CN108146423A - A kind of steering, anti-dumping and driving integrated form wheel side power drive system and control method - Google Patents
A kind of steering, anti-dumping and driving integrated form wheel side power drive system and control method Download PDFInfo
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- CN108146423A CN108146423A CN201810132234.XA CN201810132234A CN108146423A CN 108146423 A CN108146423 A CN 108146423A CN 201810132234 A CN201810132234 A CN 201810132234A CN 108146423 A CN108146423 A CN 108146423A
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- gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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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
Abstract
The invention discloses a kind of steering, anti-dumping with driving integrated form wheel side power drive system, including：Double-rotor machine, outer rotor output terminal connection wheel, internal rotor output terminal connection driving gear；Anti-dumping gear, is located at the side of the driving gear, and is engaged with the driving gear；L-shaped sway bar, one end are fixedly connected with the anti-dumping gear, other end connection suspension by first clutch；Linear motor, is fixed on the double-rotor machine side, and the secondary end connection track rod of the linear motor turns to for track rod movement to be driven to realize；Wherein, when first clutch combines, the internal rotor output terminal generates the moment of resistance that suspension is prevented to move up and down, and realizes anti-dumping.It is provided by the invention turn to, anti-dumping and driving integrated form wheel side power drive system, improve the integration of system, save space, convenient for arrangement.
Description
Technical field
The invention belongs to automobile wheel edge actuation techniques field, more particularly to a kind of steering, anti-dumping and driving integrated form wheel side
Power drive system and control method.
Background technology
Traditional centralized driving formula pure electric automobile is using the power assembly being made of single motor and drive axle or by list
The power assembly of one motor, speed changer and drive axle composition drives vehicle to travel, and driving parts are more, and transmission efficiency is not high, account for
It is big with space.
Wheel hub drives or driving motor is is directly installed in driving wheel or driven by its structure feature of Direct wheel drives
Near wheel, motor direct-drive wheel or through deceleration mechanism.Compared with orthodox car, the machine drivings such as differential mechanism are eliminated
Component, transmission efficiency is compact-sized, and vehicle body space utilization rate is high, at the same each driving wheel can independent control, be easy to implement
Complicated dynamic property and stability control.However, the Direct wheel drives of wheel stand are arranged in for wheel hub driving or driving motor
Form since driving motor increases unsprung mass, causes automobile ride bad.Thus, using the drive being arranged on vehicle frame
Dynamic motor wheel edge independence drive form, can effectively solve the problems, such as this at this stage.
Meanwhile existing Direct wheel drives system often still matches use with conventional steering system and suspension system, takes turns side
Drive system is relatively independent with steering and being designed and arranged for suspension system.It is changed to take turns by conventional ADS driving form
Often there are problems that the space between three systems and movement interference during the drive form of side, thus the design difficulty of vehicle chassis system
Greatly, the period is long.In addition, traditional stabilizer bar in suspension system need to connect left and right independent suspension shock-absorber lever, though can have
Effect prevents body roll, but also sacrifice part riding comfort, and increases space layout difficulty.Existing independent anti-dumping skill
It is respectively that each suspension increases anti-dumping motor that art, which is mostly, and occupied space is big, complicated.In addition to this, although existing now each
The technology of wheel independent steering, but existing independent steering technology does not all consider independent steering execution unit Problem of Failure, works as side
Wheel independent steering fails, then entire vehicle can not continue to complete go to action, has very big security risk.
Invention content
It is an object of the present invention to provide a kind of steering, anti-dumping and driving integrated form wheel side power drive systems, utilize birotor electricity
Machine and both specific type of electric machines of linear motor realize that the independent drive-by-wire of wheel, independent line traffic control turn as Liang Ge executing agencies
To and three functions of independent line traffic control anti-dumping；The integration of system is improved, saves space, convenient for arrangement, while in fact
The independent steering control of each wheel is showed, has made steering more flexible.
It is a still further object of the present invention to provide a kind of steering, anti-dumping and driving integrated form wheel side power drive system controlling parties
When turning to linear motor failure, the redundancy of steering-by-wire is realized by the break-make for controlling double-rotor machine and clutch for method
Ensure reliable steering safety.
Technical solution provided by the invention is：
Double-rotor machine, outer rotor output terminal connection wheel, internal rotor output terminal connection driving gear；
Anti-dumping gear, is located at the side of the driving gear, and is engaged with the driving gear；
L-shaped sway bar, one end are fixedly connected with the anti-dumping gear, other end connection suspension by first clutch；
Linear motor, is fixed on the double-rotor machine side, and the secondary end connection of the linear motor turns to horizontal drawing
Bar turns to for track rod movement to be driven to realize；
Wherein, when first clutch combines, the internal rotor output terminal generates the moment of resistance that suspension is prevented to move up and down,
Realize anti-dumping.
Preferably, the steering, anti-dumping and driving integrated form wheel side power drive system, further include fail safe machine
Structure, including：
Tooth sector, is located at the opposite side of the driving gear, and is engaged with the driving gear；
The external part connection of second clutch, drive end and tooth sector；
Nut is connect with the second clutch driven end；
Lead screw shaft is fixedly connected with the secondary of linear motor close to one end of tooth sector；
Wherein, when second clutch is closed, tooth sector rotation can drive the track rod to move.
Preferably, the tooth sector by needle bearing empty set on the nut.
Preferably, the L-shaped sway bar includes orthogonal first segment and second segment, and the second segment can be around the
One section of rotation；The first segment connects the first clutch, and the second segment connects damper.
Preferably, the steering, anti-dumping and driving integrated form wheel side power drive system, further include anti-dumping connecting rod,
The lower end and the end of the second segment of the anti-dumping connecting rod are hinged, and upper end is hinged with the damper.
Preferably, the drive end of the first clutch is connect with the external part of the anti-dumping gear, driven end and institute
The first segment end for stating L-shaped sway bar is connected.
Preferably, the anti-dumping gear by needle bearing empty set in the end of the L-shaped sway bar first segment.
