CN110525518A - A kind of distributed driving vehicle chassis - Google Patents
A kind of distributed driving vehicle chassis Download PDFInfo
- Publication number
- CN110525518A CN110525518A CN201910989823.4A CN201910989823A CN110525518A CN 110525518 A CN110525518 A CN 110525518A CN 201910989823 A CN201910989823 A CN 201910989823A CN 110525518 A CN110525518 A CN 110525518A
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- vehicle
- wheel
- controller
- electric
- hub
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- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 135
- 239000000725 suspension Substances 0.000 claims description 26
- 230000001133 acceleration Effects 0.000 claims description 23
- 230000005611 electricity Effects 0.000 claims description 15
- 230000001172 regenerating effect Effects 0.000 claims description 13
- 239000000203 mixture Substances 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 208000032953 Device battery issue Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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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 distributed driving vehicle chassis, including there are four In-wheel motor driving brake assembly, fore sub frame assembly, Rear secondary frame for vehicle assembly and frame assemblies, wherein fore sub frame assembly and Rear secondary frame for vehicle assembly are respectively assembled at the front and back of frame assembly, two In-wheel motor driving brake assemblies are respectively assembled at the two sides of fore sub frame assembly, and other two In-wheel motor driving brake assembly is respectively assembled at the two sides of Rear secondary frame for vehicle assembly.The utility model has the advantages that using entire car controller receiving sensor signal and vehicle CAN bus signal, entire car controller further progress calculates and decision obtains target control signal, target control signal is sent to vehicle CAN bus by entire car controller, it is received by other controllers, further actuator is controlled.It is powered using the controller that two batteries are vehicle, is preceding vehicle-mounted 24V battery and rear vehicle-mounted 24V battery respectively, efficiently avoids happening to lose control of one's vehicle caused by battery or power supply line's failure.
Description
Technical field
The present invention relates to a kind of vehicle chassis, in particular to a kind of distributed driving vehicle chassis.
Background technique
Currently, getting worse with environmental pollution, conventional fuel oil automobile bring pollution problem can not be ignored, newly
During energy automobile is developing rapidly.For the electric car in new-energy automobile, according to electric car drive scheme
Difference can be divided into uniaxial driving electric car, Two axle drive electric car and distributed-driving electric automobile.Distribution is driven
Dynamic electric car, which refers to, is integrated in the driving motor of automobile in four wheels of automobile, by four hub motors respectively with motor-car
Wheel rotation, drives vehicle driving.Such drive scheme will save the gearshift of vehicle, deceleration mechanism, box of tricks and
The transmission devices such as transmission shaft save out a large amount of design space for vehicle.Therefore the chassis design scheme of distributed driving vehicle
There is higher flexibility compared with the chassis design scheme of conventional truck, it is not necessary to centainly go to set according to the form of conventional truck
The chassis configuration of cloth of scoring driving vehicle.Currently the chassis configuration design about distributed driving vehicle is essentially all to pass
Upgrading after making slightly change on the basis of system Car design, or Integration Design is made just for some mechanical structure, more
It is to have ignored electronic control system important in vehicle chassis, does not provide a totality for the characteristics of distributed driving vehicle
Vehicle chassis design scheme.Also whole scheme is not proposed travel control method about distributed driving vehicle at present,
Need to fill up the technological gap of this part.
Application No. is 201810717287 patents of invention to propose a kind of chassis structure of distributed driving vehicle, but this
Invention has ignored the electronic control system of vehicle, and two rear-wheels of only vehicle are equipped with hub motor, while the invention is only
Emphasis makes specification to the suspension system of vehicle.
Application No. is 201610179530 patents of invention to propose a kind of distributed-driving electric automobile torque optimization point
Distribution controlling method, but the algorithm of the invention requires vehicle to must be equipped with complicated sensor, does not have guidance for practical application
Meaning.
Summary of the invention
The characteristics of the purpose of the present invention is to solve in current electric vehicle field without for distributed driving vehicle
The problem of providing the vehicle chassis design scheme an of totality, and a kind of distributed driving vehicle chassis provided.
Distributed driving vehicle chassis provided by the invention includes that there are four In-wheel motor driving brake assemblies, fore sub frame
Assembly, Rear secondary frame for vehicle assembly and frame assembly, wherein fore sub frame assembly and Rear secondary frame for vehicle assembly are respectively assembled at frame assembly
Front and back, two In-wheel motor driving brake assemblies are respectively assembled at the two sides of fore sub frame assembly, other two hub motor
Driving brake assembly is respectively assembled at the two sides of Rear secondary frame for vehicle assembly.
The structure of four In-wheel motor driving brake assemblies is identical, and each In-wheel motor driving brake assembly includes wheel
Hub motor, electric card pincers, electric card clamp fixed bracket, double yoke suspensions, wheel hub, brake disc, wheel speed sensors and wheel, wherein wheel hub
Motor is embedded among wheel, is fixed by screw and wheel, and band motor car wheel rotates together when hub motor rotates, and the two turns
Fast consistent, side of the hub motor far from wheel spoke and brake disc are mechanically connected, and brake disc is with vehicle wheel rotation, brake disc and wheel
Hub is fixedly connected, and the side that wheel hub is connect with brake disc is to be mechanically fixed, and the other side of wheel hub is embedded in double by hub bearing
In yoke suspension, the side of double yoke suspensions is fixed with electric card and clamps fixed bracket, and the electric card that electric card pincers is fixed on clamps on fixed bracket,
Brake disc is plugged between two claws of electric card pincers, and wheel speed sensors are used to acquire the wheel speed pulse of wheel, by wheel speed pulse
Signal passes to the entire car controller in frame assembly by signal wire, you can learn that working as after entire car controller parsing wheel speed pulse
The wheel speed information of vehicle in front, further entire car controller pass through the coordinated control that the wheel speed information got carries out vehicle.
