CN113060012A - Distributed four-wheel-drive pure electric platform and control method thereof - Google Patents
Distributed four-wheel-drive pure electric platform and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- 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
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
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Abstract
The invention relates to the technical field of vehicle control, and discloses a distributed four-wheel-drive pure electric platform and a control method thereof, wherein the distributed four-wheel-drive pure electric platform comprises an electric energy system, a power system, a braking system and a steering system, the electric energy system comprises a battery control module, a power battery, a voltage regulating module, two groups of storage batteries and two groups of junction boxes, the battery control module is respectively and electrically connected with the power battery and the voltage regulating module, the voltage regulating module is connected with the power battery through a high-voltage wire, the two groups of storage batteries are both connected with the output end of the voltage regulating module, and the two groups of junction boxes are both connected with the power battery. The distributed four-wheel-drive pure electric platform disclosed by the invention has the advantages that the internal space of the vehicle cabin is increased, the overall distribution of the distributed four-wheel-drive pure electric platform is facilitated, even if the distributed four-wheel-drive pure electric platform fails, the brake control module can still drive the brake motor to provide brake torque for the wheels, and the safety of the distributed four-wheel-drive pure electric platform is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a distributed four-wheel-drive pure electric platform and a control method thereof.
Background
The existing electric vehicles are mostly front-drive vehicles or rear-drive vehicles, motors of the front-drive vehicles are arranged at the front ends of the vehicles, the space in the vehicle cabin is limited, the motors of the rear-drive vehicles are arranged at the lower ends of the floors, the space requirement on the lower portions of the floors is large, and the whole distribution of the electric vehicles is not facilitated. The electric vehicle passes through power battery and block terminal and satisfies the power supply demand of component to high voltage direct current, and the cost of block terminal is higher for electric vehicle's manufacturing cost is higher, and electric vehicle's linear drive, turn to and the braking function all realizes through the control of controller, in case electric vehicle breaks down, unable normal braking electric vehicle is unfavorable for electric vehicle's safe operation.
Disclosure of Invention
Based on the above, an object of the present invention is to provide a distributed four-wheel-drive pure electric platform, which increases an internal space of a cabin, and is beneficial to overall distribution of the distributed four-wheel-drive pure electric platform, wherein a voltage regulation module, a battery control module, a vehicle control module, a brake control module, and a steering control module of the distributed four-wheel-drive pure electric platform respectively control corresponding elements, so as to implement various functions of the distributed four-wheel-drive pure electric platform, and even if the distributed four-wheel-drive pure electric platform fails, the brake control module can still drive a brake motor to provide a brake torque for a wheel, thereby implementing braking of the distributed four-wheel-drive pure electric platform, and improving safety of the distributed four-wheel-drive pure electric platform.
The invention further aims to provide a control method of the distributed four-wheel-drive pure electric platform, which has the advantages of rich operation modes and high safety performance.
In order to achieve the purpose, the invention adopts the following technical scheme:
a distributed four-wheel drive electric platform comprising: the electric energy system comprises a battery control module, a power battery, a voltage regulation module, two groups of storage batteries and two groups of junction boxes, wherein the battery control module is respectively and electrically connected with the power battery and the voltage regulation module, the voltage regulation module is connected with the power battery through a high-voltage wire and is used for converting high-voltage direct current into low-voltage direct current, the two groups of storage batteries are connected with the output end of the voltage regulation module, the two groups of storage batteries are respectively arranged on the front side and the rear side of a vehicle body, the two groups of junction boxes are connected with the power battery and are positioned on the front side and the rear side of the vehicle body, and the junction boxes are used for supplying high-voltage direct current; the power system comprises a whole vehicle control module and four groups of hub motors connected with the power battery, wherein the whole vehicle control module is respectively connected with the four groups of hub motors, the four groups of hub motors are respectively arranged in one-to-one correspondence with four groups of wheels, and each group of hub motors is configured to be capable of changing the driving torque of one group of wheels; the braking system comprises a braking control module and four groups of braking motors connected with the power battery, the braking control module is respectively connected with the whole vehicle control module and the four groups of braking motors, and each group of braking motors is configured to be capable of changing the braking torque of one group of wheels; the steering system comprises a steering control module and four steering machines connected with the power battery, wherein the steering control module is respectively connected with the four steering machines, the four steering machines are respectively arranged corresponding to the four wheels one by one, and each steering machine is configured to change the steering torque of one set of wheels.