A kind of steering, anti-dumping and the control method of driving integrated form wheel side power drive system, include the following steps：
ECU reads self-test signal, judges that linear motor whether there is failure；
Linear motor failure, and when having turn signal input, the controlled closure of second clutch, double-rotor machine internal rotor drives
It starts building to make, and according to operator demand's output torque, tooth sector rotation, driving steered wheel steering；
Linear motor failure, when no turn signal inputs, the controlled closure of second clutch, the output of double-rotor machine internal rotor
The stalling torque of remains stationary, locking steered wheel maintain automobile straight-line travelling.
Preferably, the steering, anti-dumping and the control method of driving integrated form wheel side power drive system, further include：
When system failure, linear motor turns to demand control motor turning according to driver；The outer rotor output of double-rotor machine
Section output torque driving vehicle traveling or output electromagnetic braking torque electric braking car deceleration；The internal rotor output of double-rotor machine
End can generate the moment of resistance that suspension is prevented to move up and down and realize anti-dumping.
Preferably, the steering, anti-dumping and the control method of driving integrated form wheel side power drive system, further include root
Judge pavement behavior, and suspension rate is controlled according to pavement behavior according to track mode switching signal；
If road surface is good, first clutch keeps normally closed bonding state or semi-linkage, controls suspension roll stiffness and this
Side suspension Line stiffness, suspension rate is big or larger at this time；
If road surface is bad, first clutch controlled switch-off, second clutch restores normal off open state, at this time suspension rate
It is small.
The beneficial effects of the invention are as follows：
1st, steering provided by the invention, anti-dumping are with driving integrated form wheel side power drive system by using double-rotor machine
With linear motor except the driving function for realizing traditional Direct wheel drives system, while realize turning function and independent anti-dumping
Function integrates, and the system integration is good.
2nd, steering provided by the invention, anti-dumping the tradition machinery formula trailing wheel compared with the power drive system of driving integrated form wheel side
Steering eliminates the steering gear of a series of complex；Compared to existing independent Anti-tilt system, actuating motor is eliminated
Or hydraulic system, system structure is enormously simplified, space and cost can be utilized by having saved vehicle.
3rd, it is provided by the invention turn to, anti-dumping and driving integrated form wheel side power drive system can according to arrangement space and
The type of drive of selection realizes that uniaxial, twin shaft or multiaxis respectively take turns integrated the one of independent steering and independent driving and independent anti-dumping
Body realizes motorized chassis.
4th, steering provided by the invention, anti-dumping are with driving the integrated form wheel side power drive system independent control left and right sides simultaneously
Suspension rate can provide independent anti-inclination torsional moment by suspension to the left and right, realize the accurate control to preventing body roll；Together
When can further realize control to suspension rate, while the automatic decoupling of left and right suspension can be realized without mechanical structure, make
Vehicle has more preferably comfort；The present invention realizes the independent anti-dumping of both sides suspension and independent suspension stiffness tuning simultaneously, can
According to the adjustment suspension rate of pavement behavior and vehicle body state promptly and accurately, comfort is effectively improved.
5th, it is provided by the invention turn to, anti-dumping with driving integrated form wheel side power drive system and steering wheel without mechanical connection,
For wire-controlled steering system, steering angular gear ratio can be adjusted flexibly according to factors such as speed and vehicle-states, substantially increase
The maneuvering performance of automobile.In addition, the reliability to ensure wire-controlled steering system, using double-rotor machine and steering linear motor
Liang Tao mechanisms parallel operation realizes redundancy steering-by-wire, it is ensured that turns to safety.
Description of the drawings
Fig. 1 is the general structure schematic diagram of steering of the present invention, anti-dumping with driving integrated form wheel side power drive system.
Fig. 2 is the structural principle schematic diagram of steering of the present invention, anti-dumping with driving integrated form wheel side power drive system.
Fig. 3 is steering of the present invention, the knot of anti-dumping and the anti-dumping connecting rod of driving integrated form wheel side power drive system
Structure schematic diagram.
Fig. 4 is steering of the present invention, the structure of anti-dumping gear of the anti-dumping with driving integrated form wheel side power drive system
Schematic diagram.
Fig. 5 be it is of the present invention turn to, anti-dumping and the ball screw framework of driving integrated form wheel side power drive system
Structure diagram.
Fig. 6 is steering of the present invention, anti-dumping is outer with the double-rotor machine of driving integrated form wheel side power drive system
Rotor structure schematic diagram.
Fig. 7 is the electrical connection schematic diagram of steering of the present invention, anti-dumping with driving integrated form wheel side power drive system.
Fig. 8 is a kind of steering of the present invention, control method stream of the anti-dumping with driving integrated form wheel side power drive system
Cheng Tu.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Figs. 1-2, the present invention provides a kind of steering, anti-dumping and driving integrated form wheel side power drive system, packets
Include L-shaped sway bar 200, anti-dumping connecting rod 210, double-rotor machine 600, linear motor 400, epicyclic reduction gear unit 800, rolling
Screw mechanism 500, driving gear 700, tooth sector 560, anti-dumping gear 230, first clutch 220, second clutch
550th, knuckle 110, interior universal joint 150, outer universal joint 130, inner shaft 140, outer semiaxis 120, track rod 300, vibration damping
Device 160 and wheel hub drive housing 900.
As shown in Fig. 2, the double-rotor machine 600 is both-end output type structure, the double-rotor machine outer rotor 640
Output terminal is connected by spline with the sun gear 820 of epicyclic reduction gear unit 800, and 630 output terminal of internal rotor passes through spline
Connect driving gear 700.840 center of planet carrier of epicyclic reduction gear unit 800 is connected with interior 150 input terminal of universal joint,
The gear ring 830 of epicyclic reduction gear unit 800 is fixed on wheel hub drive housing 900.The output terminal of interior universal joint 150 connects
Inner shaft 140 is connect, inner shaft 140 is connected with outer semiaxis 120 by outer universal joint 130.The interior universal joint 150 and outer universal
Section 130 is all CV joint.The necked part of knuckle 110 is made hollow, and outer semiaxis 120 is hollow from knuckle 110
Journal centre pass through, in order to outer semiaxis 120 pass through connect with the wheel hub of wheel 100 transmit torque.Outer semiaxis 120
Outer end is machined with flange, and processing is there are six uniformly distributed bolt on flange, by bolt and nut by the flange and vehicle of outer semiaxis 120
The wheel hub of wheel 100 is fixedly connected, and enables outer semiaxis 120 that wheel 100 to be driven to rotate.
