering motor drive control subsystem 9. In this way, the operating state of each drive motor 5 can be detected during the steering of the motor vehicle. The second detecting member may be an encoder or a sensor made of a hall element for measuring a rotation angle and a rotation speed, but is not limited thereto.
In some embodiments, the steering motor 8 is connected to the wheel 3 through a steering mechanical interface 7, and a link is provided on the steering mechanical interface 7 and is rotatably connected to the wheel 3.
It can be understood that the four steering motors 8 are independent of each other and are respectively arranged at the four wheel edges, and the rotation of the motors is converted into the translation of the steering connecting rods through a lead screw, a hydraulic actuator and other similar devices, so that the steering of the wheels is finally realized. The structure of the steering connecting rod and the part of the structure connected with the connecting rod and the wheels are basically the same as that of the connecting rod of the traditional vehicle, and only the length of the steering connecting rod is adjusted so as to be matched with the steering motor 8 and the wheels 3 for use. The connecting mode removes the driving part of the traditional central output type steering gear, only keeps the partial length of the steering connecting rod of the traditional steering gear and the connecting and fixing part of the wheels and the frame 1, and the end of the connecting rod towards the interior of the vehicle body is connected with the steering driving motor 5 assembly through the steering gear mechanical interface 7. Therefore, the four-wheel independent steering control is realized, and the steering structure of the vehicle is simplified.
It should be noted that the term "rotatable connection" as used herein refers to the mechanical connection of the link to the wheel as described in pages 384-394 of the "automobile chassis design" of the text by the university of Qinghua university (Press) written by Oenoki.
In some embodiments, the suspension 2 adopts a conventional suspension structure of a vehicle, so that the chassis system of the distributed pure electric vehicle can be rapidly put into production and use on the market. It should be noted that the types of suspensions 2 for the front and rear wheels may be the same or different, and the form of the suspensions 2 for the front and rear wheels is not limited herein.
Advantageously, the suspension 2 is configured in the form of an independent suspension.
In some embodiments, the wheels 3 adopt a wheel structure in the prior art, so that the chassis system of the distributed pure electric vehicle can be rapidly put into the market for production and use. The types of the front wheels and the rear wheels may be the same or different, and the forms of the front wheels and the rear wheels are not limited herein.
In some embodiments, the chassis system 100 of the distributed electric vehicle further comprises a brake assembly 13 acting on the wheels 3, and the control system further comprises a brake control subsystem connected to the brake assembly 13.
Specifically, the brake control subsystem includes: the vehicle automatic driving system comprises a brake pedal, a wheel driving power switch linked with the brake pedal, and a brake control device controlled by the vehicle automatic driving system.
It should be noted that the brake assembly 13 of the present invention is formed by adding an electric vacuum pump to the existing vehicle brake assembly 13, so that the braking mechanism structure of the existing vehicle is maintained, and the chassis system of the embodiment of the present invention can be rapidly put into market for production and use.
Advantageously, the brake assembly 13 is a disc brake assembly.
In the embodiment of the invention, the wheels with the same structure of the traditional wheel assembly can be selected, and the front wheels and the rear wheels can be selected from wheel assemblies with different forms.
It should be noted that the above-mentioned "conventional wheel assembly structure" refers to the structure of the wheel assembly described on page 280 of the textbook "automobile construction" (press: beijing university of studios), which is well-known to be written. In some embodiments, the drive motor drive control subsystem 6 includes: the control system comprises a pedal for generating a control signal of a driving motor, a communication interface connected with an autonomous driving system of the vehicle, a motor controller and a lower computer 11.
In some embodiments, the steering motor drive control subsystem 9 comprises: a steering wheel generating wheel steering signals, a steering mode selector, a communication interface connected with an autonomous driving system of the vehicle, a motor controller and a lower computer 11.
Specifically, each wheel 3 controls driving and steering by the same lower machine 11. It should be noted that the lower computer 11 may be a single chip, a computer, or an embedded hardware system, and the specific type of the lower computer 11 is not limited herein.
More specifically, the control system comprises an upper computer 12, and each lower computer 11 is connected with the upper computer 12 through a communication interface, receives an instruction of the upper computer 12 and feeds back motion information of a single wheel of the upper computer 12.