As a preferred solution of the distributed four-wheel drive pure electric platform, the electric energy system further includes: the charging port is connected with the power battery and can be connected with a direct current charging pile; the portable charger is detachably arranged on the charging port and used for converting alternating current of a power supply into direct current.
As a preferred scheme of the distributed four-wheel drive pure electric platform, the storage battery on the front side can provide low-voltage direct current for the two groups of braking motors on the front side and the two groups of steering gears on the front side, and the storage battery on the rear side can provide low-voltage direct current for the two groups of braking motors on the rear side and the two groups of steering gears on the rear side.
As a preferred scheme of the distributed four-wheel drive pure electric platform, the junction box on the front side can provide high-voltage direct current for the two groups of hub motors on the front side, and the junction box on the rear side can provide high-voltage direct current for the two groups of hub motors on the rear side.
As a preferred solution of the distributed four-wheel drive pure electric platform, the braking system comprises: each brake caliper is connected with one group of brake motors; each friction plate is connected with one group of brake calipers; four groups of brake discs, every group the brake disc all sets up one set of on the wheel, every group the brake disc respectively with a set of the friction disc corresponds the setting.
A control method of the distributed four-wheel-drive pure electric platform according to any one of the above aspects includes:
the voltage regulation module, the battery control module, the whole vehicle control module, the brake control module and the steering control module are integrated into a domain control module, and when the distributed four-wheel-drive pure electric platform is started, the domain control module controls the hub motor and the voltage regulation module to be electrified at high voltage;
when the vehicle body decelerates, lateral force is insufficient in the steering process or the wheel is locked in the braking process, the domain control module can respectively control the wheel hub motor and the braking motor to provide braking torque for the wheel;
when the vehicle body slips in the acceleration process, the domain control module can control the hub motor to reduce the driving torque or control the brake motor to output the braking torque so as to reduce the vehicle speed of the wheel;
the domain control module can respectively control the hub motor and the brake motor to realize in-situ steering or transverse parking of the distributed four-wheel-drive pure electric platform;
when the distributed four-wheel-drive pure electric platform is in a fault state, the brake control module can control the brake motor to brake the wheel.
As an optimal scheme of a control method of a distributed four-wheel drive pure electric platform, when a vehicle body is in a deceleration state, firstly, a wheel hub motor generates electricity, a whole vehicle control module calculates a first braking torque, then, the whole vehicle control module distributes a second braking torque to the wheel hub motor, and simultaneously, the whole vehicle control module distributes a third braking torque to the braking motor through the braking control module, wherein the sum of the third braking torque and the second braking torque is equal to the first braking torque.
As an optimal scheme of a control method of the distributed four-wheel drive pure electric platform, when the lateral force of the vehicle body is insufficient in the steering process, the whole vehicle control module controls the hub motor to apply braking torque to the wheel, and meanwhile, the whole vehicle control module controls the hub motor to apply braking torque to the wheel through the braking control module.
As an optimal scheme of a control method of the distributed four-wheel-drive pure electric platform, when the wheel is locked in the braking process of the distributed four-wheel-drive pure electric platform, the whole vehicle control module controls the braking torque provided by the hub motor for the wheel, and meanwhile, the braking control module controls the braking torque provided by the braking motor for the wheel so as to gradually reduce the braking force of the wheel.
The optimal scheme of the control method of the distributed four-wheel-drive pure electric platform is that in-situ steering or transverse parking is carried out, the steering control module controls the steering gear to drive the wheels to rotate, meanwhile, the whole vehicle control module controls the hub generator to drive the wheels to move until the wheels move to a preset position, and the brake control module controls the brake motor to brake the wheels.
