CN108820073A - Based on maglev ball wheel bassinet structure device and integrated control method - Google Patents
Based on maglev ball wheel bassinet structure device and integrated control method Download PDFInfo
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- CN108820073A CN108820073A CN201810346200.0A CN201810346200A CN108820073A CN 108820073 A CN108820073 A CN 108820073A CN 201810346200 A CN201810346200 A CN 201810346200A CN 108820073 A CN108820073 A CN 108820073A
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- 238000000034 method Methods 0.000 title abstract description 12
- 238000005516 engineering process Methods 0.000 claims abstract description 9
- 238000005339 levitation Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims 1
- 238000013016 damping Methods 0.000 claims 1
- 229910052744 lithium Inorganic materials 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 239000000725 suspension Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Friction Gearing (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to one kind to be based on maglev ball wheel bassinet structure device and integrated control method, and composition includes：Seat inner ring（1）, display centre circle（2）, stator outer ring（3）, pole wheel（4）, the seat inner ring（1）Pass through rotation axis and display centre circle（2）Connection, the display centre circle（2）Pass through rotation axis and stator outer ring（3）Connection, the stator outer ring（3）Pass through magnetic levitation technology and pole wheel（4）Connection, major design of the present invention are a suitable for Plain, the ball wheel vehicle of knob major part surface conditions.
Description
Technical field
This patent is related to intelligent vehicle technical field, and it is former to relate generally to magnetic levitation technology, hub motor technology and gyroscope
Reason and genetic algorithm intelligent vehicle field application.Driving stability is improved, solves energy problem and pollution problem, is increased
Add drive safety, increases driving interest.
Background technique
In today of scientific and technological high speed development, people are higher and higher to the comfort of trip, the requirement of convenience, with automobile
The high speed development of industry and the prosperity of economy, automobile already become the vehicles of almost each family's indispensability.However vapour
Vehicle has also resulted in serious congested in traffic and air pollution while facilitating people to go on a journey.Understanding of the people to environmental protection
Gradually deepen, the concept of new energy appears in the public visual field gradually.The electric power of the present invention is as the energy, according to hub motor
Principle realizes pollution-free, efficient new concept vehicle.The advantages of hub motor, is that mechanical efficiency can be improved, reduces
Loss in energy transport, traditional kind of drive is power from driving motor, by main reducing gear, mechanical differential
Device, double Hooke's joint finally pass to wheel, and mechanical efficiency is lost 12% or so, and hub motor is then that power goes out from hub motor
Hair passes to wheel by retarder, and the efficiency of loss is only 7% or so, several driving energy conservations 5% about more high-power than single motor.
Energy utilization rate can be improved in this way, largely realize energy-saving and environment-friendly requirement, and the stabilization of increased power output
Property, the workload of fault detection also falls below minimum.
Existing wheelbarrow, which mainly passes through, mechanically to be connected, wherein linking most commonly seen, such connection side with gear
Formula will lead to the loss and noise pollution of energy, and pole wheel and stator outer ring are connected to by this patent using magnetic levitation technology
Together, the transmission for not only increasing only energy in this way also avoids noise pollution, while also improving transmission efficiency.It reduces
Energy loss when transmission.
Due to existing vehicle appearance limit, current automobile primary will in such a way that safety belt is in conjunction with air bag,
But accident occur when or the unavoidable injury to driver and passenger.And this vehicle applies gyroscope principle,
Make driver's cabin that the rotation of all angles may be implemented, when a fault occurs, all directions can be reduced in rotary manner
Impact, can guarantee the safety of driver and passenger to greatest extent.Moreover, the position of driver is in entire tire, so more
Reduce impact when collision.
When vehicle travels, the visual field is vital a part, and the visual field at no dead angle can be to avoid the hair of many accidents
It is raw.This patent uses four cameras, thoroughly eliminates the vision blind spot of vehicle periphery, realizes the collection of full vehicle real-time imaging, really
Running environment around fixed increases drive safety.
Summary of the invention
Based on maglev spherical meadow tour bus constructional device, as shown in Figure 1.It is pollution-free, efficient to be that one kind can be achieved
The new concept vehicle of rate, the device include：Seat inner ring (1), display centre circle (2), stator outer ring (3), pole wheel (4),
It is characterized in that, the seat inner ring, display centre circle, stator outer ring are with reference to the connection of gyroscope connection type, the magnetic pole turns
Son is connect by magnetic levitation technology with stator outer ring.
