CN109849689A - A kind of distributed power drive system and packet control process entirely - Google Patents
A kind of distributed power drive system and packet control process entirely Download PDFInfo
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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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A kind of distributed power drive system and packet control process entirely, comprising: multiple Modular electrical driving devices and drive control device；Each Modular electrical driving device includes wheel, wheel group, wheel side transmission shaft, motor and motor controller；Every group of Modular electrical driving device is furnished with a motor controller, and all motor controllers and drive control device interconnect, and realizes the reading and the transmission of control signal of electric machine operation state；Drive control device sends corresponding control signal to each motor controller respectively, each motor controller works according to the motor where the corresponding control signal driving received in Modular electrical driving device, wheel group is passed to by taking turns side transmission shaft, finally drives vehicle wheel rotation.For the present invention using rule-based more motor Collaborative Controls, intelligent packet control etc., Adaptive Identification driving cycle reduces the power cycle during driving, realizes that system effectiveness is optimal, while reducing tire wear, improves chassis driving safety.
Description
Technical field
The present invention relates to a kind of distributed full power drive system and packet control process, belong to multi-axle heavy type special vehicle skill
Art field.
Background technique
Full power drive system is the important means that multiaxis special vehicle pursues high dynamic property and high economy.
Publication number CN200910242538.2 patent of invention discloses a kind of oil-electricity four-drive hybrid electric system and controlling party
Method, the system respectively drive the front driving wheel and rear drive sprocket of vehicle using motor and engine as independent power source, use
Electric machine controller controls motor work, engine controller controls engine operation, and coordinates engine using entire car controller
Controller and electric machine controller work.
Publication number CN201410145972.X patent of invention discloses a kind of driving force association of multiaxis self-contained power wheeled vehicle
Control system and control method are adjusted, which includes comparing the measured value and target value of yaw velocity, according to what is compared
As a result target needed for adjusting each axis at a distance from axle load mass center with each axis of multiaxis self-contained power wheeled vehicle is defeated
Torque out；The revolver of respective shaft is calculated separately according to target output torque needed for each axis and the load pressure of each wheel
With target torque needed for right wheel.
The prior art has carried out certain research to full electric driving control system and control method, but not to multiaxis special purpose vehicle
Grouping drive control strategy furtherd investigate, the power of multiaxis special vehicle, drive-train efficiency still have a distinct increment
Space.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide a kind of full electric drive trains of distribution
System and packet control process.According to the demand of real-time driving moment, dynamic adjustment participates in the number of the motor of driving, optimization driving
System effectiveness is improved in motor operating point.
The technical solution of the invention is as follows:
A kind of full power drive system of distribution, comprising: multiple Modular electrical driving devices and drive control device；Each mould
Block electric driver includes wheel, wheel group, wheel side transmission shaft, motor and motor controller；
Every group of Modular electrical driving device is furnished with a motor controller, and all motor controllers and driving are controlled
The reading and the transmission of control signal of electric machine operation state are realized in device interconnection processed；Drive control device sends corresponding control respectively
Signal gives each motor controller, and each motor controller is according to mould where the corresponding control signal driving received
Motor work in block electric driver passes to wheel group by taking turns side transmission shaft, finally drives vehicle wheel rotation.
Further, drive system of the present invention further includes electromotor cooling system, and electromotor cooling system is used for motor
Cooling.
All motor controllers are interconnected by CAN bus and drive control device.
Total torque of the drive control device according to demand in driving process, according to the external characteristics of current motor revolving speed and motor
And efficiency curve, optimizing, grouping are carried out to motor best effort number and driving torque, realize the intelligent packet control of motor
System.
Output torque of the drive control device according to chassis driving force request control motor, realizes auto―adaptive test control.
A kind of packet control process of distributed full power drive system as mentioned, steps are as follows:
(1) each turbin generator working condition is detected；Specifically:
(1.1) working condition for detecting each wheel electrical machine, judges whether motor breaks down, if there is failure, then into
Enter step (1.2)；If no fault occurs, then enters step (2) and read parameter；
(1.2) whether the fault type that faulty motor occurs in judgement belongs to critical failure, if belonging to, to the faulty motor
It is isolated, enters step (2) later and read parameter, if being not belonging to critical failure, judges vehicle currently whether in urgent
Mode maintains the faulty motor to work on if being in emergency mode, is directly entered step (2) and reads parameter；If being not in
Emergency mode is then isolated the faulty motor, enters step (2) later and reads parameter.
The critical failure refer to motor can not output torque or motor temperature be more than preset critical temperature on fire, face
Boundary's temperature on fire generally refers to that motor operating temperature is excessively high, influences the state to work on, what is be generally greater than arranged is critical on fire
Temperature spot, motor can be on fire.Emergency mode refers to that vehicle is in combat environment, does not consider further that the ordinary failures of motor at this time
Or whether motor works on and can damage, and mainly consider to cope with combat environment.