The invention has the beneficial effects that: the hub motor and the brake motor of the distributed four-wheel-drive pure electric platform disclosed by the invention are respectively arranged corresponding to the wheels, do not occupy the space in a vehicle cabin, are beneficial to the overall distribution of the distributed four-wheel-drive pure electric platform, the voltage regulating module of an electric energy system can convert high-voltage direct current into low-voltage direct current so as to provide low-voltage direct current for the storage battery and other elements, two groups of storage batteries are respectively arranged at the front side and the rear side of the vehicle body, the complexity of the distribution of electric wires in the distributed four-wheel-drive pure electric platform is reduced, and the junction boxes arranged at the front side and the rear side of the vehicle body are simple in structure and lower in production cost compared with the existing distribution box, and because the voltage regulating module, the battery control module, the whole vehicle control module, the brake control module and the steering control module of the distributed four-wheel-drive pure, even if the distributed four-wheel-drive pure electric platform fails, the brake control module can still control the brake motor to provide brake torque for the wheels, so that the brake of the distributed four-wheel-drive pure electric platform is realized, and the safety of the distributed four-wheel-drive pure electric platform is improved.
The control method of the distributed four-wheel-drive pure electric platform has the advantages of rich operation modes and high safety performance, and the domain control module can adjust the hub motor, the brake motor and the steering engine in real time according to the operation condition of the distributed four-wheel-drive pure electric platform, so that the stable operation of the distributed four-wheel-drive pure electric platform is realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a schematic diagram of a distributed four-wheel-drive electric-only platform according to an embodiment of the present invention;
fig. 2 is a block diagram of a distributed four-wheel-drive electric-only platform according to an embodiment of the present invention, which is switched from one state to another state.
In the figure:
11. a battery control module; 12. a power battery; 13. a voltage regulation module; 14. a storage battery; 15. a junction box; 16. a charging port;
21. a vehicle control module; 22. a hub motor;
31. a brake control module; 32. braking the motor; 33. a brake caliper; 34. a friction plate; 35. a brake disc;
41. a steering control module; 42. a steering engine.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment provides a distributed four-wheel-drive pure electric platform, as shown in fig. 1, the distributed four-wheel-drive pure electric platform comprises an electric energy system, a power system, a braking system and a steering system, the electric energy system comprises a battery control module 11, a power battery 12, a voltage regulation module 13, two groups of storage batteries 14 and two groups of wire boxes 15, the battery control module 11 is electrically connected with the power battery 12 and the voltage regulation module 13 respectively, the voltage regulation module 13 is connected with the power battery 12 through a high-voltage wire and used for converting high-voltage direct current into low-voltage direct current, the two groups of storage batteries 14 are connected with the output end of the voltage regulation module 13, the two groups of storage batteries 14 are arranged on the front side and the rear side of a vehicle body respectively, the two groups of wire boxes 15 are connected with the power battery 12 and located on the front side and the rear side of the vehicle body, the wire boxes 15 are used, The brake system comprises a brake control module 31 and four brake motors 32, wherein the brake control module 31 is respectively connected with the whole vehicle control module 21 and the four brake motors 32, each brake motor 32 is configured to change the brake torque of one set of wheels, the steering system comprises a steering control module 41, four sets of steering gears 42 connected to the power battery 12, the steering control module 41 being connected to the four sets of steering gears 42, respectively, the four sets of steering gears 42 being provided in one-to-one correspondence with the four sets of wheels, respectively, each set of steering gears 42 being configured to be able to change the steering torque of one set of wheels.
It should be noted that, the in-wheel motor 22 of the present embodiment is directly connected to the wheel, and compared with the existing connection mode in which the two are connected through a transmission shaft, the in-wheel motor reduces the steering limitation, and realizes the functions of small steering radius and lateral driving. The battery control module 11 of this embodiment is used for controlling charging, discharging, and the like of the power battery 12, and the entire vehicle control module 21 can respectively control each group of in-wheel motors 22, so as to realize that each group of in-wheel motors 22 drives or brakes a corresponding wheel, and the driving torque or braking torque distributed to each group of in-wheel motors 22 by the entire vehicle control module 21 is set according to the actual operation condition of the distributed four-wheel drive pure electric platform, so that the driving force or braking force applied to each group of wheels is the same or different. When the distributed four-wheel-drive pure electric platform runs on a slope, the function of preventing the slope from sliding is realized by reasonably distributing the driving force of the wheels driven by the hub motors 22, and finally the distributed four-wheel-drive pure electric platform can run stably and safely.