Seat inner ring (1)：Positioned at the most inner side of total device.It will appear to walk due to inevasible in driving procedure
The case where stopping is walked, so seat inner ring is designed to the form of X-axis freedom degree by this patent, it in this way can be a degree of
Improve the comfort driven；The impact force that front and back can also be reduced when colliding, a degree of can also improve in this way
The safety of driving.
Display centre circle (2)：The case where traffic information and vehicle periphery for taking, by real-time transmission to display, is used
To eliminate vision dead zone, facilitate the clear traffic information of driver.Driver only sees that display can understand ambient conditions in this way,
It is the same not necessarily like conventional truck, it needs to observe multiple positions, reduces the waste of driver's energy, a degree of can increase and drive
The driving time for the person of sailing, and guarantee the safety driven.
Stator outer ring (3)：Hub motor is mainly made of stator, rotor and micro- inverter, the electronics in this patent with
Rotor is connected with Magnetic suspension form, and speed, steering, braking etc. are controlled by changing the electric current of stator outer ring, easy to operate
It is convenient, to driving skills without particular/special requirement, driver is made to be more easier upper hand.
Pole wheel (4)：The characteristics of hub motor, is that torque is big, revolving speed is lower, and by pole wheel directly band driving wheel
Tire, can give full play to the characteristic of hub motor, and acceleration, steering, braking control can also be simply very much, it is only necessary to
The current strength or direction changed in coil can achieve the goal.
The electric power of the present invention is the energy, and the current strength by changing stator outer ring (3) controls speed, turns to, and is passed through
Change current direction and realizes braking；The road conditions that the display of display centre circle (2) takes real-time reception external camera are believed
The case where breath and vehicle, driver is facilitated to operate, due to only needing to pay close attention to display in driving procedure, this is just to a certain degree
On alleviate the fatigue of driver；This patent utilizes gyroscope principle, this vehicle can guarantee to drive in the process of moving well
The stability of room is sailed, also can guarantee the all-directional rotation of driver, to reduce impact when velocity variations and collide
Driver safety is protected in the process；The stator of this patent is connected with rotor using magnetic suspension mode, can reduce vehicle fortune in this way
The energy is saved in the vibration that row is, the friction reduced between connection.Pollution-free, efficient intelligent wheelbarrow may be implemented in this patent
It develops.This patent uses hierarchical control method design driven, braking and the integrated control of steering.Its process such as following figure institute
Show.Wherein driver understands the traffic information outside vehicle by external camera, adheres to detector, tyre pressure sensor etc. by road surface
Sensor understands the operating condition of vehicle, and driver can be allowed to carry out most effective operation.
Wherein δf, KpThe respectively given steering angle of driver and acceleration, brake applications；vxd, vyd, rdIt is by desired reference
Model is operated according to driver calculates the vehicle forward direction reference speed obtained, lateral reference speed and with reference to yaw angle speed
Degree；∑Fx, ∑Fy, ∑MzIt is to there is constraint to inherit the full-vehicle control amount that control unit optimization obtains；Fxi, FyiTo control allocation unit
The direction of advance for two wheels that optimization is calculated and lateral tire force；Ti, ωi, ax, ay, r is respectively to control from actuator
Each wheel zigzag tread patterns torque that unit and sensor obtain, angular speed, vehicle body direction of advance acceleration, side acceleration and
Yaw velocity；In addition vx, vy, r is the current vehicle condition of UKF state estimation unit estimation；μl, μrAdhere to for road surface and observes
Each wheel that device obtains is presently in the attachment coefficient on road surface.
Practical integrated control algorithm includes two main functional modules：That is integrated control layer and control Distribution Layer.