The L-shaped sway bar 200 includes orthogonal first segment and second segment, and the second segment can turn around first segment
It is dynamic；The first segment partial insertion is simultaneously supported in wheel hub drive housing 900, and can be with respect to wheel hub drive housing
900 are freely rotated.The first segment is connect with the driven end of the first clutch 220, while the end of the first segment is also
Anti-dumping gear 230 is set with by needle bearing, anti-dumping gear 230 can be freely rotated in L-shaped sway bar 200.Described second
Section end is connected by ball stud with the lower end of anti-dumping connecting rod 210, and the upper end of anti-dumping connecting rod 210 is by ball stud with subtracting
The protruding pinna of 160 arm lower end of device of shaking is connected.The material of L-shaped sway bar 200 uses spring steel or other alloy materials.
Anti-dumping gear 230 is located at the side of 700 horizontal direction of driving gear, the external part of anti-dumping gear 230 and
The drive end 222 of one clutch 220 is connected.Anti-dumping gear 230 is meshed with driving gear 700, double-rotor machine 600 it is interior
630 output terminal of rotor is connected by spline with driving gear 700.
As shown in figs. 1 and 3, in the present embodiment, the anti-dumping connecting rod 210 is straight-bar, and there is lug at both ends, meanwhile,
The ledge arrangement center at both ends is all machined with pin hole.210 upper end of anti-dumping connecting rod passes through ball stud and 160 arm of damper
On lug be connected, lower end is connected by ball stud with the outboard end of L-shaped sway bar 200.
As shown in figure 4, in the present embodiment, the anti-dumping gear 230 is cylindric straight-tooth gear, and one side is machined with stretching
End, external part and gear center be machined with through-hole, and external part outer end diameter is machined with spline, to and first clutch
220 drive end, 222 friction plate spline fitted.The anti-dumping gear is meshed with driving gear 700.Anti-dumping gear 230 passes through rolling
Needle bearing empty set is in L-shaped sway bar 200.
The first clutch 220 is automatically controlled normally closed type clutch, when first clutch 220 combines, L-shaped sway bar 200
Rotation can drive the rotation of anti-dumping gear 230, realize the connection of double-rotor machine 600 and L-shaped sway bar 200.When
When one clutch 220 disconnects, anti-dumping gear 230 can be freely rotated in L-shaped sway bar 200.
The first clutch 220 can select the electric control clutch such as electromagnetism multiplate clutch, electric-controlled hydraulic clutch on demand
Device, this does not form the limitation to claims of the present invention.
In the present embodiment, the driving gear 700 forms deceleration torsion increasing device with anti-dumping gear 230, i.e., using fixed
Deceleration torque is realized in gear drive.In other embodiments, on demand in L-shaped sway bar 200 and the internal rotor of double-rotor machine 600
Other deceleration devices or the mechanism such as the selection two level fixed gear transmission of 630 output terminals or planetary gear mechanism.
The linear motor 400 includes secondary and primary, exchange is passed in primary, secondary is just under the action of electromagnetic force
It is moved in a straight line along primary.Linear motor 400 is fixed on wheel hub drive housing 900, one end of track rod 300
It is connected with secondary one end of linear motor 400 by bulb, the other end is connected to knuckle 110 by ball stud, controllably
Linear motor 400 processed moves in a straight line secondary, so as to which track rod 300 be pulled to move horizontally, the shifting of track rod 300
It is dynamic to rotate wheel 100.
In the present embodiment, it further includes to be made of ball screw framework 500, second clutch 550 and tooth sector 560 and turn
To fail-safe mechanism.Tooth sector 560 is straight spur gear, is located at the another of 700 horizontal direction of driving gear
Side (side opposite with anti-dumping gear 230), the structure of tooth sector 560 are identical with anti-dumping gear 230.Tooth sector 560 with
Driving gear 700 is meshed, and passes through needle bearing empty set on ball screw framework nut 510.While tooth sector 560
External part is connect with the drive end 552 of second clutch 550.
As shown in figures 2 and 5, the ball screw framework 500 includes ball 520, lead screw shaft 530, ball screw framework spiral shell
Mother 510.Leading screw ball screw framework nut 510 is connected by end flange with bolt with the driven end 551 of second clutch 550
It connects, while tooth sector 560 is also set with by needle bearing on ball screw framework nut 510, tooth sector 560 can roll
It is freely rotated on screw mechanism nut 510.The drive end 552 of the external part of tooth sector 560 and second clutch is logical simultaneously
Spline is crossed to be connected.The ball screw framework nut 510 is limited one-movement-freedom-degree along leading screw 530, ball-screw machine
Structure nut 510 can only be rotatable around its axis, is lead screw shaft so i.e. by the convert rotational motion of ball screw framework nut 510
530 linear motion.Lead screw shaft 530 and the secondary other end (one end of not connected track rod 300) of linear motor 400 are
Integral structure, while semicircle revolving spiral slot is machined in lead screw shaft 530, the track rolled as ball 520；Ball-screw
510 center inner wall of mechanism nut is machined with identical semicircle revolving spiral slot corresponding with lead screw shaft 530, for assembling ball 520
And the track slided as ball 520.Meanwhile 510 inner wall of nut is also machined with the interior cycle of ball 520 and leads in an axial direction
Respectively in the close starting point and terminal point of semicircle helicla flute, ball circulation passages enable ball 520 for road, feeder connection and outlet
The circulating rolling in track is realized the linear motion for being converted into lead screw shaft 530 of ball screw framework nut 510.It removes
Except this, 510 one end of ball screw framework nut is machined with ring flange, and there are six logical for the processing of ring flange upper edge axial direction circumference uniform distribution
Hole, to realize connection by bolt and 550 driven end of second clutch.