The brake control module 31 of this embodiment can control every group brake motor 32 respectively to realize that every group brake motor 32 brakes corresponding wheel, the braking torque that brake control module 31 distributes to every group brake motor 32 sets for according to the actual running conditions of pure electric platform of distributed four-wheel drive, makes the braking force that every group wheel received the same or different, finally makes pure electric platform of distributed four-wheel drive can be steady, safe operation.
The steering control module 41 of this embodiment can control every group steering gear 42 respectively to realize that every group steering gear 42 drives corresponding wheel rotation, the corner that steering control module 41 drives every group rotation and drives the wheel is set for according to the actual running conditions of distributed four-wheel drive pure electric platform, makes every group wheel pivoted angle the same or different.
Specifically, each set of wheel of this embodiment all includes a wheel, and four sets of wheels are located the left place ahead of car body, left rear, right front and right rear respectively, and is the same, and every in-wheel motor 22 all includes an in-wheel motor 22, and every brake motor 32 all includes a brake motor 32, and every steering gear 42 all includes a steering gear 42, and four in-wheel motors 22, four brake motors 32 and four steering gears 42 set up with four wheels one-to-one respectively.
The distributed four-wheel-drive pure electric platform can select front drive, rear drive or four-wheel drive according to the actual running condition of the distributed four-wheel-drive pure electric platform, so that the distributed four-wheel-drive pure electric platform can run stably. For example, when the distributed four-wheel-drive all-electric platform runs on ice, snow, wet and slippery roads, a forward-drive or four-wheel-drive motion mode can be selected, the grip capacity of wheels is high, and the possibility of smooth running of the distributed four-wheel-drive all-electric platform is increased. When the distributed four-wheel-drive pure electric platform runs on the track, the back drive can be selected, and the distributed four-wheel-drive pure electric platform turns through drift.
The in-wheel motor 22 and the brake motor 32 of the distributed four-wheel-drive pure electric platform provided by this embodiment are respectively arranged corresponding to wheels, do not occupy the space in the vehicle cabin, and are beneficial to the overall distribution of the distributed four-wheel-drive pure electric platform, the voltage regulating module 13 of the electric energy system can convert high-voltage direct current into low-voltage direct current, so as to provide low-voltage direct current for the storage battery 14 and other elements, the two groups of storage batteries 14 are respectively arranged at the front side and the rear side of the vehicle body, thereby reducing the complexity of the distribution of electric wires inside the distributed four-wheel-drive pure electric platform, compared with the existing distribution box, the junction boxes 15 arranged at the front side and the rear side of the vehicle body have simple structure and lower production cost, and because the voltage regulating module 13, the battery control module 11, the vehicle control module 21, the brake control module 31 and the steering control module 41 of the, corresponding functions are realized, even if the distributed four-wheel-drive pure electric platform fails, the brake control module 31 can still control the brake motor 32 to provide brake torque for the wheels, the brake of the distributed four-wheel-drive pure electric platform is realized, and the safety of the distributed four-wheel-drive pure electric platform is improved.
As shown in fig. 1, the electric energy system of the present embodiment further includes a charging port 16 and a portable charger (not shown in the figure), wherein the charging port 16 is connected to the power battery 12 and can be connected to the dc charging pile, the portable charger is detachably disposed at the charging port 16, and the portable charger is used for converting ac power of a power source into dc power. When the power battery 12 is charged by using the direct current charging pile, the direct current charging pile is directly connected with the charging port 16; when the alternating-current charging pile is used for charging the power battery 12, the alternating-current charging pile is inserted into the charging opening 16 through the portable charger, and the power battery 12 is charged. In the prior art, the electric energy system comprises a direct current charging hole and an alternating current charging hole, the alternating current charging hole is connected with the power battery 12 through a corresponding conversion element, compared with the prior art, the alternating current charging hole is omitted, the portable charger detachably connected with the charging port 16 is used for replacing the existing conversion element, the overall weight of the distributed four-wheel-drive pure electric platform is reduced, and the miniaturization setting of the distributed four-wheel-drive pure electric platform is facilitated.