Fore sub frame assembly is by fore sub frame bottom plate, front left wheel steering linkage, left front electric power steering device, the near front wheel
Electric power steering device, right front wheel steering linkage, left front electric card pincers before hub electric machine controller, off-front wheel hub electric machine controller, the right side
Electric card pincers controller and preceding vehicle-mounted 24V battery composition before controller, the right side, wherein left front electric power steering device, left front hub motor
Electric card clamps controller before electric power steering device, left front electric card pincers controller, the right side before controller, off-front wheel hub electric machine controller, the right side
Be mechanically fastened on fore sub frame bottom plate with preceding vehicle-mounted 24V battery, preceding vehicle-mounted 24V battery by supply lines respectively with left front electricity
Electric card pincers controller electrical connection before electric power steering device, left front electric card pincers controller and the right side, preceding vehicle-mounted before power-assisted steering device, the right side
Electric card clamps controller before electric power steering device, left front electric card clamp controller and the right side before 24V battery is left front electric power steering device, is right
Power supply, left front electric power steering device drive the In-wheel motor driving braking of left front by control front left wheel steering linkage translation
Double yoke suspensions in assembly are rotated around vehicle stub, realize the wheel steering of left front, electric power steering device passes through control before the right side
Right front wheel steering linkage translation processed drives double yoke suspensions in the In-wheel motor driving brake assembly of right front around vehicle master
Pin rotation realizes that the wheel steering of right front, left front electric card pincers controller are located at the In-wheel motor driving of left front by control
Electric card pincers on brake assembly realize the wheel braking of left front, and electric card pincers controller is located at the wheel of right front by control before the right side
Electric card pincers on hub motor driven brake assembly realize the wheel braking of right front, left front wheel hub electric machine controller and off-front wheel hub
Electric machine controller is powered by the power cell of vehicle on frame assembly, and left front wheel hub electric machine controller control is located at the wheel of left front
Hub motor on hub motor driven brake assembly realizes the driving traveling and regenerative braking of the near front wheel, off-front wheel hub motor control
Device control is located at the driving traveling and regeneration that the hub motor on the In-wheel motor driving brake assembly of right front realizes off-front wheel
Braking.
Rear secondary frame for vehicle assembly is by Rear secondary frame for vehicle bottom plate, rear left wheel steering linkage, left back electric power steering device, left rear wheel
Electric power steering device, right rear wheel steering linkage, left back electric card pincers behind hub electric machine controller, off hind wheel hub electric machine controller, the right side
Electric card pincers controller and rear vehicle-mounted 24V battery composition behind controller, the right side, wherein left back electric power steering device, left back hub motor
Electric card clamps controller behind electric power steering device, left back electric card pincers controller, the right side behind controller, off hind wheel hub electric machine controller, the right side
Be mechanically fastened on Rear secondary frame for vehicle bottom plate with rear vehicle-mounted 24V battery, rear vehicle-mounted 24V battery by supply lines respectively with left back electricity
Electric card pincers controller electrical connection behind electric power steering device, left back electric card pincers controller and the right side, rear vehicle-mounted behind power-assisted steering device, the right side
Electric card clamps controller after electric power steering device, left back electric card clamp controller and the right side after 24V battery is left back electric power steering device, is right
Power supply, left back electric power steering device drive the In-wheel motor driving braking of left back by control rear left wheel steering linkage translation
Double yoke suspensions in assembly are rotated around vehicle stub, realize the wheel steering of left back, electric power steering device passes through control behind the right side
Right rear wheel steering linkage translation processed drives double yoke suspensions in the In-wheel motor driving brake assembly of right back around vehicle master
Pin rotation realizes that the wheel steering of right back, left back electric card pincers controller are located at the In-wheel motor driving of left back by control
Electric card pincers on brake assembly realize the wheel braking of left back, and electric card pincers controller is located at the wheel of right back by control behind the right side
Electric card pincers on hub motor driven brake assembly realize the wheel braking of right back, left back wheel hub electric machine controller and off hind wheel hub
Electric machine controller is powered by the power cell of vehicle on frame assembly, and left back wheel hub electric machine controller control is located at the wheel of left back
Hub motor on hub motor driven brake assembly realizes the driving traveling and regenerative braking of left rear wheel, off hind wheel hub motor control
Device control is located at the driving traveling and regeneration that the hub motor on the In-wheel motor driving brake assembly of right back realizes off hind wheel
Braking.
Frame assembly be by before two connect bridge arm, frame panel, steering wheel angle sensor, brake pedal sensor,
It is vehicle ignition switch sensor, accelerator pedal sensor, gear controller, acceleration transducer, yaw-rate sensor, whole
Bridge arm composition is connected after vehicle controller, power cell of vehicle and two, wherein power cell of vehicle, bridge arm and two is connected before two
Connection bridge arm is mechanically mounted on frame panel after a, and connection bridge arm is realized and fore sub frame assembly before frame assembly passes through two
Mechanical connection, connection bridge arm is realized and the mechanical connection of Rear secondary frame for vehicle assembly, vehicle power electricity after frame assembly passes through two
Pond is mechanically fastened on frame panel, and power cell of vehicle provides electric energy for four hub motors of vehicle, while can also connect
Receive the regenerative braking electric energy from four hub motors, the angle that steering wheel angle sensor passes through acquisition steering wheel for vehicle rotation
Angular signal is changed into electric signal and is sent to entire car controller, entire car controller can obtain the real-time steering wheel angle of vehicle
Information, vehicle ignition switch sensor send corresponding electric signal according to ignition lock state, receive vehicle by entire car controller
The electric signal that ignition switch sensor issues, entire car controller implement corresponding vehicle control according to the fired state of current vehicle
Accelerator opening angle signal is changed into electric signal hair by acquiring the aperture of vehicle accelerator pedal by strategy, accelerator pedal sensor
It is sent to entire car controller, entire car controller can be obtained the real-time accelerator pedal opening information of vehicle, and brake pedal sensor is logical
Brake pedal opening amount signal is changed into electric signal and is sent to entire car controller, vehicle control by the aperture for crossing acquisition vehicle brake pedal
Device processed can be obtained the real-time brake pedal opening information of vehicle, and acceleration transducer and yaw-rate sensor are fixed on vehicle
On frame bottom plate, acceleration transducer can acquire the longitudinal acceleration and side acceleration information of vehicle, and acceleration transducer will
The acceleration information of vehicle is changed into electric signal and is sent to entire car controller, and yaw-rate sensor can acquire the cross of vehicle
The yaw velocity information of vehicle is changed into electric signal and is sent to full-vehicle control by pivot angle velocity information, yaw-rate sensor
Device, gear controller is used to control the gear switch of vehicle and gear information locating for vehicle is sent to vehicle CAN bus, whole
Vehicle controller obtains the gear information of vehicle by the gear signal received on vehicle CAN bus, and entire car controller passes through reception
The signal on signal and vehicle CAN bus that aforementioned each sensor is sent judges operating condition locating for vehicle, decision is carried out, by target
Control signal is sent to vehicle CAN bus, receives the target control signal on vehicle CAN bus by each controller of vehicle,
Actuator is controlled with target control signal.