The second clutch 550 is automatically controlled normally open clutch, and when second clutch 550 disconnects, tooth sector 560 can
It is freely rotated on ball screw framework nut 510, when second clutch 550 combines, the rotation of tooth sector 560 i.e. can band
The rotation of dynamic ball-screw mechanism nut 510, so as to which lead screw shaft 530 be driven to move horizontally.
The second clutch 550 can select the electric control clutch such as electromagnetism multiplate clutch, electric-controlled hydraulic clutch on demand
Device, this does not form the limitation to claims of the present invention.
The driving gear 700 forms deceleration torsion increasing device with tooth sector 560, the fixed gear transmission that the present invention selects
Internal rotor 630 for double-rotor machine 600 drives wheel 100 that the deceleration torsion increasing device of divertical motion occurs around its stub, also may be used
Other deceleration devices or mechanism are selected in 630 output terminal of internal rotor of tooth sector 560 and double-rotor machine 600 on demand, this
Item does not form the limitation to claims of the present invention.
As shown in Fig. 2, the double-rotor machine 600 include shell 670, outer rotor 640, internal rotor 630, permanent magnet 660,
Exciting Windings for Transverse Differential Protection 620, stator 620, armature winding 650.Wherein, shell 670 is used to house the outer rotor 640 and internal rotor 630；
Uniformly distributed permanent magnet 660 is attached on 640 medial and lateral surface of outer rotor in groups；Stator 610 is fixed on 670 inner wall of shell；
Exciting Windings for Transverse Differential Protection 620 is mounted on the stator 610：Armature winding 650 is mounted on the internal rotor 630.As shown in fig. 6,
In the present embodiment, the outer rotor 640 of the double-rotor machine 600 includes main body 641 and end cap using castellated mutual cooperation
642.The end face center of main body 641 sets to lead to there are one the ladder that is made of the larger bearing hole of internal diameter and the smaller unthreaded hole of internal diameter
Hole, bearing hole are used for installing the right bearing support of internal rotor 630, and the output terminal of internal rotor 630 is stretched out from the ladder hole.
642 bottom inside of end cap is machined with bearing counterbore, for installing 630 right support bearing of internal rotor.Internal rotor 630 is nested in described
In the accommodating space that the main body 641 of castellated mutual cooperation, end cap 642 are formed.
During installation, first 630 left and right spring bearing of internal rotor is installed to 640 main body 641 of outer rotor and 642 bottom of end cap
In corresponding bearing hole, then internal rotor 630 is put into inside 640 main body 641 of outer rotor, then put on end cap for outer rotor 642, then will
In outer rotor 640 and 630 integral installation of internal rotor to birotor steering motor shell 670.Double-rotor machine shell 670 is fixed on
It in wheel hub drive housing 900, is integrally attached on automobile accessory frame, belongs to sprung mass.
In another embodiment, as shown in fig. 6,641 one end of main body of the outer rotor 640 of double-rotor machine and end cap 642
Circular arc trapezoidal groove tooth there are six circumference processing at cooperation, i.e. groove tooth are less than remote center of circle end in radially nearly center of circle end size, main
The tooth root plane of the groove tooth of body 641 is also machined with annulus arcuation little groove；641 6 circular arcs of end cap 642 and main body are trapezoidal recessed
There are six the trapezoidal raised tooths of circular arc for the processing of slot corresponding position, and raised tooth is in radially nearly center of circle end size less than remote center of circle end, end cap 642
The tooth top plane of the trapezoidal raised tooth of circular arc be also machined with annulus corresponding to main body circular arc trapezoidal groove tooth heel small groove
Arcuation protrusion, the trapezoidal protrusion of circular arc are identical with circular arc trapezoidal groove basic size.Main body 641 and end cap 642 are combined into outer rotor
When 640, the tooth form both sides cooperation positioning of the circular arc trapezoidal groove tooth of main body 641 and the trapezoidal raised tooth of corresponding end cap circle is played
Between the effect of radial positioning makes the two center centering, and respectively the little groove of tooth root and tooth top annulus arcuation protrusion correspond to two-by-two
Gap coordinates, and plays the role of auxiliary radially limiting and axially position, and it is reliably fixed when main body 641 and 642 dental inlay of end cap coordinate to ensure
The heart.
Planetary gear mechanism deceleration device 800 includes sun gear 820, gear ring 830, planetary gear 840 and planet carrier 810.
The sun gear 820 is connected by spline with 630 output terminal of internal rotor of double-rotor machine 600, and planet carrier 810 is as defeated
Go out, planet carrier 810 is connected centrally through spline with the input terminal of interior universal joint 150.Gear ring 830 is fixed on Direct wheel drives dress
On the housing 900 put.Planetary gear 840 is installed on planet carrier 810, it is preferred that the present invention is equipped with 3 planetary gears 840,
Planetary gear 840 can rotation, while can revolve round the sun in the spaced winding sun gear 820 of sun gear 820 and gear ring 830.Described
Epicyclic reduction gear unit 800 plays deceleration torque to 640 output torque of outer rotor of double-rotor machine.
The present embodiment selects epicyclic reduction gear unit 800 to drive wheel as the outer rotor 640 of double-rotor machine 600
100 deceleration torsion increasing device.In other embodiments, it can be selected between wheel 100 and double-rotor machine 600 on demand other
Deceleration device and mechanism, this does not form the limitation to claims of the present invention.
The wheel hub drive housing 900 divides for left and right two parts cavity, and left side cavity is to accommodating and support institute
Double-rotor machine 600, the linear motor 400 stated, right side cavity is to accommodating and support the ball screw framework 500, the
One clutch 220, second clutch 550, driving gear 700, anti-dumping gear 230 and tooth sector 560.Left side cavity uses
Many places hollow out design, and radiation rib is cast in housing entity part, so as to vehicle, outside air flows into housing cavity when driving,
It is cooled down for double-rotor machine 600 and linear motor 400.Right side cavity uses closed design, built-in gear oil, to be above-mentioned
Gear set stirs oil lubrication, while it is (in figure oily for first clutch 220 and second clutch 550 to cool down and provide operating pressure oil
Pump is not shown).Wheel hub drive housing 900 is fixed on vehicle frame or subframe, belongs to sprung mass, does not increase matter under spring
Amount, vehicle ride performance are not affected.