As shown in fig. 1, the voltage regulation module 13, the battery control module 11, the entire vehicle control module 21, the brake control module 31, and the steering control module 41 of the present embodiment are disposed in the same region of the vehicle body, and compared with the distribution in each region of the vehicle body, the distribution reduces the response time of data exchange between the modules, and improves the control accuracy of the distributed four-wheel drive pure electric platform. The voltage regulation module 13, the battery control module 11, the vehicle control module 21, the brake control module 31 and the steering control module 41 of the present embodiment may perform data transmission through low voltage signals transmitted by a wire harness, and may also perform data transmission through wireless signals.
Specifically, the front-side storage battery 14 of the present embodiment can provide low-voltage direct current for the front-side two sets of brake motors 32 and the front-side two sets of steering gears 42, and the rear-side storage battery 14 can provide low-voltage direct current for the rear-side two sets of brake motors 32 and the rear-side two sets of steering gears 42, that is, the brake motors 32 and the steering gears 42 are electrically connected to the storage battery 14 through low-voltage lines. The junction box 15 at the front side of the present embodiment can provide high voltage direct current for the two sets of hub motors 22 at the front side, and the junction box 15 at the rear side can provide high voltage direct current for the two sets of hub motors 22 at the rear side, that is, the hub motors 22 are electrically connected to the junction box 15 through high voltage wires.
As shown in fig. 1, the braking system of the present embodiment includes four sets of brake calipers 33, four sets of friction plates 34, and four sets of brake discs 35, each set of brake calipers 33 is connected to a set of brake motors 32, each set of friction plates 34 is connected to a set of brake calipers 33, each set of brake discs 35 is disposed on a set of wheels, and each set of brake discs 35 is disposed corresponding to a set of friction plates 34. During braking, the brake module controls the brake motor 32 to apply pressure to the friction plate 34 through the brake caliper 33, so that the brake of the friction plate 34 on the brake disc 35 is realized, and the purpose of braking the wheel is achieved.
The embodiment also provides a control method of the distributed four-wheel-drive pure electric platform, which includes:
the voltage regulation module 13, the battery control module 11, the vehicle control module 21, the brake control module 31 and the steering control module 41 are integrated into a domain control module, when the distributed four-wheel-drive pure electric platform is started, the domain control module controls the hub motor 22 and the voltage regulation module 13 to be electrified at high voltage, and after the distributed four-wheel-drive pure electric platform is electrified at high voltage, the distributed four-wheel-drive pure electric platform has a running condition;
when the vehicle body decelerates, the lateral force is insufficient in the steering process or the wheel is locked in the braking process, the domain control module can respectively control the braking torque provided by the hub motor 22 and the braking motor 32 for the wheel;
when the vehicle body slips in the acceleration process, the domain control module can control the hub motor 22 to reduce the driving torque, or control the brake motor 32 to output the braking torque so as to reduce the vehicle speed of the wheels;
the domain control module can respectively control the hub motor 22 and the brake motor 32 to realize pivot steering or transverse parking of the distributed four-wheel-drive pure electric platform;
when the distributed four-wheel-drive pure electric platform is in a fault state, the brake control module 31 can control the brake motor 32 to brake the wheel.
Compared with the existing control structure of the distributed four-wheel-drive pure electric platform, the domain control module of the embodiment has lower cost, and compared with the distributed control structure, the integrated domain control module also has the advantages of corresponding time length and high control precision. In other embodiments, the voltage regulation module 13, the battery control module 11, the vehicle control module 21, the brake control module 31, and the steering control module 41 may further obtain a demand signal through an intelligent network connection control unit, so that the automatic control of the distributed four-wheel drive pure electric platform is realized in combination with intelligent driving.
It should be noted that the domain control module of the present embodiment is directly connected to the power battery 12 through a high voltage line. When the vehicle body is in a sliding state in the acceleration process, the speed of the wheels needs to be reduced, so that the vehicle control of the domain control module controls the in-wheel motor 22 to reduce the driving torque, or the brake module controls the brake motor 32 to output the brake torque.
The control method of the distributed four-wheel-drive pure electric platform provided by the embodiment has the advantages of rich operation modes and high safety performance, and the domain control module can adjust the hub motor 22, the brake motor 32 and the steering engine 42 in real time according to the operation condition of the distributed four-wheel-drive pure electric platform, so that the stable operation of the distributed four-wheel-drive pure electric platform is realized.