(2) vehicle demand total torque, current motor revolving speed, motor working group number are read, and inputs to drive control device；
(3) according to vehicle demand total torque and motor working group number, the demand torque of each group motor is calculated；Specifically: it is each
The demand torque of group motor is identical, and for vehicle demand total torque divided by motor working group number, obtained result is each group motor
Demand torque.
(4) current motor revolving speed is read, the demand torque is compared with torque distribution curve, control participates in driving
Number of motors；Specifically:
If demand torque distributed in torque distribution curve it is online and distribution it is offline between when, maintain current motor work
Number enters step the slip rate that (5) calculate each wheel later；
If demand torque is higher than distributing online in torque distribution curve, increases current motor work number, enter later
Step (5) calculates the slip rate of each wheel；
If demand torque is lower than distributing offline in torque distribution curve, current motor work number is reduced, is entered later
Step (5) calculates the slip rate of each wheel.
(5) slip rate of each wheel is calculated；Specifically:
Wherein, s is slip rate, and ω is motor speed, and u is speed, and r is vehicle wheel roll radius.
(6) according to the slip rate of each wheel, differential control is carried out.Specifically:
(6.1) wheel slip is judged whether in preset threshold range, if maintaining the torque of wheel in range
Output；If correcting the torque of the motor of driving wheel not in range, entering step (6.2) later；
(6.2) judge whether the slip rate deviation between each wheel controls in preset threshold range, if deviation is in
In threshold range, then end of packet controls；Otherwise the torque for continuing the motor of amendment driving wheel, until deviation is in threshold value model
In enclosing.
Compared with the prior art, the invention has the advantages that:
(1) present invention drives vehicle bridge using Modular electrical, realizes driving motor, electric machine controller and cooling system height collection
At greatlying simplify structure, cable and water route etc., improve system use reliability；Simultaneously convenient for the expansion of chassis scale and axis
Away from adjustment.
(2) present invention uses large speed ratio wheel group and high revolving speed driving motor, realizes drive system miniaturization, improves driving system
Lightweight of uniting is horizontal.
(3) for the present invention using rule-based more motor Collaborative Controls, intelligent packet control etc., Adaptive Identification travels work
Condition reduces the power cycle during driving, realizes that system effectiveness is optimal, while reducing tire wear, improves chassis traveling peace
Quan Xing.
(4) present invention is classified processing strategie using intelligent fault, and whens single or multiple driving motor failures can be realized drive
Dynamic system failure part quickly isolates, system band thus work, realize the intelligence switching of different driving mode；Equipped with the state of emergency
Mode can release the part protection mechanism of driving motor and controller, improve reliability.
Detailed description of the invention
Fig. 1 is the structural representation of the distributed full power drive system configuration of six axis special vehicle provided in an embodiment of the present invention
Figure；
Fig. 2 is driving motor efficiency characteristic provided in an embodiment of the present invention；
Fig. 3 is intelligent packet control flow chart provided in an embodiment of the present invention.
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing.
As shown in Figure 1, the invention proposes a kind of full power drive systems of distribution, comprising: multiple Modular electrical driving dresses
It sets and drive control device 4；Each Modular electrical driving device include wheel 1, wheel group 2, wheel side transmission shaft 3, motor 5 and
Motor controller 6；
Every group of Modular electrical driving device is furnished with a motor controller 6, all motor controllers 6 and driving
Controller 4 interconnects, and realizes the reading and the transmission of control signal of 5 working condition of motor；Drive control device 4 sends corresponding respectively
Signal is controlled to each motor controller 6, each motor controller 6 drives according to the corresponding control signal received
Motor 5 in the Modular electrical driving device of place works, and passes to wheel group 2 by taking turns side transmission shaft 3, final 1 turn of motor car wheel of band
It is dynamic.
Further, drive system of the present invention further includes electromotor cooling system 7, and electromotor cooling system 7 is used for electricity
Machine 5 cools down.
Further, all motor controllers 6 are interconnected by CAN bus and drive control device 4.
Further, total torque of the drive control device 4 according to demand in driving process, according to 5 revolving speed of current motor and
The external characteristics and efficiency curve of motor 5 carry out optimizing, grouping to 5 best effort number of motor and driving torque, realize electricity
The intelligent packet of machine 5 controls.
Further, output torque of the drive control device 4 according to chassis driving force request control motor 5, is realized adaptive
Differential control.