The effect of integrated control layer is to realize the calculating of full-vehicle control amount, is mainly constrained by reference model, integrated control layer
It sets and is formed by integrated three brother of control unit part is constrained.Desired reference model meets driver's ideal handling characteristic, according to
Driver operates δf, KpCalculate current vehicle reference speed vxd, vydWith reference yaw velocity rd；There is constraint integrated control list
The vehicle's current condition amount v that member is exported according to these reference state amounts and UKF evaluation unitx, vy, difference between r, integrated
It is used in control layer restriction range and rolls control force or torque ∑ F that method of having chance with calculates vehiclex, ∑ Fy, ∑ Mz。
It controls Distribution Layer then completely to distribute the optimization of full-vehicle control power or torque, main expansion constraint control distribution difficult to understand is single
Member, control Distribution Layer constraint setting and rotation angle calculation unit.Control with constraints allocation unit is optimization with minimum loading of tire rate
Target obtains each wheel in target tire force F longitudinally and laterally according to control Distribution Layer elm condition optimizingxi, Fyi.Corner
Computing module then pushes the target rotation angle δ for calculating each wheel according to lateral target tirei。
In addition, current vehicle condition and coefficient of road adhesion used in integrated control algorithm is estimated by UKF turntable respectively
It calculates unit and road surface attachment observer obtains.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is gyroscope schematic diagram；
Fig. 3 is magnetic suspension connection schematic diagram；
Fig. 4 is seat inner ring schematic diagram；
Fig. 5 is display centre circle schematic diagram；
Fig. 6 is stator outer ring schematic diagram；
Fig. 7 is pole wheel schematic diagram；
Fig. 8 integrated control flow chart；
In figure, 1-seat inner ring, 2-display centre circles, 3-stator outer rings, 4-pole wheels.
Specific embodiment
The present invention is based on the maglev specific work process for entertaining wheelbarrow constructional device of riding instead of walk is as follows：
1) this patent uses the 1120 section NCR18650A type batteries power resources as ball wheel vehicle in series and parallel；Position is present
Chair lower part can effectively save space, and guarantee that power is sufficient and stablizes；
2) traffic information is collected by external camera, on the display of real-time transmission to display centre circle (2), passes through road
The self information that the sensors such as detector receive information of road surface and vehicle is adhered in face, then by integrated control, controls two vehicles
The either synchronously or asynchronously movement of wheel, facilitates the clear real-time road of interior driver, guarantees the convenience and safety driven；
3) speed of ball wheel vehicle changes by the change of electric current power, the reference main source of speed and external camera
The surrounding vehicles speed and section speed limit of collection；The steering of ball wheel vehicle is realized by controlling the strong and weak difference of two sides electric current, is turned to
The real-time speed of angle Primary Reference vehicle and the angle for turning to crossing；
4) this patent is linked together pole wheel (4) and stator outer ring (3) using magnetic levitation technology, so not only
The transmission for increasing energy also avoids noise pollution, while also improving transmission efficiency, reduces energy damage when transmission
It loses, and the vibration in vehicle operation can be reduced, increase the stability of vehicle.
5) this patent combines the principle of gyroscope with the seat of vehicle, display and motor stator, can be abundant
The characteristic for playing the rotation of gyroscope all directions, also can adequately utilize each position, make that vehicle structure is simple and function is strong
Greatly；On the other hand, due to gyroscope itself the characteristics of, can effectively enhance the stability of vehicle structure, increase the strong of vehicle
Degree.
Claims (5)
1. being based on maglev ball wheel bassinet structure device, overall structure advantages of simple can be strong by changing the electric current of stator outer ring
It spends to control speed, steering and braking, easy operation is suitable for various Plains, hills class landform.
2. traffic information is collected by external camera, real-time transmission to display centre circle（3）Display on, it is attached by road surface
The sensors such as detector receive the self information of information of road surface and vehicle, then by integrated control, control two wheels
It either synchronously or asynchronously moves, facilitates the clear real-time road of interior driver, guarantee the convenience and safety driven.
3. this patent combines the principle of gyroscope with the seat of vehicle, display and motor stator, can adequately send out
The characteristic for waving the rotation of gyroscope all directions, also can adequately utilize each position, keep vehicle structure simple and highly functional；Separately
On the one hand, due to gyroscope itself the characteristics of, can effectively enhance the stability of vehicle structure, increase the intensity of vehicle.
4. this patent utilizes magnetic levitation technology by pole wheel（4）With stator outer ring（3）It links together, not only increases in this way
The transmission of energy, also avoids noise pollution, while also improving transmission efficiency, reduces energy loss when transmission, and
And the vibration in vehicle operation can be reduced, increase the stability of vehicle.