Specifically, when the vehicle body is in a deceleration state, firstly, the hub motor 22 generates power, the vehicle control module 21 calculates a first braking torque, at this time, the electric energy generated by the hub motor 22 is stored in the power battery 12, then, the vehicle control module 21 distributes a second braking torque to the hub motor 22, and simultaneously, the vehicle control module 21 distributes a third braking torque to the braking motor 32 through the braking control module 31, wherein the sum of the third braking torque and the second braking torque is equal to the first braking torque.
Specifically, when the first braking torque calculated by the entire vehicle control module 21 can be realized through the in-wheel motor 22, the third braking torque is zero, that is, the braking motor 32 does not need to output the braking torque; when the vehicle control module 21 calculates that the first braking torque cannot be realized only through the wheel hub motor 22, the third braking torque is larger than zero, but the sum of the third braking torque and the second braking torque is equal to the first braking torque at the moment, so that the total braking torque output by the wheel hub motor 22 and the braking motor 32 is equal to the first braking torque calculated by the vehicle control module 21, and the distributed four-wheel drive pure electric platform is ensured to operate according to the required working condition.
When the vehicle runs in a straight line, once the vehicle speed of the wheels is unchanged or reaches the maximum speed limit, the distributed four-wheel-drive pure electric platform enters a constant-speed running stage, the total torque output by the vehicle control module 21 is unchanged, the driving force applied to the front wheels and the rear wheels can be balanced according to the efficiency of the hub motor 22, and the distributed four-wheel-drive pure electric platform is guaranteed to run at a constant speed.
When the vehicle is steered in situ or parked transversely, the steering control module 41 controls the steering engine 42 to drive the wheels to rotate, meanwhile, the vehicle control module 21 controls the wheel hub generator to drive the wheels to move until the wheels move to a preset position, and the brake control module 31 controls the brake motor 32 to brake the wheels.
When the vehicle body has insufficient lateral force in the steering process, the whole vehicle control module 21 controls the hub motor 22 to apply braking torque to the wheel, and meanwhile, the whole vehicle control module 21 controls the hub motor 22 to apply braking torque to the wheel through the braking control module 31.
When the distributed four-wheel-drive pure electric platform is in a wheel locking state in the braking process, the whole vehicle control module 21 controls the braking torque provided by the wheel hub motor 22 for the wheel, and meanwhile, the braking control module 31 controls the braking torque provided by the braking motor 32 for the wheel, so that the braking force of the wheel is gradually reduced.
When the distributed four-wheel-drive pure electric platform is started, the domain control module controls the hub motor 22 and the voltage regulation module 13 to be electrified at high voltage, the whole vehicle control module 21, the brake control module 31 and the steering control module 41 of the distributed four-wheel-drive pure electric platform calculate the torque, the rotating speed or the displacement of a controlled object to be realized according to input signals, then control instructions are sent to the hub motor 22, the brake motor 32 and the steering engine 42 of the controlled object, and the controlled object is realized according to the control instructions. Defining an acceleration signal as a, a deceleration signal as b and a vehicle speed as v, wherein a is greater than 0 when the domain controller sends an acceleration signal; when the domain controller sends a signal for deceleration, b < 0; when the distributed four-wheel-drive pure electric platform runs at a constant speed, delta v is 0; when the speed of the distributed four-wheel-drive pure electric platform is gradually increased, the delta v is greater than 0; when the speed of the distributed four-wheel drive pure electric platform is gradually reduced, the delta v is less than 0.
Specifically, as shown in fig. 2, when the distributed four-wheel drive electric-only platform is braked and in a parking state, a is 0, b >0, and v is 0; when the distributed four-wheel-drive pure electric platform is in an acceleration state, a is greater than 0, b is equal to 0, and delta v is greater than 0; when the distributed four-wheel-drive pure electric platform is in a uniform motion state, a is greater than 0, b is equal to 0, and delta v is equal to 0; when the distributed four-wheel-drive pure electric platform is in a sliding state, a is 0, b is 0 and delta v is less than 0; when the distributed four-wheel-drive pure electric platform is in a deceleration state, a is greater than 0, b is greater than 0, and delta v is less than 0.