Further, the present invention also proposes a kind of packet control process of distributed full power drive system, as shown in figure 3,
Steps are as follows:
A kind of packet control process of distributed full power drive system as mentioned, steps are as follows:
(1) each turbin generator working condition is detected；Specifically:
(1.1) working condition for detecting each wheel electrical machine, judges whether motor breaks down, if there is failure, then into
Enter step (1.2)；If no fault occurs, then enters step (2) and read parameter；
(1.2) whether the fault type that faulty motor occurs in judgement belongs to critical failure, if belonging to, to the faulty motor
It is isolated, enters step (2) later and read parameter, if being not belonging to critical failure, judges vehicle currently whether in urgent
Mode maintains the faulty motor to work on if being in emergency mode, is directly entered step (2) and reads parameter；If being not in
Emergency mode is then isolated the faulty motor, enters step (2) later and reads parameter.The design of emergency mode can be right
Driving motor and controller part threshold value are relaxed or are released, and realize that short distance travels in non-critical fault.
The critical failure refer to motor can not output torque or motor temperature be more than preset critical temperature on fire, face
Boundary's temperature on fire generally refers to that motor operating temperature is excessively high, influences the state to work on, what is be generally greater than arranged is critical on fire
Temperature spot, motor can be on fire.Emergency mode refers to that vehicle is in combat environment, does not consider further that the ordinary failures of motor at this time
Or whether motor works on and can damage, and mainly consider to cope with combat environment.
(2) vehicle demand total torque, current motor revolving speed, motor working group number are read, and inputs to drive control device；
(3) according to vehicle demand total torque and motor working group number, the demand torque of each group motor is calculated；Specifically: it is each
The demand torque of group motor is identical, and for vehicle demand total torque divided by motor working group number, obtained result is each group motor
Demand torque.
(4) current motor revolving speed is read, the demand torque is compared with torque distribution curve, control participates in driving
Number of motors；When the torque distribution that motor operating point is located at is online and torque distributes between offline, work with higher
Efficiency；As shown in Fig. 2, specifically:
If demand torque distributed in torque distribution curve it is online and distribution it is offline between when, maintain current motor work
Number enters step the slip rate that (5) calculate each wheel later；
If demand torque is higher than distributing online in torque distribution curve, increases current motor work number, enter later
Step (5) calculates the slip rate of each wheel；
If demand torque is lower than distributing offline in torque distribution curve, current motor work number is reduced, is entered later
Step (5) calculates the slip rate of each wheel.
(5) slip rate of each wheel is calculated；Specifically:
Wherein, s is slip rate, and ω is motor speed, and u is speed, and r is vehicle wheel roll radius.
(6) according to the slip rate of each wheel, differential control is carried out.Specifically:
(6.1) wheel slip is judged whether in preset threshold range, if maintaining the torque of wheel in range
Output；If correcting the torque of the motor of driving wheel not in range, entering step (6.2) later；
(6.2) judge whether the slip rate deviation between each wheel controls in preset threshold range, if deviation is in
In threshold range, then end of packet controls；Otherwise the torque for continuing the motor of amendment driving wheel, until deviation is in threshold value model
In enclosing.
Slip-based controller can make wheel and the equilibrium of two sides wheel driving force between each group, improve riding stability, and optimize and be
System driving capability, improves system effectiveness.
Technical solution of the present invention drives vehicle bridge using Modular electrical, realizes driving motor, electric machine controller and cooling system
It is highly integrated, structure, cable and water route etc. are greatlied simplify, system use reliability is improved；It is opened up simultaneously convenient for chassis scale
Exhibition and wheelbase adjustment.Meanwhile the present invention is classified processing strategie using intelligent fault, whens single or multiple driving motor failures, can
Realize that drive system faulty component quickly isolates, system band thus work, realize the intelligence switching of different driving mode；Equipped with tight
Anxious state model can release the part protection mechanism of driving motor and controller, improve reliability.
Finally it should be noted that the above specific embodiment is only used to illustrate the technical scheme of the present invention and not to limit it, to the greatest extent
Pipe is described the invention in detail referring to example, those skilled in the art should understand that, it can be to of the invention
Technical solution is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered
In scope of the presently claimed invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (13)
1. a kind of full power drive system of distribution, characterized by comprising: multiple Modular electrical driving devices and drive control
Device (4)；Each Modular electrical driving device includes wheel (1), wheel group (2), wheel side transmission shaft (3), motor (5) and integrates
Electric machine controller (6)；
Every group of Modular electrical driving device is furnished with a motor controller (6), all motor controllers (6) and driving
The reading and the transmission of control signal of motor (5) working condition are realized in controller (4) interconnection；Drive control device (4) is sent respectively
Corresponding control signal gives each motor controller (6), and each motor controller (6) is according to the corresponding control received
Motor (5) work where signal driving processed in Modular electrical driving device passes to wheel group (2) by taking turns side transmission shaft (3),
Final band motor car wheel (1) rotates.