The working principle of the invention:
The drive scheme of distributed driving vehicle chassis provided by the invention are as follows: using being integrated in four wheels of vehicle
Wheel-hub motor driven vehicle traveling.Each hub motor is furnished with independent hub motor control device, passes through hub motor control device
The rotation of drive hub motor, each hub motor control device pass through CAN (Controller Area Network) line and vehicle
CAN bus connection, hub motor control device are driven by receiving the target control signal that entire car controller is sent on vehicle CAN bus
Runner hub motor is worked with target value, and four hub motors are mutually indepedent and do not interfere with each other.The working method of each hub motor
Unanimously, by taking the hub motor in the near front wheel as an example, hub motor passes through signal wire and supply lines and left front wheel hub electric machine controller
Electrical connection, left front wheel hub electric machine controller are electrically connected by supply lines with the power cell of vehicle being located on frame assembly.It is left front
The phase information of motor is sent to left front wheel hub electric machine controller, left front wheel hub electric machine controller by signal wire by hub motor
The supply lines of corresponding phase is connected in phase information by receiving and parsing motor, and the electric energy from power cell of vehicle will be by
It is delivered to left front hub motor, and then drives left front hub motor rotation.
Distribution driving vehicle chassis braking scheme are as follows: carried out again using the hub motor being integrated in four wheels of vehicle
Raw braking, while electric card pincers are equipped on each In-wheel motor driving brake assembly, auxiliary braking is carried out by four electric card pincers
And emergency braking.Each electric card pincers clamp controller equipped with independent electric card, clamp controller control electric card pincers worker by electric card and make, often
A electric card pincers controller is connect by CAN line with vehicle CAN bus, and it is whole on vehicle CAN bus by receiving that electric card clamps controller
Target control signal that vehicle controller is sent control electric card pincers are that vehicle applies brake force, and four electric cards pincers are mutually indepedent and mutually not
Interference.The working method of each electric card pincers is consistent, by taking the electric card of the near front wheel pincers as an example, electric card pincers by signal wire and supply lines with
Left front electric card pincers controller electrical connection, left front electric card pincers controller are electrically connected by supply lines with preceding vehicle-mounted 24V battery.The near front wheel
Electric card pincers the phase information of motor internal be sent to left front electric card by signal wire clamp controller, left front electric card pincers controller
The supply lines of corresponding phase is connected in phase information by receiving and parsing motor, and the electric energy from preceding vehicle-mounted 24V battery will
The electric card pincers of the near front wheel are transported to, generation braking moment is made in driving electric card pincers worker.Two electric cards of automobile front-axle are clamped by preceding pair
The preceding vehicle-mounted 24V battery arranged on frame assembly is independently-powered, and two electric cards of vehicle rear axle are clamped by cloth on Rear secondary frame for vehicle assembly
The rear vehicle-mounted 24V battery set is independently-powered.
Distribution driving vehicle chassis parking scheme are as follows: controlling corresponding electric card pincers by four electric card pincers controllers makes vehicle
Realize parking.Each electric card pincers are integrated with electronic parking function, and when vehicle needs parking, electric card clamps controller and controls electric card
Pincers worker work clamps clamp, and further electric card pincers controller control is located at the electricity that the lockable mechanism in electric card pincers locks electric card pincers
Machine makes motor that can not rotate drive transmission mechanism, to provide lasting parking torque for vehicle, realizes parking.When vehicle needs
When exiting parking, the lockable mechanism that electric card pincers controller control is located in electric card pincers releases the locking that motor is clamped to electric card, into
The electric card pincers controller control electric card pincers worker work of one step discharges clamp, so that vehicle releases parking.Distributed drive of the invention
There are four parking units for dynamic vehicle chassis outfit, are mutually backups, to realize the redundancy backup of parking system.
Distribution driving vehicle chassis turns to scheme are as follows: uses four electric power steerings being arranged on forward and backward subframe
Device drives four vehicle wheel rotations.Using single-wheel independent steering, i.e., each wheel can be rotated alone about the stub of vehicle.Preceding pair
It is disposed with left front electric power steering device and electric power steering device before the right side on frame assembly, is disposed with left back electricity on Rear secondary frame for vehicle assembly
Electric power steering device after power-assisted steering device and the right side.The working principle of each electric power steering device is consistent, with left front electric power steering
For device, left front electric power steering device drives steering linkage translation, the other end of steering linkage and left front In-wheel motor driving system
Double yoke suspensions mechanical connection on dynamic assembly, when steering linkage translation, double yoke suspensions can be rotated around stub, and then be driven
The near front wheel of vehicle rotates.Two electric power steering devices of automobile front-axle are arranged on fore sub frame assembly respectively by supply lines
Preceding vehicle-mounted 24V battery electrical connection, two electric power steering devices of vehicle rear axle by supply lines respectively with Rear secondary frame for vehicle assembly
The rear vehicle-mounted 24V battery electrical connection of upper arrangement.Each electric power steering device passes through CAN line and connect with vehicle CAN bus, and electricity helps
Power is diverted through the target control signal control steering linkage movement received in CAN bus from entire car controller, and then drives
Vehicle wheel rotation.Each electric power steering device is integrated with actuator and controller, and each electric power steering is mutually indepedent and mutually not
Interference.
Entire car controller is disposed on frame assembly, entire car controller plays distribution vehicle traction, braking moment and coordination
Control the effect of body gesture.Four wheel speed sensors signals, the steering wheel angles that entire car controller is arranged by receiving vehicle
Sensor signal, brake pedal sensor signal, accelerator pedal sensor signal, accelerates vehicle ignition switch sensor signal
Information of vehicles in degree sensor signal, yaw-rate sensor signal and CAN bus judges that the operation of driver is intended to
And operating condition locating for vehicle, entire car controller further pass through control algolithm and current target control amount, vehicle are calculated
Vehicle CAN bus is sent to after controller conformity goal control signal.Hub motor control on forward and backward subframe assembly
Device, electric card pincers controller, electric power steering device receive the target control signal that entire car controller is sent in CAN bus and carry out phase
The response answered, while hub motor control device, electric card the pincers controller, electric power steering device being located on forward and backward subframe assembly
Feedback signal and fault-signal are sent to vehicle CAN bus, by right after entire car controller reception feedback signal and fault-signal
Target control signal is adjusted, and realizes the closed-loop control of distributed driving vehicle electrically controlling system.Entire car controller passes through arrangement
Rear vehicle-mounted 24V battery on fore sub frame on preceding vehicle-mounted 24V battery and Rear secondary frame for vehicle is powered jointly, when any one battery
When failure, entire car controller still is able to work normally, and avoids because battery or power supply line's catastrophic failure cause to lose control of one's vehicle
It happens.