As shown in fig. 2, when the distributed four-wheel drive pure electric platform is switched from one state to another state, the acceleration signal, the deceleration signal and the vehicle speed change as follows: when the distributed four-wheel-drive pure electric platform enters an acceleration state from a parking state, a is greater than 0 and b is 0, and at the moment, delta v is greater than 0; when the distributed four-wheel-drive pure electric platform enters a constant speed state from an acceleration state, delta v is 0; when the distributed four-wheel-drive pure electric platform enters a sliding state from an accelerating state, a is 0, and delta v is less than 0; when the distributed four-wheel-drive pure electric platform enters an acceleration state from a constant speed state, a is greater than 0, and delta v is greater than 0; when the distributed four-wheel-drive pure electric platform enters a sliding state from a constant speed state, a is 0, and delta v is less than 0; when the distributed four-wheel-drive pure electric platform enters a constant speed state from a sliding state, a is greater than 0, and delta v is 0; when the distributed four-wheel-drive pure electric platform enters an acceleration state from a sliding state, a is greater than 0, and delta v is greater than 0; when the distributed four-wheel-drive pure electric platform enters a deceleration state from a coasting state, a is 0 and b is greater than 0, and at the moment, Δ v is less than 0; when the distributed four-wheel-drive pure electric platform enters a sliding state from a deceleration state, b is 0, and delta v is less than 0; when the distributed four-wheel-drive pure electric platform enters a parking state from a deceleration state, v is 0.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a pure electric platform of distributing type four wheel drive which characterized in that includes:
the electric energy system comprises a battery control module (11), a power battery (12), a voltage regulation module (13), two groups of storage batteries (14) and two groups of junction boxes (15), wherein the battery control module (11) is respectively and electrically connected with the power battery (12) and the voltage regulation module (13), the voltage regulation module (13) is connected with the power battery (12) through a high-voltage wire and is used for converting high-voltage direct current into low-voltage direct current, the two groups of storage batteries (14) are both connected with the output end of the voltage regulation module (13), the two groups of storage batteries (14) are respectively arranged on the front side and the rear side of a vehicle body, the two groups of junction boxes (15) are both connected with the power battery (12) and are positioned on the front side and the rear side of the vehicle body, and the junction boxes (15) are used for supplying high-voltage direct current;
the power system comprises a finished automobile control module (21) and four sets of in-wheel motors (22) connected with the power battery (12), wherein the finished automobile control module (21) is respectively connected with the four sets of in-wheel motors (22), the four sets of in-wheel motors (22) are respectively arranged in one-to-one correspondence with four sets of wheels, and each set of in-wheel motors (22) is configured to be capable of changing the driving moment of one set of wheels;
the braking system comprises a braking control module (31) and four groups of braking motors (32) connected with the power battery (12), wherein the braking control module (31) is respectively connected with the whole vehicle control module (21) and the four groups of braking motors (32), and each group of braking motors (32) is configured to be capable of changing the braking torque of one group of wheels;
the steering system comprises a steering control module (41) and four steering machines (42) connected with the power battery (12), wherein the steering control module (41) is respectively connected with the four steering machines (42), the four steering machines (42) are respectively arranged in one-to-one correspondence with the four wheels, and each steering machine (42) is configured to be capable of changing the steering torque of one wheel.
2. The distributed four-wheel-drive pure electric platform according to claim 1, wherein the electric energy system further comprises:
the charging port (16) is connected with the power battery (12) and can be connected with a direct current charging pile;
the portable charger is detachably arranged on the charging port (16) and is used for converting alternating current of a power supply into direct current.
3. A distributed four-wheel-drive electric-only platform according to claim 1, characterized in that the front side storage battery (14) can provide low-voltage direct current for the front two sets of brake motors (32) and the front two sets of steering gears (42), and the rear side storage battery (14) can provide low-voltage direct current for the rear two sets of brake motors (32) and the rear two sets of steering gears (42).
4. The distributed four-wheel-drive pure electric platform as claimed in claim 1, wherein the junction box (15) on the front side can provide high-voltage direct current for the two groups of hub motors (22) on the front side, and the junction box (15) on the rear side can provide high-voltage direct current for the two groups of hub motors (22) on the rear side.