In some embodiments, the drive motor 5 is configured as an electric generator-alternator. It can be understood that the driving motor 5 has an energy recovery function, thereby saving electric energy and being green and environment-friendly.
The specific structure of the chassis system 100 of the distributed electric vehicle according to one specific embodiment of the present invention is described below with reference to fig. 1 to 2.
As shown in fig. 2, the chassis system 100 of the distributed pure electric vehicle of the present embodiment includes a vehicle frame 1, wheels 3, a driving motor 5, a steering motor 8, a suspension 2, a control system, and a battery 10. The wheel 3 is arranged at the bottom of the frame 1, and the suspension 2 is connected between the frame 1 and the wheel 3.
The chassis system of the embodiment includes four wheels 3, the four wheels 3 are respectively connected with four driving motors 5 to realize four-wheel independent driving, and the four wheels 3 are respectively connected with four rotating motors to realize four-wheel independent steering
The control system comprises a driving motor driving control subsystem 6 electrically connected with four driving motors 5, a steering motor driving control subsystem 9 electrically connected with four steering motors, and a brake control subsystem connected with a brake assembly 13.
The driving motor driving control subsystem 6 comprises a pedal for generating a driving motor control signal, a communication interface connected with the vehicle autonomous driving system and a motor controller. The steering motor drive control subsystem 9 includes a steering wheel for generating wheel steering signals, a steering mode selector, a communication interface for connecting to an autonomous vehicle driving system, and a motor controller. The brake control subsystem comprises a brake pedal, a wheel drive power switch linked with the brake pedal, and a brake control device controlled by the vehicle autonomous driving system.
The control system also comprises a lower computer 11 and an upper computer 12, wherein the lower computer 11 is electrically connected with the driving motor driving control subsystem 6 and the steering motor driving control subsystem 9 respectively to control the driving and steering of the four wheels 3. The lower computer 11 is connected with the upper computer 12 through a communication interface, receives the instruction of the upper computer 12 and feeds back the motion information of each wheel 3 of the upper computer 12.
The four driving motors 5 are respectively connected with the four wheels 3 through half shafts 4, each driving motor 5 is provided with a first detection piece for measuring a corner and a rotating speed, and the first detection pieces are electrically connected with the driving motor drive control subsystem 6.
The four steering motors 8 are respectively connected with the four wheels 3 through steering gear mechanical interfaces 7, each steering motor 8 is provided with a second detection piece for measuring steering and rotating speed, and the second detection pieces are electrically connected with a steering motor drive control subsystem 9. Each steering gear mechanical interface 7 is provided with a connecting rod which is rotatably connected with the wheel 3.
The chassis system 100 of the distributed pure electric vehicle of the embodiment reserves a large number of mechanical interfaces of the existing vehicle, and can be rapidly put into market for production and use by adopting the suspension system, the brake system and the wheels 3 of the existing vehicle. The four wheels of the embodiment are driven by completely independent motors, mechanical connection between the driving wheels is avoided, independent driving force distribution can be carried out on the four wheels, and the freedom degree of motion of the vehicle is increased. Meanwhile, the four steering mechanisms are mutually independent, so that the maneuverability of the vehicle is greatly improved, the steering flexibility of the vehicle is improved, and novel driving modes such as snake-shaped driving, pivot steering and the like are realized. In addition, the chassis system 100 of the distributed electric vehicle of the embodiment may also have the capability of switching to an emergency state when a single power system or a brake system of the vehicle fails, and the driving safety is guaranteed to the nearest maintenance point through the remaining intact driving systems.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A chassis system of a distributed pure electric vehicle, comprising: the device comprises a frame, wheels, a driving motor, a steering motor, a suspension and a control system, wherein the wheels are arranged at the bottom of the frame, and the suspension is connected between the frame and the wheels; wherein the content of the first and second substances,
the number of the wheels is multiple, each wheel is driven to run by adopting an independent driving motor, each wheel is driven to deflect relative to the running direction by adopting an independent steering motor, the number of the driving motors is equal to that of the wheels, and the number of the steering motors is equal to that of the wheels, so that distributed control and torque transmission of the pure electric vehicle are realized; in addition, the first and second substrates are,
each driving motor is connected with the wheel through a half shaft, each steering motor is connected with the wheel through a steering gear mechanical interface, and each wheel is correspondingly provided with an independent brake assembly;
to achieve drive-by-wire, the control system further comprises: the driving motor driving control subsystem is electrically connected with each driving motor, the steering motor driving control subsystem is electrically connected with each steering motor, and the brake control subsystem is connected with the brake assembly;
the half shaft comprises a universal joint and a short shaft, wherein the universal joint is connected with the driving motor and is connected with the wheels;
the chassis system further comprises a connecting rod, one end of the connecting rod is rotatably connected with the wheels, one end of the connecting rod in the frame is connected with the steering motor through the steering gear mechanical interface, and the steering motor converts rotary motion into motion of the connecting rod through a device for converting rotary motion into linear motion.