It there also is provided gear controller on frame assembly, for controlling the gear switch of vehicle and by gear locating for vehicle
Information is sent to vehicle CAN bus, and gear controller is powered by 24V battery vehicle-mounted before being arranged on fore sub frame.
Beneficial effects of the present invention:
Distributed driving vehicle chassis provided by the invention, it is main with the difference of other distribution driving vehicle chassis configurations
Be: (1) braking scheme carries out regenerative braking using hub motor, is clamped using electric card and carries out auxiliary braking and emergency braking；(2) turn
The independent steering of wheel is realized using four electric power steering devices to scheme；(3) suspension arrangements select double yoke suspensions, structure letter
It is single easy.
Use entire car controller receiving sensor signal and vehicle CAN bus signal, entire car controller further progress meter
It calculates and decision obtains target control signal, target control signal is sent to vehicle CAN bus by entire car controller, by other controls
Device receives, and further controls actuator.
It is powered using the controller that two batteries are vehicle, is preceding vehicle-mounted 24V battery and rear vehicle-mounted 24V battery respectively,
It efficiently avoids happening to lose control of one's vehicle caused by battery or power supply line's failure.
Detailed description of the invention
Fig. 1 is chassis overall structure diagram of the present invention.
Fig. 2 is In-wheel motor driving brake assembly structural schematic diagram of the present invention.
Fig. 3 is fore sub frame assembly structure schematic diagram of the present invention.
Fig. 4 is Rear secondary frame for vehicle assembly structure schematic diagram of the present invention.
Fig. 5 is frame assembly structural schematic diagram of the present invention.
Mark in upper figure is as follows:
1, In-wheel motor driving brake assembly 2, fore sub frame assembly 3, Rear secondary frame for vehicle assembly
4, frame assembly 5, hub motor 6, electric card pincers 7, electric card clamp fixed bracket
8, double yoke suspensions 9, wheel hub 10, brake disc 11, wheel speed sensors 12, wheel
13, fore sub frame bottom plate 14, front left wheel steering linkage 15, left front electric power steering device
16, left front wheel hub electric machine controller 17, off-front wheel hub electric machine controller
18, electric power steering device 19, right front wheel steering linkage before the right side
20, electric card clamps controller before left front electric card pincers controller 21, the right side
22, preceding vehicle-mounted 24V battery 23, power cell of vehicle 24, Rear secondary frame for vehicle bottom plate
25, rear left wheel steering linkage 26, left back electric power steering device 27, left back wheel hub electric machine controller
28, electric power steering device 30, right rear wheel steering linkage behind off hind wheel hub electric machine controller 29, the right side
31, electric card clamps controller 33, rear vehicle-mounted 24V battery behind left back electric card pincers controller 32, the right side
34, preceding connection bridge arm 35, frame panel 36, steering wheel angle sensor
37, brake pedal sensor 38, vehicle ignition switch sensor 39, accelerator pedal sensor
40, gear controller 41, acceleration transducer 42, yaw-rate sensor
43, entire car controller 44, rear connection bridge arm 45, CAN bus.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 5:
Distributed driving vehicle chassis provided by the invention includes that there are four In-wheel motor driving brake assemblies 1, preceding secondary vehicle
Frame assembly 2, Rear secondary frame for vehicle assembly 3 and frame assembly 4, wherein fore sub frame assembly 2 and Rear secondary frame for vehicle assembly 3 are respectively assembled at vehicle
The front and back of frame assembly 4, two In-wheel motor driving brake assemblies 1 are respectively assembled at the two sides of fore sub frame assembly 2, other two
In-wheel motor driving brake assembly 1 is respectively assembled at the two sides of Rear secondary frame for vehicle assembly 3.
The structure of four In-wheel motor driving brake assemblies 1 is identical, and each In-wheel motor driving brake assembly 1 includes
Hub motor 5, electric card pincers 6, electric card clamp fixed bracket 7, double yoke suspensions 8, wheel hub 9, brake disc 10, wheel speed sensors 11 and vehicle
Wheel 12, wherein hub motor 5 is embedded among wheel 12, fixed by screw and wheel 12, band motor-car when hub motor 5 rotates
Wheel 12 rotates together, and the revolving speed of the two is consistent, and side of the hub motor 5 far from 12 spoke of wheel and brake disc 10 are mechanically connected,
Brake disc 10 is rotated with wheel 12, and brake disc 10 is fixedly connected with wheel hub 9, and the side that wheel hub 9 is connect with brake disc 10 is machinery
Fixed, the other side of wheel hub 9 is embedded in double yoke suspensions 8 by hub bearing, and the side of double yoke suspensions 8 is fixed with electric card
Clamp fixed bracket 7, the electric card that electric card pincers 6 is fixed on clamps on fixed bracket 7, brake disc 10 be plugged in electric card pincers 6 two claws it
Between, wheel speed sensors 11 are used to acquire the wheel speed pulse of wheel 12, and it is total that wheel speed pulse signal by signal wire is passed to vehicle frame
At the entire car controller 43 in 4, entire car controller 43 parses after wheel speed pulse the wheel speed information you can learn that current vehicle, into one
Step entire car controller 43 passes through the coordinated control that the wheel speed information got carries out vehicle.