5. The distributed four-wheel drive electric-only platform of claim 1, wherein the braking system comprises:
four groups of brake calipers (33), wherein each group of brake calipers (33) is connected with one group of brake motors (32);
four groups of friction plates (34), wherein each group of friction plates (34) is connected with one group of brake calipers (33);
four groups of brake discs (35), every group brake disc (35) all set up on a set of the wheel, every group brake disc (35) respectively with a set of friction disc (34) correspond the setting.
6. A control method of a distributed four-wheel-drive electric-only platform according to any one of claims 1 to 5, comprising:
the voltage regulation module (13), the battery control module (11), the vehicle control module (21), the brake control module (31) and the steering control module (41) are integrated into a domain control module, and when the distributed four-wheel drive pure electric platform is started, the domain control module controls the hub motor (22) and the voltage regulation module (13) to be electrified at high voltage;
when the vehicle body decelerates, lateral force is insufficient in the steering process or the wheel is locked in the braking process, the domain control module can respectively control the braking torque provided by the hub motor (22) and the braking motor (32) for the wheel;
when the vehicle body slips during acceleration, the domain control module can control the in-wheel motor (22) to reduce driving torque or control the brake motor (32) to output brake torque so as to reduce the vehicle speed of the wheel;
the domain control module can respectively control the hub motor (22) and the brake motor (32) to realize in-situ steering or transverse parking of the distributed four-wheel-drive pure electric platform;
when the distributed four-wheel-drive pure electric platform is in a fault state, the brake control module (31) can control the brake motor (32) to brake the wheel.
7. The control method of the distributed four-wheel drive pure electric platform according to claim 6, characterized in that when the vehicle body is in a deceleration state, firstly, the hub motor (22) generates electricity and the entire vehicle control module (21) calculates a first braking torque, then, the entire vehicle control module (21) distributes a second braking torque to the hub motor (22), and simultaneously the entire vehicle control module (21) distributes a third braking torque to the braking motor (32) through the braking control module (31), wherein the sum of the third braking torque and the second braking torque is equal to the first braking torque.
8. The control method of the distributed four-wheel-drive pure electric platform as claimed in claim 6, wherein when the lateral force of the vehicle body is insufficient in the steering process, the vehicle control module (21) controls the hub motor (22) to apply the braking torque to the wheel, and meanwhile, the vehicle control module (21) controls the hub motor (22) to apply the braking torque to the wheel through the braking control module (31).
9. The control method of the distributed four-wheel-drive pure electric platform according to claim 6, characterized in that when the distributed four-wheel-drive pure electric platform is in a locked state with the wheel during braking, the whole vehicle control module (21) controls the braking torque provided by the hub motor (22) for the wheel, and simultaneously the braking control module (31) controls the braking torque provided by the braking motor (32) for the wheel, so as to gradually reduce the braking force of the wheel.
10. The control method of the distributed four-wheel-drive pure electric platform as claimed in claim 6, wherein during pivot steering or transverse parking, the steering control module (41) controls the steering engine (42) to drive the wheel to rotate, meanwhile, the vehicle control module (21) controls the hub motor (22) to drive the wheel to move until the wheel moves to a preset position, and the brake control module (31) controls the brake motor (32) to brake the wheel.
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| CN202110396838.7A CN113060012A (en) | 2021-04-13 | 2021-04-13 | Distributed four-wheel-drive pure electric platform and control method thereof |
| PCT/CN2022/086051 WO2022218246A1 (en) | 2021-04-13 | 2022-04-11 | Distributed four-wheel-drive pure electric platform and control method therefor |
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| CN202110396838.7A CN113060012A (en) | 2021-04-13 | 2021-04-13 | Distributed four-wheel-drive pure electric platform and control method thereof |
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| WO2022218246A1 (en) * | 2021-04-13 | 2022-10-20 | 中国第一汽车股份有限公司 | Distributed four-wheel-drive pure electric platform and control method therefor |
| CN116749743A (en) * | 2023-06-15 | 2023-09-15 | 中国第一汽车股份有限公司 | Four-drive force system, vehicle, and control method for vehicle |
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