In another embodiment, as shown in fig. 7, a kind of steering, putting and inclining and driving integrated form wheel side electric drive trains
System, which further includes electronic controller (ECU) 950, ECU950, can be separately provided, may alternatively be integrated in entire car controller.ECU950 is electrically connected
Double-rotor machine 600, linear motor 400, first clutch 220, second clutch 550 are connect, can control aforementioned four actuator
Work.The detection signal in double-rotor machine 600 and linear motor 400 can be read in ECU, judges whether failure.Simultaneously
ECU950 can access vehicle CAN bus, communicate with entire car controller, can receive driving, steering and driver's root in CAN bus
Operator demands' signals such as the running car mode switch according to pavement conditions selection and speed, side acceleration, car body roll
The Vehicular status signals such as angle.The birotor electricity of wheel side power drive system of the present invention is covered according to operator demand's signal decision more
Machine outer rotor driving torque, linear motor torque and displacement；The driving mode switching signal and speed of foundation driver's input,
The signals such as side acceleration judge to travel road conditions, and combination, semi-linkage or the off-state and second of decision first clutch
The combination and disconnection of clutch, and carry out decision system of the present invention according to speed, car body angle of heel, lateral acceleration signal
Double-rotor machine internal rotor drives or stalling torque.
It is of the present invention it is a kind of turn to, anti-dumping with drive integrated form wheel side power drive system whether lost according to executing agency
Multiple-working mode is presented in effect and failure class, shown in table specific as follows：
Operation principle is as follows under specific each pattern：
During normal mode of operation, the 640 controlled generation driving moment of outer rotor of double-rotor machine 600, driving moment is passed through
Epicyclic reduction gear unit 800, interior universal joint 150, inner shaft 140, outer universal joint 130 and outer semiaxis 120 are transferred to wheel 100
Wheel hub on, so as to which wheel 100 be driven to rotate.
It is provided by the invention to turn to, in anti-dumping and driving integrated form wheel side power drive system, due to actuator birotor electricity
The outer rotor 640 of machine 600 belongs to relatively independent drive system, occurs individually failing in the outer rotor 640 of double-rotor machine 600
When, four actuators (double-rotor machine outer rotor, linear motor, first clutch, second of the present invention as shown above
Clutch) work and unaffected.It, should be by controlling the independent driving of more wheels (i.e. for such drive system failure conditions
The more sets Direct wheel drives system of the present invention being arranged on whole vehicle wheel sides) vehicle drive control device coordinate to control multiple vehicles
The torque output of wheel realizes the limping control for reducing power, it is ensured that safe driving to breakdown maintenance place.
During normal mode of operation, second clutch 550 maintains a normally open disconnection, and tooth sector 560 is in ball screw framework spiral shell
It dallies on mother 510, first clutch 220 keeps normally closed combination, and the rotation of anti-dumping gear 230 drives turning for L-shaped sway bar 200
It is dynamic.When needing to turn to, linear motor 400 is controlled to make secondary linear motion, so as to pull track rod 300, turns to horizontal drawing
Bar 300 drives knuckle 110 to complete go to action so as to rotate wheel 100.When vehicle body occurs to roll or need to adjust suspension firm
When spending, moving up and down for suspension is converted into moving up and down for anti-dumping connecting rod 210 at this time, is then converted to L-shaped sway bar 200
Rotation, the 630 controlled output resistance square of internal rotor of double-rotor machine 600, through driving gear 700, anti-dumping gear 230, first from
It is effective to inhibit body roll or adjustment suspension rate in the effect of clutch 220 to L-shaped sway bar 200.
When the electronic controller ECU950 of system detects linear motor 400 there are during malfunction and failure, second clutch 550
Controlled combination, tooth sector 560 rotate, and ball screw framework nut 510 can be driven to rotate.It is deposited during 400 failure of linear motor
In two kinds of situations：
The first situation is if when needing to turn at this time, and the internal rotor 630 of double-rotor machine 600 exports rotating torque
(internal rotor 630 can be exported than the more high-torque of linear motor 400).On the one hand, 550 controlled combination power of second clutch at this time
Square, as driving moment by second clutch 550 for controlling wheel steering, specific power transfer path is：The torque passes through
It crosses driving gear 700, tooth sector 560 and second clutch 550 to be transferred on ball screw framework nut 510, so as to drive
Dynamic ball screw framework nut 510 rotates, and the rotation of ball screw framework nut 510 is converted into silk by ball screw framework 500
The linear motion of thick stick axis 530, so as to which track rod 300 be pulled to move horizontally, track rod 300 pulls knuckle 110 again
It swings, so as to which wheel 100 be made to complete go to action, has effectively ensured the full-vehicle steering safety after the failure of linear motor 400.Separately
On the one hand, due to 220 normally closed combination of first clutch at this time, 630 output torque of internal rotor of double-rotor machine 600 is as reversed
The moment of resistance inhibits car body caused by turning to roll by first clutch 220.Specifically power transfer path is：The torque is by master
Moving gear 700, anti-dumping gear 230 and first clutch 220 are transferred to that L-shaped sway bar 200 forces L-shaped sway bar 200
Two sections swing around first segment, so as to anti-dumping connecting rod 210 be driven to move up and down by ball stud, so as to drive the extension of suspension or
Compression.It should be noted that the rotation direction of the ball road helix of ball screw framework 500 should ensure that wheel in double-rotor machine
Driven under 600 effects wheel to the right divertical motion when 200 angular speed direction of L-shaped sway bar be directed toward body inner side, i.e. anti-dumping connects
It is moved upwards under the drive that extension bar 210 is rotated in L-shaped sway bar 200 and upholds the side suspension, support car body is oblique to the inclination.