Fore sub frame assembly 2 is by fore sub frame bottom plate 13, front left wheel steering linkage 14, left front electric power steering device
15, electric power steering device 18, right front wheel turn to before left front wheel hub electric machine controller 16, off-front wheel hub electric machine controller 17, the right side
Electric card pincers controller 21 and preceding vehicle-mounted 24V battery 22 form before pull rod 19, left front electric card pincers controller 20, the right side, wherein left front electricity
Electric power steering device 18, a left side before power-assisted steering device 15, left front wheel hub electric machine controller 16, off-front wheel hub electric machine controller 17, the right side
Electric card pincers controller 21 and preceding vehicle-mounted 24V battery 22 are mechanically fastened at fore sub frame bottom plate before preceding electric card pincers controller 20, the right side
On 13, preceding vehicle-mounted 24V battery 22 by supply lines respectively with left front electric power steering device 15, it is right before electric power steering device 18, left
Electric card pincers controller 21 is electrically connected before preceding electric card pincers controller 20 and the right side, and preceding vehicle-mounted 24V battery 22 is left front electric power steering device
15, electric card pincers controller 21 is powered before electric power steering device 18, left front electric card pincers controller 20 and the right side before the right side, left front electricity power-assisted turn
The double forks in In-wheel motor driving brake assembly 1 for passing through the control translation drive of front left wheel steering linkage 14 left front to device 15
Arm sling frame 8 is rotated around vehicle stub, realizes that the wheel 12 of left front turns to, electric power steering device 18 is by controlling right front truck before the right side
Taking turns the translation of steering linkage 19 drives double yoke suspensions 8 in the In-wheel motor driving brake assembly 1 of right front to turn around vehicle stub
It is dynamic, realize that the wheel 12 of right front turns to, left front electric card pincers controller 20 is located at the In-wheel motor driving of left front by control
Electric card pincers 6 on brake assembly 1 realize that the wheel 12 of left front is braked, before electric card pincers controller 21 is located at the right side by control before the right side
Electric card pincers 6 on the In-wheel motor driving brake assembly 1 of side realize that the wheel 12 of right front is braked, left front wheel hub electric machine controller
16 and off-front wheel hub electric machine controller 17 powered by the power cell of vehicle 23 on frame assembly 4, left front wheel hub electric machine controller
16 control be located at left front In-wheel motor driving brake assembly 1 on hub motors 5 realize the near front wheel drivings traveling and again
Raw braking, the control of off-front wheel hub electric machine controller 17 are located at the hub motor 5 on the In-wheel motor driving brake assembly 1 of right front
Realize the driving traveling and regenerative braking of off-front wheel.
Rear secondary frame for vehicle assembly 3 is by Rear secondary frame for vehicle bottom plate 24, rear left wheel steering linkage 25, left back electric power steering device
26, electric power steering device 29, right rear wheel turn to behind left back wheel hub electric machine controller 27, off hind wheel hub electric machine controller 28, the right side
Electric card pincers controller 32 and rear vehicle-mounted 24V battery 33 form behind pull rod 30, left back electric card pincers controller 31, the right side, wherein left back electricity
Electric power steering device 29, a left side behind power-assisted steering device 26, left back wheel hub electric machine controller 27, off hind wheel hub electric machine controller 28, the right side
Electric card pincers controller 32 and rear vehicle-mounted 24V battery 33 are mechanically fastened at Rear secondary frame for vehicle bottom plate behind electric card pincers controller 31, the right side afterwards
On 24, rear vehicle-mounted 24V battery 33 by supply lines respectively with left back electric power steering device 26, it is right after electric power steering device 29, left
Electric card pincers controller 31 and electric card pincers controller 32 behind the right side are electrically connected afterwards, and rear vehicle-mounted 24V battery 33 is left back electric power steering device
26, electric card pincers controller 32 is powered behind electric power steering device 29, left back electric card pincers controller 31 and the right side behind the right side, left back electricity power-assisted turn
The double forks in In-wheel motor driving brake assembly 1 for passing through the control translation drive of rear left wheel steering linkage 25 left back to device 26
Arm sling frame 8 is rotated around vehicle stub, realizes that the wheel 12 of left back turns to, electric power steering device 29 is by controlling right rear car behind the right side
Taking turns the translation of steering linkage 30 drives double yoke suspensions 8 in the In-wheel motor driving brake assembly 1 of right back to turn around vehicle stub
It is dynamic, realize that the wheel 12 of right back turns to, left back electric card pincers controller 31 is located at the In-wheel motor driving of left back by control
Electric card pincers 6 on brake assembly 1 realize that the wheel 12 of left back is braked, after electric card pincers controller 32 is located at the right side by control behind the right side
Electric card pincers 6 on the In-wheel motor driving brake assembly 1 of side realize that the wheel 12 of right back is braked, left back wheel hub electric machine controller
27 and off hind wheel hub electric machine controller 28 powered by the power cell of vehicle 23 on frame assembly 4, left back wheel hub electric machine controller
27 control be located at left back In-wheel motor driving brake assembly 1 on hub motors 5 realize left rear wheel drivings traveling and again
Raw braking, the control of off hind wheel hub electric machine controller 28 are located at the hub motor 5 on the In-wheel motor driving brake assembly 1 of right back
Realize the driving traveling and regenerative braking of off hind wheel.
Frame assembly 4 is by connecting bridge arm 34, frame panel 35, steering wheel angle sensor 36, brake pedal before two
Sensor 37, vehicle ignition switch sensor 38, accelerator pedal sensor 39, gear controller 40, acceleration transducer 41, cross
It connects bridge arm 44 after pivot angle velocity sensor 42, entire car controller 43, power cell of vehicle 23 and two to form, wherein vehicle is dynamic
Connection bridge arm 44 is mechanically mounted on frame panel 35 after connecting bridge arm 34 and two before 23, two, power battery, and frame assembly 4 is logical
The mechanical connection of bridge arm 34 realization and fore sub frame assembly 2 is connected before crossing two, frame assembly 4 connects bridge arm 44 after passing through two
Realize that the mechanical connection with Rear secondary frame for vehicle assembly 3, power cell of vehicle 23 are mechanically fastened on frame panel 35, vehicle power electricity
Pond 23 is that four hub motors 5 of vehicle provide electric energy, while can also receive the regenerative braking electricity from four hub motors 5
Can, angular signal is changed into electric signal by the angle that acquisition steering wheel for vehicle rotates and is sent to by steering wheel angle sensor 36
Entire car controller 43, entire car controller 43 can obtain the real-time steering wheel angle information of vehicle, vehicle ignition switch sensor
38 send corresponding electric signal according to ignition lock state, receive vehicle ignition switch sensor 38 by entire car controller 43 and issue
Electric signal, entire car controller 43 implements corresponding vehicle control strategy according to the fired state of current vehicle, and accelerator pedal passes
Accelerator opening angle signal is changed into electric signal by the aperture of acquisition vehicle accelerator pedal and is sent to full-vehicle control by sensor 39
Device 43, entire car controller 43 can be obtained the real-time accelerator pedal opening information of vehicle, and brake pedal sensor 37 passes through acquisition
Brake pedal opening amount signal is changed into electric signal and is sent to entire car controller 43, entire car controller by the aperture of vehicle brake pedal
43 can be obtained the real-time brake pedal opening information of vehicle, and acceleration transducer 41 and yaw-rate sensor 42 are fixed on
On frame panel 35, acceleration transducer 41 can acquire the longitudinal acceleration and side acceleration information of vehicle, and acceleration passes
The acceleration information of vehicle is changed into electric signal and is sent to entire car controller 43 by sensor 41, and yaw-rate sensor 42 can
The yaw velocity information of vehicle is acquired, the yaw velocity information of vehicle is changed into electric signal by yaw-rate sensor 42
It is sent to entire car controller 43, gear controller 40 is used to control the gear switch of vehicle and sends out gear information locating for vehicle
It send to vehicle CAN bus 45, entire car controller 43 obtains the gear of vehicle by the gear signal received on vehicle CAN bus 45
Information, entire car controller 43 are judged by the signal received on the signal and vehicle CAN bus 45 that aforementioned each sensor is sent
Operating condition locating for vehicle carries out decision, sends vehicle CAN bus 45 for target control signal, connect by each controller of vehicle
The target control signal on vehicle CAN bus 45 is received, actuator is controlled with target control signal.