5. this patent uses lithium battery as power source, pollution-free；Power device is directly connected to wheel, high-efficient；It uses
Gyroscope principle, magnetic levitation technology and hub motor technology combine, and stability is high, and good damping result is easy to operate, adapt to people
Group extensively, can large-scale popularization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810346200.0A CN108820073B (en) | 2018-04-17 | 2018-07-05 | Magnetic suspension-based ball wheel vehicle structure device and integrated control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810346200.0A CN108820073B (en) | 2018-04-17 | 2018-07-05 | Magnetic suspension-based ball wheel vehicle structure device and integrated control method |
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| Publication Number | Publication Date |
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| CN108820073A true CN108820073A (en) | 2018-11-16 |
| CN108820073A8 CN108820073A8 (en) | 2019-08-30 |
| CN108820073B CN108820073B (en) | 2021-02-26 |
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| CN201810346200.0A Expired - Fee Related CN108820073B (en) | 2018-04-17 | 2018-07-05 | Magnetic suspension-based ball wheel vehicle structure device and integrated control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110979508A (en) * | 2019-12-26 | 2020-04-10 | 湖南斯德克智能开关有限公司 | Magnetic suspension workshop travelling bogie |
| CN109955664B (en) * | 2019-03-14 | 2020-11-03 | 哈尔滨理工大学 | Amphibious electric balance car structure device and integrated control method thereof |
| CN112005800A (en) * | 2020-08-05 | 2020-12-01 | 安胜宾 | Crop frost damage prevention self-gas-supply embedded part in low-temperature environment |
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| CN101380979A (en) * | 2008-06-19 | 2009-03-11 | 徐林波 | Reciprocating ejection transportation means |
| US20110097014A1 (en) * | 2009-10-26 | 2011-04-28 | Industrial Technology Research Institute | Self-positioning device and method thereof |
| CN103594978A (en) * | 2012-08-13 | 2014-02-19 | 顾严煌 | A magnetic suspension pipe cable work car |
| CN106541777A (en) * | 2016-12-07 | 2017-03-29 | 徐州乐泰机电科技有限公司 | A kind of full angle bogie car |
| CN106739779A (en) * | 2016-12-07 | 2017-05-31 | 徐州乐泰机电科技有限公司 | A kind of magnetic suspension wheel |
| CN206990499U (en) * | 2017-08-04 | 2018-02-09 | 广东省特种设备检测研究院惠州检测院 | A kind of crossed yoke method Magnetic testing automatic creeping device |
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2018
- 2018-07-05 CN CN201810346200.0A patent/CN108820073B/en not_active Expired - Fee Related
Patent Citations (6)
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|---|---|---|---|---|
| CN101380979A (en) * | 2008-06-19 | 2009-03-11 | 徐林波 | Reciprocating ejection transportation means |
| US20110097014A1 (en) * | 2009-10-26 | 2011-04-28 | Industrial Technology Research Institute | Self-positioning device and method thereof |
| CN103594978A (en) * | 2012-08-13 | 2014-02-19 | 顾严煌 | A magnetic suspension pipe cable work car |
| CN106541777A (en) * | 2016-12-07 | 2017-03-29 | 徐州乐泰机电科技有限公司 | A kind of full angle bogie car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109955664B (en) * | 2019-03-14 | 2020-11-03 | 哈尔滨理工大学 | Amphibious electric balance car structure device and integrated control method thereof |
| CN110979508A (en) * | 2019-12-26 | 2020-04-10 | 湖南斯德克智能开关有限公司 | Magnetic suspension workshop travelling bogie |
| CN112005800A (en) * | 2020-08-05 | 2020-12-01 | 安胜宾 | Crop frost damage prevention self-gas-supply embedded part in low-temperature environment |
| CN112005800B (en) * | 2020-08-05 | 2022-10-14 | 山东常美机械制造有限公司 | Crop anti-freezing self-air-supply embedded part in low-temperature environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108820073A8 (en) | 2019-08-30 |
| CN108820073B (en) | 2021-02-26 |
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| SE01 | Entry into force of request for substantive examination | ||
| CI02 | Correction of invention patent application | ||
| CI02 | Correction of invention patent application |
Correction item: Application Date Correct: 2018.07.05 False: 2018.04.17 Number: 46-02 Page: The title page Volume: 34 Correction item: Application Date Correct: 2018.07.05 False: 2018.04.17 Number: 46-02 Volume: 34 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210226 |