The steering, anti-dumping and the integrated wheel side power drive system of driving on coaxial both sides wheel are installed respectively, are configured coaxial two
On two wheels of side with the use of when, the torque of opposite side double-rotor machine output pulls down suspension, inhibits car body to another
It rolls oblique.Principle is identical when automobile turns to the left repeats no more.The collective effect of both sides double-rotor machine can effectively actively
Inhibit car body roll motion during motor turning campaign, it might even be possible to realize zero angle of heel, improve automobile turning driving safety
With inclination comfort.
In addition, due to the importance and priority of steering moment demand, the internal rotor 630 of above-mentioned double-rotor machine 600 is defeated
The torque gone out can not be according to the demand adjusting size inhibited be rolled, at this time can be by controlling the combination journey of first clutch 220
Degree, i.e. semi-linkage state (current control electromagnetic force or hydraulic control pressing force realize) adjust the rigidity of the side suspension, so as to
Take into account the Roll control demand and suspension ride comfort demand under the conditions of different speeds and road conditions.If track condition is good,
Automobile is travelled in higher speed, and 220 combination degree of first clutch is larger at this time, and the side suspension rate is larger, automobile high-speed row
It is good to sail stability；If track condition is poor, if cross-country road is run at a low speed, 220 combination degree of first clutch at this time
Small, even wholly interrupted, the side suspension rate is smaller or minimum, and automobile tire ground connection property is good, riding comfort is good.
The second situation is if when not needing to turn at this time, and the internal rotor 630 of double-rotor machine 600 exports remains stationary
Stalling torque.Since 550 controlled combination torque one side of second clutch passes through the second clutch as stalling torque at this time
Device 550 is used to resist unnecessary wheel steering caused by external interference, it is ensured that straight motion stability.Specific power transmits road
Diameter is identical with the situation for needing to turn to.On the other hand, due to 220 normally closed combination of first clutch at this time, the similary conduct of the torque
Stalling torque inhibits Suspension Deformation by first clutch 220.Specific power transfer path is identical with the situation for needing to turn to, no
It repeats again.The locked-rotor torque that the internal rotor 630 of double-rotor machine 600 exports forces the inner end of L-shaped sway bar 200 fixed, L
The torsion stiffness of shape sway bar 200 can increase suspension rate, inhibit suspension compresses or extension.Similary system of the present invention
When being used cooperatively on two wheels of coaxial both sides, the stalling torque of opposite side double-rotor machine output can inhibit outstanding for configuration
Frame is upheld or compression, the collective effect of both sides double-rotor machine can effectively inhibit to be interfered by lateral wind during automobile straight-line travelling
When car body roll motion, improve automobile straight-line travelling safety.Situation during with needing to turn to is slightly different, is passive at this time
Car body is inhibited to roll, angle of heel compares slightly larger when needing to turn to.It should be added that due to inhibiting to interfere steering moment
Keep the importance and priority of the demand of straight-line travelling, the stalling torque of the output of internal rotor 630 of above-mentioned double-rotor machine 600
Can not be according to the demand adjusting size inhibited be rolled, it at this time can be by controlling combination degree (the electric current control of first clutch 220
Electromagnetic force processed or hydraulic control pressing force are realized) rigidity of the side suspension is adjusted, under the conditions of taking into account different speeds and road conditions
Roll control demand and suspension ride comfort demand.During limiting case, such as low speed walking non-paved road road conditions compared with
When poor, first clutch 220 can be controlled to be fully disconnected, L-shaped sway bar 200 does not work at this time, and suspension rate drops to most
Small, software feature is presented in suspension, to improve the ride performance of rotten road traveling.
When the electronic controller ECU950 of system detects the internal rotor 630 of double-rotor machine 600 there are during malfunction and failure,
And when detecting that driver inputs steering requirement command by steering wheel by CAN bus, 550 controlled combination of second clutch.
Electronic controller ECU950 exports steering moment according to driver's input control linear motor 400 at this time.Specific power transmits road
Diameter is：The diverted drag link 300 of linear motor 400 pulls knuckle 110 and wheel 100 and is rotated around wheel stub.In addition it is straight
The lead screw shaft 530 that the steering moment that line motor 400 exports also pulls connected ball screw framework 500 is translatable, through ball-screw
The movement conversion of mechanism 500 becomes the rotation to nut 510.Under the combination of second clutch 550, nut 510, which drives, to be turned to
Gear 560 rotates, and passes through driving gear 700 and serve as idle pulley effect driving anti-dumping gear 230 and rotate, then through normally closed first from
Clutch 220 drives 200 active of L-shaped sway bar around its axis oscillating, so as to which anti-dumping connecting rod 210 be driven to move up and down, so as to band
The extension or compression of dynamic suspension.Equally, the rotation direction of the ball road helix of ball screw framework 500 should ensure that wheel in straight line
Motor 400 driven under acting on wheel to the right divertical motion when 200 angular speed direction of L-shaped sway bar be directed toward body inner side, i.e., it is anti-
It is moved upwards under the drive that connecting rod of inclining 210 is rotated in L-shaped sway bar 200 and upholds the side suspension, support car body to the inclination
Tiltedly.Two systems configuration of the present invention on two wheels of coaxial both sides when being used cooperatively, opposite side double-rotor machine
(if opposite side double-rotor machine also fails, the linear motor output that can equally use opposite side is actively anti-for the torque of output
Go all out square) suspension is pulled down, car body is inhibited to be tilted to opposite side.Principle is identical when automobile turns to the left repeats no more.Both sides
Collective effect of the linear motor through gear mechanism can effectively active suppression motor turning campaign when car body roll motion, even
It can realize zero angle of heel, improve automobile turning driving safety and roll comfort.It should be added that due to turning to
The importance and priority of torque demand, the torque that above-mentioned linear motor 400 exports can not be adjusted according to the demand inhibited is rolled
Size, at this time can be by controlling the combination degree of first clutch 220, i.e. semi-linkage state (current control electromagnetic force or liquid
Voltage-controlled pressing force processed realizes) rigidity of the side suspension is adjusted, so as to take into account the Roll control under the conditions of different speeds and road conditions
Demand and suspension ride comfort demand.In addition, due to needed simultaneously when 400 drive control of linear motor in such a mode turns to by
A series of transmission parts driving L-shaped sway bar 200, which act, realizes active anti-dumping, can influence the dynamic responding speed of course changing control,
Therefore the occasion more demanding for turning to dynamic response, second clutch 550 can be controlled to disconnect, reduce linear motor 400
Rotary inertia during action.Roll control is centainly influenced at this time, specific to need to use work in Control System Software level foundation
Condition and matching vehicle calibration design.If track condition is good, automobile is travelled in higher speed, at this time first clutch
220 restore normal closure states, control second clutch 550 be closed, which is ensured, with meet Roll control and
High-speed running stability of automobile demand；If track condition is poor, if cross-country road is run at a low speed, at this time control first from
220 combination degree of clutch is small, even wholly interrupted, control second clutch 550 restore normal off open state, the side suspension rate compared with
Small or minimum, automobile tire ground connection property is good, riding comfort is good.