The working principle of the invention:
The drive scheme of distributed driving vehicle chassis provided by the invention are as follows: using being integrated in four wheels of vehicle
Hub motor 5 drives vehicle driving.Each hub motor 5 is furnished with independent hub motor control device, passes through hub motor control
Device drive hub motor 5 rotates, and each hub motor control device passes through CAN (Controller Area Network) line and vehicle
CAN bus 45 connects, and hub motor control device is by receiving the target control that entire car controller 43 is sent on vehicle CAN bus 45
Signal drive hub motor 5 processed is worked with target value, and four hub motors 5 are mutually indepedent and do not interfere with each other.Each hub motor 5
Working method it is consistent, by taking the hub motor 5 in the near front wheel as an example, hub motor 5 passes through signal wire and supply lines and the near front wheel
Hub electric machine controller 16 is electrically connected, and left front wheel hub electric machine controller 16 is moved by supply lines with the vehicle being located on frame assembly 4
Power battery 23 is electrically connected.The phase information of motor is sent to left front hub motor control by signal wire by left front hub motor 5
The supply lines of corresponding phase is connected by receiving and parsing the phase information of motor in device 16, left front wheel hub electric machine controller 16,
Electric energy from power cell of vehicle 23 will be transported to left front hub motor 5, and then left front hub motor 5 is driven to rotate.
Distribution driving vehicle chassis braking scheme are as follows: carried out using the hub motor 5 being integrated in four wheels of vehicle
Regenerative braking, while electric card pincers 6 are equipped on each In-wheel motor driving brake assembly, it is assisted by four electric card pincers 6
Braking and emergency braking.Each electric card pincers 6 clamp controller equipped with independent electric card, clamp controller by electric card and control electric card pincers 6
Work, each electric card pincers controller are connect by CAN line with vehicle CAN bus 45, and electric card clamps controller by receiving vehicle CAN
The target control signal control electric card pincers 6 that entire car controller 43 is sent in bus 45 apply brake force, four electric card pincers 6 for vehicle
Independently of each other and it does not interfere with each other.The working method of each electric card pincers 6 is consistent, and by taking the electric card of the near front wheel pincers 6 as an example, electric card pincers 6 are logical
It crosses signal wire and supply lines to be electrically connected with left front electric card pincers controller 20, left front electric card pincers controller 20 passes through supply lines and front truck
24V battery 22 is carried to be electrically connected.The phase information of motor internal is sent to left front electric card by signal wire by the electric card pincers 6 of the near front wheel
Controller 20 is clamped, left front electric card pincers controller 20 leads the supply lines of corresponding phase by receiving and parsing the phase information of motor
Logical, the electric energy from preceding vehicle-mounted 24V battery 22 will be transported to the electric card pincers 6 of the near front wheel, and 6 work of driving electric card pincers generates braking
Torque.Two electric cards of automobile front-axle clamp 6, vehicles independently-powered by vehicle-mounted 24V battery 22 before arranging on fore sub frame assembly 2
Two electric cards pincers 6 of rear axle are independently-powered by the rear vehicle-mounted 24V battery 33 arranged on Rear secondary frame for vehicle assembly 3.
Distribution driving vehicle chassis parking scheme are as follows: controlling corresponding electric card pincers 6 by four electric card pincers controllers makes vehicle
Realize parking.Each electric card pincers 6 are integrated with electronic parking function, and when vehicle needs parking, electric card clamps controller control
6 work of electric card pincers clamps clamp, and the lockable mechanism that further electric card pincers controller control is located in electric card pincers 6 locks electric card
The motor of pincers 6, makes motor that can not rotate drive transmission mechanism, to provide lasting parking torque for vehicle, realizes parking.When
When vehicle needs to exit parking, electric card clamps the lockable mechanism releasing that controller control is located in electric card pincers 6 and clamps 6 motors to electric card
Locking, further 6 work of electric card pincers controller control electric card pincers discharges clamp, so that vehicle releases parking.Of the invention
There are four parking units for the outfit of distribution driving vehicle chassis, are mutually backups, to realize the redundancy backup of parking system.
Distribution driving vehicle chassis turns to scheme are as follows: uses four electric power steerings being arranged on forward and backward subframe
Device drives four wheels 12 to rotate.Using single-wheel independent steering, i.e., each wheel 12 can be rotated alone about the stub of vehicle.