2. The chassis system of the distributed electric vehicle-only according to claim 1, wherein each driving motor is correspondingly provided with a first detection member for measuring a rotation angle and a rotation speed, a speed reducer is arranged between each driving motor and a wheel, each driving motor is installed on the frame in a position adjacent to and corresponding to the wheel, each driving motor and the wheel are connected and driven through the half shaft, each wheel is independently driven through the arrangement of the first detection member, the driving motors and the half shafts, and the first detection member is electrically connected with the driving motor drive control subsystem.
3. The chassis system of the distributed electric vehicle according to claim 1, wherein a second detection member for measuring a rotation angle and a rotation speed is arranged on each steering motor, the second detection member is electrically connected with the steering motor drive control subsystem, each steering motor is connected with the wheel through a steering gear mechanical interface, and each steering motor is controlled through the electrical connection of the steering motor drive control subsystem to achieve independent steering of the wheel.
4. The chassis system of the distributed electric vehicle according to claim 1, wherein the brake assembly is a disc brake assembly.
5. The chassis system of a distributed blade electric vehicle as recited in claim 1, wherein at least one of the suspensions is an independent suspension.
6. The chassis system of the distributed electric vehicle according to claim 1, wherein the plurality of driving motors are all-in-one electric generators.
7. The chassis system of the distributed electric vehicle according to claim 1, wherein the driving motor drive control subsystem comprises: the automatic control system comprises a pedal for generating a control signal of a driving motor, a communication interface connected with an automatic driving system of the vehicle, a motor controller and a lower computer.
8. The chassis system of the distributed electric-only vehicle of claim 1, wherein the steering motor drive control subsystem comprises: the device comprises a steering wheel for generating wheel steering signals, a steering mode selector, a communication interface connected with an autonomous driving system of the vehicle, a motor controller and a lower computer.
9. The chassis system of the distributed pure electric vehicle according to claim 7 or 8, wherein the control system comprises upper computers, and each lower computer is connected with the upper computer through a communication interface, receives an instruction of the upper computer and feeds back motion information of a single wheel of the upper computer.
10. The chassis system of the distributed electric vehicle according to claim 4, wherein the brake control subsystem comprises: the vehicle automatic driving system comprises a brake pedal, a wheel driving power switch linked with the brake pedal, and a brake control device controlled by the vehicle automatic driving system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867354.XA CN107650678B (en) | 2017-09-22 | 2017-09-22 | Chassis system of distributed pure electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710867354.XA CN107650678B (en) | 2017-09-22 | 2017-09-22 | Chassis system of distributed pure electric vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107650678A CN107650678A (en) | 2018-02-02 |
| CN107650678B true CN107650678B (en) | 2021-08-17 |
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| 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 |
| CN109094650B (en) * | 2018-07-09 | 2019-07-16 | 北京理工大学 | A kind of unmanned vehicle chassis module that can independently splice |
| CN108995711B (en) * | 2018-07-09 | 2020-08-28 | 北京理工大学 | Independent-drive all-wheel steering electric unmanned vehicle chassis |
| 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 |
| CA3099415A1 (en) * | 2019-12-20 | 2021-02-05 | Bombardier Transportation Gmbh | Steering system for an autonomous vehicle |
| 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 |
| CN112622604B (en) * | 2020-12-30 | 2022-07-19 | 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 |
| CN116461607B (en) * | 2023-05-12 | 2024-02-06 | 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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