When the electronic controller ECU950 of system detects the internal rotor 630 of double-rotor machine 600 there are during malfunction and failure,
And when the steering requirement command of driver is not detected, 550 controlled combination of second clutch.Electronic controller ECU950 is controlled at this time
Linear motor 400 processed exports the stalling torque of remains stationary.On the one hand diverted drag link 300 pulls knuckle to the stalling torque
110 and wheel 100 resist and extraneous turn to disturbance torque, wheel is kept not rotate, it is ensured that straight motion stability；On the other hand should
Locked-rotor torque is when second clutch 550 is combined through second clutch 550, tooth sector 560 and the driving gear for serving as idle pulley
700 are transferred to anti-dumping gear 230, then force the first segment of L-shaped sway bar 200 fixed through normally closed first clutch 220,
The torsion stiffness of L-shaped sway bar 200 can increase suspension rate, inhibit suspension compresses or extension.Similary system of the present invention
Under unified central planning to put when being used cooperatively on two wheels of coaxial both sides, the stalling torque of opposite side double-rotor machine output is (if another
When side double-rotor machine also fails, equally passive stall anti-dumping torque can be exported with the linear motor of opposite side) it can press down
Suspension processed is upheld or compression, when collective effect of the both sides linear motor through gear mechanism can effectively inhibit automobile straight-line travelling by
Car body roll motion when being interfered to lateral wind improves automobile straight-line travelling safety.Situation during with needing to turn to is slightly not
Together, at this time passively car body to be inhibited to roll, angle of heel compares slightly larger when needing to turn to.It should be added that due to suppression
System interference steering moment keeps the importance and priority of the demand of straight-line travelling, the stall power that above-mentioned linear motor 400 exports
Square can not according to the demand adjusting size inhibited is rolled, at this time can by controlling the combination degree of first clutch 220, i.e., half
Linkage status (current control electromagnetic force or hydraulic control pressing force realize) adjusts the rigidity of the side suspension, so as to take into account difference
Roll control demand and suspension ride comfort demand under the conditions of speed and road conditions.During limiting case, walk such as low speed and mat formation non-
Road surface can control first clutch 220 to be fully disconnected when road conditions are poor, and L-shaped sway bar 200 does not work at this time,
Suspension rate drops to minimum, and software feature is presented in suspension, to improve the ride performance of rotten road traveling.When controlling the first clutch
When device 220 is fully disconnected, second clutch 550 also restores normally opened off-state, used to reduce the rotation of 400 stall of linear motor
Amount, to improve the quick control response for maintaining straight-line travelling.
The present invention also provides a kind of steering, anti-dumping and the fail safe controlling parties of driving integrated form wheel side power drive system
Method, as shown in figure 8, including the following steps：
Step 1：System program starts, initialization.
Step 2：ECU reads self-test signal.
Step 3：Whether decision-making system is faulty, if faulty, carries out step 4；If it is not, carry out step 22.
Step 4：Judge that double-rotor machine failure is no, if faulty, carry out step 5；If it is not, carry out step 16.
Step 5：Judge whether double-rotor machine is internal rotor failure, if so, carrying out step 6；If it is not, carry out step 9.
Step 6：Judge whether linear motor is faulty simultaneously, if so, carrying out step 7；If it is not, carry out step 8.
Step 7：ECU activation system fault alarms, and vehicle is controlled to slow down up to secure parking, and jump to final step
23。
Step 8：Judge double-rotor machine whether outer rotor also failure, if so, carrying out step 9；If it is not, carry out step
10。
Step 9：ECU starts vehicle limping control, makes to be arranged in the Direct wheel drives system of the present invention of a driven wheel side
System is shut down, and vehicle safety is driven to continue traveling to repair under the premise of stability is ensured by other fault-frees system of the present invention
It stands.The total driving power of vehicle can not meet operator demand at this time, reduce power output to ensure safety.It is final to jump to finally
Step 23.
Step 10：Whether judgement driver has steering to input, if so, carrying out step 11；If it is not, carry out step 12.
Step 11：Linear motor drives work, and is turned to, and jump according to operator demand's output torque driving steered wheel
Go to step 13.
Step 12：Linear motor stall works, locking steered wheel, maintains automobile straight-line travelling, and jump to step 13.
Step 13：Good road surface is determined whether according to the track mode switching signal that driver selects, if so,
Carry out step 14；If it is not, carry out step 15.
Step 14：First clutch restores normally closed bonding state or semi-linkage, control suspension roll stiffness and this side suspension
Line stiffness, suspension rate is big or larger at this time.Finally jump to final step 23.
Step 15：First clutch controlled switch-off, second clutch restore normal off open state, and suspension rate is small at this time.Most
After jump to final step 23.
Step 16：Whether judgement driver has steering to input, if so, carrying out step 17；If it is not, carry out step 18.
Step 17：The controlled closure of second clutch, the driving work of double-rotor machine internal rotor, and it is defeated according to operator demand
Go out the steering of torque actuated steered wheel, and jump to step 19.
Step 18：The controlled closure of second clutch, the work of double-rotor machine internal rotor stall, locking steered wheel maintain
Automobile straight-line travelling, and jump to step 19.