2. a kind of full power drive system of distribution according to claim 1, it is characterised in that: further include electromotor cooling system
(7), electromotor cooling system (7) is used to cool down to motor (5).
3. a kind of full power drive system of distribution according to claim 1, it is characterised in that: all motor controllers
(6) it is interconnected by CAN bus and drive control device (4).
4. a kind of full power drive system of distribution according to claim 1, it is characterised in that: drive control device (4) foundation
The total torque of demand in driving process, according to the external characteristics and efficiency curve of current motor (5) revolving speed and motor (5), to electricity
Machine (5) best effort number and driving torque carry out optimizing, grouping, realize the intelligent packet control of motor (5).
5. a kind of full power drive system of distribution according to claim 1, it is characterised in that: drive control device (4) foundation
Chassis drives the output torque of force request control motor (5), realizes auto―adaptive test control.
6. a kind of packet control process of distributed full power drive system such as according to any one of claims 1 to 5, feature
It is that steps are as follows:
(1) each turbin generator working condition is detected；
(2) vehicle demand total torque, current motor revolving speed, motor working group number are read, and inputs to drive control device；
(3) according to vehicle demand total torque and motor working group number, the demand torque of each group motor is calculated；
(4) current motor revolving speed is read, the demand torque is compared with torque distribution curve, control participates in the electricity of driving
Machine quantity；
(5) slip rate of each wheel is calculated；
(6) according to the slip rate of each wheel, differential control is carried out.
7. packet control process according to claim 6, it is characterised in that: the step (1) is to each turbin generator work shape
State is detected, specifically:
(1.1) working condition for detecting each wheel electrical machine, judges whether motor breaks down, and if there is failure, then enters step
Suddenly (1.2)；If no fault occurs, then enters step (2) and read parameter；
(1.2) whether the fault type that faulty motor occurs in judgement belongs to critical failure, if belonging to, carries out to the faulty motor
Isolation enters step (2) later and reads parameter, if being not belonging to critical failure, judges whether vehicle is currently in emergency mode,
If being in emergency mode, the faulty motor is maintained to work on, is directly entered step (2) and reads parameter；If being not in urgent
Mode is then isolated the faulty motor, enters step (2) later and reads parameter.
8. packet control process according to claim 7, it is characterised in that: the critical failure refers to that motor can not export
Torque or motor temperature are more than preset critical temperature on fire.
9. packet control process according to claim 7, it is characterised in that: the emergency mode refers to that vehicle is in fight
In environment.
10. packet control process according to claim 6, it is characterised in that: calculate the demand torque of each group motor, specifically
Are as follows: the demand torque of each group motor is identical, and for vehicle demand total torque divided by motor working group number, obtained result is each group electricity
The demand torque of machine.
11. packet control process according to claim 6, it is characterised in that: the step (4) is read current motor and turned
The demand torque is compared speed with torque distribution curve, and control participates in the number of motors of driving, specifically:
If demand torque distributed in torque distribution curve it is online and distribution it is offline between when, maintain current motor work number
Mesh enters step the slip rate that (5) calculate each wheel later；
If demand torque is higher than distributing online in torque distribution curve, increases current motor work number, enter step later
(5) slip rate of each wheel is calculated；
If demand torque is lower than distributing offline in torque distribution curve, current motor work number is reduced, is entered step later
(5) slip rate of each wheel is calculated.
12. packet control process according to claim 6, it is characterised in that: the step (5) calculates the sliding of each wheel
Rate, specifically:
Wherein, s is slip rate, and ω is motor speed, and u is speed, and r is vehicle wheel roll radius.
13. packet control process according to claim 6, it is characterised in that: the step (6) is according to each wheel
Slip rate carries out differential control, specifically:
(6.1) wheel slip is judged whether in preset threshold range, if maintaining the torque of wheel defeated in range
Out；If correcting the torque of the motor of driving wheel not in range, entering step (6.2) later；
(6.2) judge whether the slip rate deviation between each wheel controls in preset threshold range, if deviation is in threshold value
In range, then end of packet controls；Otherwise the torque for continuing the motor of amendment driving wheel, until deviation is in threshold range
It is interior.
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| CN201910172352.8A CN109849689B (en) | 2019-03-07 | 2019-03-07 | Distributed all-electric drive system and grouping control method |
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| CN201910172352.8A CN109849689B (en) | 2019-03-07 | 2019-03-07 | Distributed all-electric drive system and grouping control method |
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| WO2023072594A1 (en) * | 2021-10-26 | 2023-05-04 | Robert Bosch Gmbh | Control device for a drive unit having a plurality of drive axles, drive unit and method for controlling a drive unit having a plurality of drive axles |
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| CN109849689B (en) | 2021-02-09 |
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