Left front electric power steering device 15 and electric power steering device 18 before the right side, cloth on Rear secondary frame for vehicle assembly 3 are disposed on fore sub frame assembly 2
It is equipped with left back electric power steering device 26 and electric power steering device 29 behind the right side.The working principle of each electric power steering device is consistent, with
For left front electric power steering device 15, left front electric power steering device 15 drives steering linkage translation, the other end of steering linkage with
Double yoke suspensions 8 mechanical connection on left front In-wheel motor driving brake assembly 1, when steering linkage translation, double yoke suspensions 8
It can be rotated around stub, and then drive the near front wheel rotation of vehicle.Two electric power steering devices of automobile front-axle pass through supply lines point
It is not electrically connected with the preceding vehicle-mounted 24V battery 22 arranged on fore sub frame assembly 2, two electric power steering devices of vehicle rear axle pass through
Supply lines is electrically connected with the rear vehicle-mounted 24V battery 33 arranged on Rear secondary frame for vehicle assembly 3 respectively.Each electric power steering device passes through
CAN line is connect with vehicle CAN bus 45, and electric power steering is by receiving the target from entire car controller 43 in CAN bus 45
Signal control steering linkage movement is controlled, and then is rotated with motor car wheel 12.Each electric power steering device be integrated with actuator and
Controller, each electric power steering is mutually indepedent and does not interfere with each other.
Be disposed with entire car controller 43 on frame assembly 4, entire car controller 43 play distribution vehicle traction, braking moment and
The effect of coordinated control body gesture.Four 11 signals of wheel speed sensors, the sides that entire car controller 43 is arranged by receiving vehicle
It is passed to 36 signal of disk rotary angle transmitter, 38 signal of vehicle ignition switch sensor, 37 signal of brake pedal sensor, accelerator pedal
Information of vehicles in 39 signal of sensor, 41 signal of acceleration transducer, 42 signal of yaw-rate sensor and CAN bus 45
Judge the operation of driver be intended to and vehicle locating for operating condition, entire car controller 43 is further calculated by control algolithm
Current target control amount, 43 conformity goal of entire car controller are sent to vehicle CAN bus 45 after controlling signal.Positioned at forward and backward
Hub motor control device, electric card pincers controller, electric power steering device on subframe assembly receive full-vehicle control in CAN bus 45
The hub motor control that target control signal that device 43 is sent simultaneously is responded accordingly, while is located on forward and backward subframe assembly
Feedback signal and fault-signal are sent to vehicle CAN bus 45 by device processed, electric card pincers controller, electric power steering device, by vehicle
Controller 43 is adjusted target control signal after receiving feedback signal and fault-signal, realizes distributed driving vehicle electrically controlling
The closed-loop control of system.Entire car controller 43 passes through on 24V battery 22 vehicle-mounted before being arranged on fore sub frame and Rear secondary frame for vehicle
The power supply jointly of rear vehicle-mounted 24V battery 33, when any one battery failure, entire car controller 43 still is able to work normally, and keeps away
Exempt from because of the case where battery or power supply line's catastrophic failure cause to lose control of one's vehicle generation.
There also is provided gear controller 40 on frame assembly 4, for control vehicle gear switch and will be locating for vehicle
Gear information is sent to vehicle CAN bus 45, and gear controller 40 passes through 24V battery 22 vehicle-mounted before being arranged on fore sub frame
Power supply.
Claims (5)
1. a kind of distributed driving vehicle chassis, it is characterised in that: including there are four In-wheel motor driving brake assemblies, preceding secondary vehicle
Frame assembly, Rear secondary frame for vehicle assembly and frame assembly, wherein it is total to be respectively assembled at vehicle frame for fore sub frame assembly and Rear secondary frame for vehicle assembly
At front and back, two In-wheel motor driving brake assemblies are respectively assembled at the two sides of fore sub frame assembly, other two wheel hub electricity
Machine driving brake assembly is respectively assembled at the two sides of Rear secondary frame for vehicle assembly.
2. a kind of distributed driving vehicle chassis according to claim 1, it is characterised in that: four hub motors
Drive the structure of brake assembly identical, each In-wheel motor driving brake assembly includes hub motor, electric card pincers, electric card pincers
Fixed bracket, double yoke suspensions, wheel hub, brake disc, wheel speed sensors and wheel, wherein hub motor is embedded among wheel,
It is fixed by screw and wheel, band motor car wheel rotates together when hub motor rotates, and the revolving speed of the two is consistent, and hub motor is separate
The side of wheel spoke and brake disc are mechanically connected, and brake disc is fixedly connected with vehicle wheel rotation, brake disc with wheel hub, wheel hub and system
The side of Moving plate connection is to be mechanically fixed, and the other side of wheel hub is embedded in double yoke suspensions by hub bearing, and double yokes are outstanding
The side of frame is fixed with electric card and clamps fixed bracket, and the electric card that electric card pincers is fixed on clamps on fixed bracket, and brake disc is plugged in electric card pincers
Two claws between, wheel speed sensors are used to acquire the wheel speed pulse of wheel, and wheel speed pulse signal is passed through signal wire transmitting
To the entire car controller in frame assembly, entire car controller parses after wheel speed pulse the wheel speed information you can learn that current vehicle,
Further entire car controller passes through the coordinated control that the wheel speed information got carries out vehicle.
3. a kind of distributed driving vehicle chassis according to claim 1, it is characterised in that: the fore sub frame assembly
It is by fore sub frame bottom plate, front left wheel steering linkage, left front electric power steering device, left front wheel hub electric machine controller, off-front wheel
Electric card pincers control before electric power steering device, right front wheel steering linkage, left front electric card pincers controller, the right side before hub electric machine controller, the right side
Device processed and preceding vehicle-mounted 24V battery composition, wherein left front electric power steering device, left front wheel hub electric machine controller, off-front wheel hub motor
Electric card clamps controller and the preceding vehicle-mounted equal machine of 24V battery before electric power steering device, left front electric card pincers controller, the right side before controller, the right side
Tool is fixed on fore sub frame bottom plate, and preceding vehicle-mounted 24V battery is helped with electricity before left front electric power steering device, the right side respectively by supply lines
Electric card pincers controller electrical connection before power diverter, left front electric card pincers controller and the right side, preceding vehicle-mounted 24V battery are that left front electric power-assisted turns
Electric card pincers controller is powered before electric power steering device, left front electric card pincers controller and the right side before to device, the right side, left front electric power steering device
By control front left wheel steering linkage translation drive left front In-wheel motor driving brake assembly in double yoke suspensions around
The wheel steering of left front is realized in the rotation of vehicle stub, and electric power steering device is flat by control right front wheel steering linkage before the right side
Double yoke suspensions in the dynamic In-wheel motor driving brake assembly for driving right front are rotated around vehicle stub, realize the vehicle of right front
It rotates to left front electric card pincers controller is located at the electric card pincers on the In-wheel motor driving brake assembly of left front by control and realized
The wheel braking of left front, it is right before electric card pincers controller be located on the In-wheel motor driving brake assembly of right front by control
Electric card pincers realize the wheel braking of right front, and left front wheel hub electric machine controller and off-front wheel hub electric machine controller are by frame assembly
Power cell of vehicle power supply, the control of left front wheel hub electric machine controller is located on the In-wheel motor driving brake assembly of left front
Hub motor realizes the driving traveling and regenerative braking of the near front wheel, and the control of off-front wheel hub electric machine controller is located at the wheel hub of right front
Hub motor on motor driven brake assembly realizes the driving traveling and regenerative braking of off-front wheel.