Step 19：Good road surface is determined whether according to the track mode switching signal that driver selects, if so,
Carry out step 20；If it is not, carry out step 21.
Step 20：First clutch restores normally closed bonding state or semi-linkage, control suspension roll stiffness and this side suspension
Line stiffness, suspension rate is big or larger at this time.Finally jump to final step 23.
Step 21：First clutch controlled switch-off, second clutch restore normal off open state, and suspension rate is small at this time.Most
After jump to final step 23.
Step 22：System worked well.Linear motor 400 turns to demand control motor turning according to driver；Birotor
600 outer rotor of motor, 640 output torque driving vehicle traveling or output electromagnetic braking torque electric braking car deceleration；Birotor electricity
600 internal rotor 630 of machine controls suspension stabilizer bar torsion stiffness, and controlling this side suspension Line stiffness will to meet vehicle ride comfort
It asks, can also arrange the two systems cooperating of the present invention of both sides can control this axle suspension system roll angular rigidity, with drop
Downside inclination angle meets High-speed running stability requirement.
Step 23：Terminate.
It is provided by the invention turn to, anti-dumping and driving integrated form wheel side power drive system, utilize double-rotor machine and straight line
Both specific type of electric machines of motor as Liang Ge executing agencies come realize the independent drive-by-wire of wheel, independent steering-by-wire and solely
Vertical line traffic control three functions of anti-dumping.The components such as steering gear, the differential mechanism in orthodox car are eliminated, improve the integration of system,
Space is saved, convenient for arrangement, while the independent steering control of each wheel is realized, makes steering more flexible.It realizes
Both sides wheel independence anti-dumping control, can effectively prevent body roll, while can also be achieved actively while improving riding comfort
Promote the control of body roll, hit passive safety to improve vehicle body side.
It is provided by the invention turn to, anti-dumping and the control method of driving integrated form wheel side power drive system, when turning to straight line
During motor failure, realize that the redundancy of steering-by-wire ensures reliable turn to by the break-make for controlling double-rotor machine and clutch
Safety.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, it is of the invention and unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of steering, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that including：
Double-rotor machine, outer rotor output terminal connection wheel, internal rotor output terminal connection driving gear；
Anti-dumping gear, is located at the side of the driving gear, and is engaged with the driving gear；
L-shaped sway bar, one end are fixedly connected with the anti-dumping gear, other end connection suspension by first clutch；
Linear motor, is fixed on the double-rotor machine side, and the secondary end connection track rod of the linear motor is used
It realizes and turns in driving track rod movement；
Wherein, when first clutch combines, the internal rotor output terminal generates the moment of resistance that suspension is prevented to move up and down, and realizes
Anti-dumping.
2. steering according to claim 1, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that also wrap
Fail-safe mechanism is included, including：
Tooth sector, is located at the opposite side of the driving gear, and is engaged with the driving gear；
The external part connection of second clutch, drive end and tooth sector；
Nut is connect with the second clutch driven end；
Lead screw shaft is fixedly connected with the secondary of linear motor close to one end of tooth sector；
Wherein, when second clutch is closed, tooth sector rotation can drive the track rod to move.
3. steering according to claim 2, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that described
Tooth sector is by needle bearing empty set on the nut.
4. steering according to claim 1, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that the L
Shape sway bar includes orthogonal first segment and second segment, and the second segment can be rotated around first segment；The first segment connects
The first clutch is connect, the second segment connects damper.
5. steering according to claim 4, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that also wrap
Anti-dumping connecting rod is included, the lower end and the end of the second segment of the anti-dumping connecting rod are hinged, and upper end is hinged with the damper.
6. steering according to claim 4, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that described
The drive end of first clutch is connect with the external part of the anti-dumping gear, driven end and the first segment end of the L-shaped sway bar
Portion is connected.
7. steering according to claim 6, anti-dumping and driving integrated form wheel side power drive system, which is characterized in that described
Anti-dumping gear is by needle bearing empty set in the end of the L-shaped sway bar first segment.
8. a kind of steering, anti-dumping and the control method of driving integrated form wheel side power drive system, which is characterized in that including walking as follows
Suddenly：
ECU reads self-test signal, judges that linear motor whether there is failure；
Linear motor failure, and when having turn signal input, the controlled closure of second clutch, double-rotor machine internal rotor driving work
Make, and according to operator demand's output torque, tooth sector rotation, driving steered wheel steering；
Linear motor failure, when no turn signal inputs, the controlled closure of second clutch, double-rotor machine internal rotor output is kept
Static stalling torque, locking steered wheel maintain automobile straight-line travelling.
9. steering according to claim 8, anti-dumping and the control method of driving integrated form wheel side power drive system, feature
It is, further includes：When system failure, linear motor turns to demand control motor turning according to driver；Double-rotor machine
Outer rotor deferent segment output torque driving vehicle traveling or output electromagnetic braking torque electric braking car deceleration；Double-rotor machine
Internal rotor output terminal can generate the moment of resistance that moves up and down of suspension is prevented to realize anti-dumping.
10. steering according to claim 9, anti-dumping and the control method of driving integrated form wheel side power drive system, special
Sign is, further includes and judges pavement behavior, and control suspension rate according to pavement behavior according to track mode switching signal；
If road surface is good, first clutch keeps normally closed bonding state or semi-linkage, and control suspension roll stiffness and this side hang
Stringing rigidity, suspension rate is big or larger at this time；
If road surface is bad, first clutch controlled switch-off, second clutch restores normal off open state, and suspension rate is small at this time.
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| CN201810132234.XA CN108146423B (en) | 2018-02-09 | 2018-02-09 | Steering, anti-tilting and driving integrated wheel electric driving system and control method |
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|---|---|---|---|
| CN201810132234.XA CN108146423B (en) | 2018-02-09 | 2018-02-09 | Steering, anti-tilting and driving integrated wheel electric driving system and control method |
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| CN108146423B CN108146423B (en) | 2023-07-21 |
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| CN108146423B (en) | 2023-07-21 |
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