4. a kind of distributed driving vehicle chassis according to claim 1, it is characterised in that: the Rear secondary frame for vehicle assembly
It is by Rear secondary frame for vehicle bottom plate, rear left wheel steering linkage, left back electric power steering device, left back wheel hub electric machine controller, off hind wheel
Electric card pincers control behind electric power steering device, right rear wheel steering linkage, left back electric card pincers controller, the right side behind hub electric machine controller, the right side
Device processed and rear vehicle-mounted 24V battery composition, wherein left back electric power steering device, left back wheel hub electric machine controller, off hind wheel hub motor
Electric card clamps controller and the rear vehicle-mounted equal machine of 24V battery behind electric power steering device, left back electric card pincers controller, the right side behind controller, the right side
Tool is fixed on Rear secondary frame for vehicle bottom plate, and rear vehicle-mounted 24V battery is helped with electricity behind left back electric power steering device, the right side respectively by supply lines
Electric card pincers controller electrical connection behind power diverter, left back electric card pincers controller and the right side, rear vehicle-mounted 24V battery are that left back electric power-assisted turns
Electric card pincers controller is powered behind electric power steering device, left back electric card pincers controller and the right side after to device, the right side, left back electric power steering device
By control rear left wheel steering linkage translation drive left back In-wheel motor driving brake assembly in double yoke suspensions around
The wheel steering of left back is realized in the rotation of vehicle stub, and electric power steering device is flat by control right rear wheel steering linkage behind the right side
Double yoke suspensions in the dynamic In-wheel motor driving brake assembly for driving right back are rotated around vehicle stub, realize the vehicle of right back
It rotates to left back electric card pincers controller is located at the electric card pincers on the In-wheel motor driving brake assembly of left back by control and realized
The wheel braking of left back, it is right after electric card pincers controller be located on the In-wheel motor driving brake assembly of right back by control
Electric card pincers realize the wheel braking of right back, and left back wheel hub electric machine controller and off hind wheel hub electric machine controller are by frame assembly
Power cell of vehicle power supply, the control of left back wheel hub electric machine controller is located on the In-wheel motor driving brake assembly of left back
Hub motor realizes the driving traveling and regenerative braking of left rear wheel, and the control of off hind wheel hub electric machine controller is located at the wheel hub of right back
Hub motor on motor driven brake assembly realizes the driving traveling and regenerative braking of off hind wheel.
5. a kind of distributed driving vehicle chassis according to claim 1, it is characterised in that: the frame assembly be by
Bridge arm is connected before two, frame panel, steering wheel angle sensor, brake pedal sensor, vehicle ignition switch sensor, is added
Speed pedal sensor, gear controller, acceleration transducer, yaw-rate sensor, entire car controller, power cell of vehicle
Connection bridge arm composition after with two, wherein power cell of vehicle, connect bridge arm and two before two after connect bridge arm mechanical erection
In on frame panel, connection bridge arm realizes the mechanical connection with fore sub frame assembly, frame assembly before frame assembly passes through two
By connecting the mechanical connection of bridge arm realization and Rear secondary frame for vehicle assembly after two, power cell of vehicle is mechanically fastened at frame panel
On, power cell of vehicle provides electric energy for four hub motors of vehicle, while can also receive from four hub motors
Angular signal is changed into telecommunications by the angle that acquisition steering wheel for vehicle rotates by regenerative braking electric energy, steering wheel angle sensor
It number is sent to entire car controller, entire car controller can obtain the real-time steering wheel angle information of vehicle, and vehicle ignition switch passes
Sensor sends corresponding electric signal according to ignition lock state, receives what vehicle ignition switch sensor issued by entire car controller
Electric signal, entire car controller implement corresponding vehicle control strategy, accelerator pedal sensor according to the fired state of current vehicle
Accelerator opening angle signal is changed into electric signal and is sent to entire car controller, vehicle by the aperture by acquiring vehicle accelerator pedal
Controller can be obtained the real-time accelerator pedal opening information of vehicle, and brake pedal sensor passes through acquisition vehicle brake pedal
Brake pedal opening amount signal is changed into electric signal and is sent to entire car controller by aperture, and it is real-time that entire car controller can be obtained vehicle
Brake pedal opening information, acceleration transducer and yaw-rate sensor be fixed on frame panel, acceleration sensing
Device can acquire the longitudinal acceleration and side acceleration information of vehicle, and acceleration transducer changes the acceleration information of vehicle
It is sent to entire car controller for electric signal, yaw-rate sensor can acquire the yaw velocity information of vehicle, yaw angle
The yaw velocity information of vehicle is changed into electric signal and is sent to entire car controller by velocity sensor, and gear controller is for controlling
Gear information locating for vehicle is simultaneously sent to vehicle CAN bus by the gear switch of vehicle processed, and entire car controller is by receiving vehicle
Gear signal in CAN bus obtains the gear information of vehicle, and entire car controller is sent by the aforementioned each sensor of reception
Signal on signal and vehicle CAN bus judges operating condition locating for vehicle, carries out decision, sends vehicle for target control signal
CAN bus receives the target control signal on vehicle CAN bus by each controller of vehicle, with target control signal to holding
Row device is controlled.
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| CN113060012A (en) * | 2021-04-13 | 2021-07-02 | 中国第一汽车股份有限公司 | Distributed four-wheel-drive pure electric platform and control method thereof |
| CN113406412A (en) * | 2021-06-03 | 2021-09-17 | 东风柳州汽车有限公司 | Chassis test system and equipment thereof |
| CN113442856A (en) * | 2021-08-31 | 2021-09-28 | 国汽智控(北京)科技有限公司 | Control method and device based on adaptive platform and ROS2 and storage medium |
| CN114043505A (en) * | 2021-11-29 | 2022-02-15 | 上海大学 | Simulation carrier motion simulation device based on mechanical arm and control method |
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