CN114083994A - Two independent two grades of electric drive devices of side for tracked vehicle - Google Patents
Two independent two grades of electric drive devices of side for tracked vehicle Download PDFInfo
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- CN114083994A CN114083994A CN202111252466.7A CN202111252466A CN114083994A CN 114083994 A CN114083994 A CN 114083994A CN 202111252466 A CN202111252466 A CN 202111252466A CN 114083994 A CN114083994 A CN 114083994A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000002146 bilateral effect Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 17
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a bilateral independent two-gear electric driving device for a tracked vehicle, relates to the technical field of power transmission, and solves the technical problem that parts are easily damaged when the rotating speed of the existing motor is higher than high-grade output rotating speed.
Description
Technical Field
The invention relates to the technical field of power transmission, in particular to the technical field of double-side independent two-gear electric driving devices for tracked vehicles.
Background
The electric transmission has the advantages of flexible arrangement, stepless speed regulation and the like, along with the improvement of the efficiency and the power density of an electric transmission system, the electric transmission system can be widely applied to tracked vehicles, the simplest electric transmission system of the tracked vehicle adopts two motors to respectively and independently drive a single-side track, and the steering of the tracked vehicle is realized through the speed difference of the two motors.
However, in the small-radius steering process of the tracked vehicle, the low-speed side track must provide braking force, the high-speed side track must provide driving force, backflow power from the low-speed track to the high-speed track is generated, the power transmitted by the high-speed side track under certain working conditions of small-radius steering is 170% of the power during straight driving and propelling, the power level requirement of driving motors on two sides is increased, the power density of an electric transmission system is seriously affected, and therefore the backflow power of the low-speed side track needs to be transferred to the high-speed side through other paths to reduce the power level of the motors.
In the chinese patent with application number CN201310309080.4, the name is a double differential electromechanical compound transmission device for tracked vehicles, which comprises two driving motors, two sets of three-gear planetary speed change mechanisms, a left conflux planetary row, a right conflux planetary row, two zero shafts connecting the left conflux row and the right conflux row, four pairs of connecting gears, two sets of reduction planetary rows, two sets of main brakes and two sets of side reduction mechanisms in the technical scheme, and is used for solving the problem of backflow power transmission from the inner side track to the outer side track independently driven by the double motors.
However, the problem still exists that if the output shaft is in a high-grade state in the existing transmission principle, the rotating speed of the output shaft is the rotating speed of the driving motor, the highest output rotating speed is higher, the matching of a rear-grade brake and a speed reducer of a vehicle system is not facilitated, the deviation of the rotating speed is larger, and parts are easy to damage.
Disclosure of Invention
The invention aims to: in order to solve the technical problem, the invention provides a double-side independent two-gear electric driving device for a tracked vehicle.
The invention specifically adopts the following technical scheme for realizing the purpose:
a bilateral independent two-gear electric drive device for a tracked vehicle comprises an input device, a control device and a control device, wherein the input device is used for inputting a measured output rotating speed into a control program of the electric drive device; the method for measuring the output rotating speed of the electric driving device in a high-grade state comprises the following expression:
the transmission ratio iH of the speed change mechanism of the electric drive is:
output speed of electric drive:
electric drive output torque:
wherein k1 and k2 are rotation speed parameters of the two planet rows, ne is a rotation speed parameter of the driving motor, and Te is a torque parameter of the driving motor.
Further, the method for determining the output rotating speed of the electric driving device in the low gear state comprises the following steps:
transmission ratio i of speed-changing mechanism of electric drive deviceLComprises the following steps: i.e. iL＝1+k2；
Output speed of electric drive:
electric drive output torque: t iso＝Te·iL＝Te·(1+k2)；
Wherein k is2Is the rotation speed parameter of the L planet row; n iseIs the rotating speed parameter of the driving motor; t iseIs a torque parameter of the drive motor.
Further, the method for judging whether the vehicle advances, backs, turns left or turns right according to the rotating speed of the motor comprises the following steps:
judging whether the rotation directions and the rotation speeds of the two driving motors are the same or not, wherein the types of the two driving motors are as follows:
neL＝neR、neL>neR、neL<neR；
if n iseL＝neR(ii) a The vehicle is in a forward or reverse state;
if n iseL<neR(ii) a The vehicle is in a left-turn state;
if n iseL>neR(ii) a The vehicle is in a right-turn state;
wherein, two driving motors are respectively an L motor and an R motor, and ne is the motor rotating speed.
Furthermore, the electric drive device is internally provided with an electromagnetic sensor for measuring the rotating speed of the motor, and the signal output end of the electromagnetic sensor is connected with the input end of the vehicle center console.
Further, the electromagnetic sensor is a high-precision magnetostrictive sensor.
Furthermore, the type of the high-precision magnetostrictive sensor is an SDMSS magnetostrictive displacement sensor.
The invention has the following beneficial effects:
1. the calculation method can be used for determining the output rotating speed and the output torque of the electric drive device, the situation that the output rotating speed of the electric drive device is too high is avoided in principle, meanwhile, the two mechanical gears can achieve proper transmission ratios iL and iH, matching of a transmission shaft, a vehicle brake and a main speed reducer at the rear stage of a vehicle is facilitated, the optimized traditional algorithm is used for setting the calculation time of a main control console on the vehicle, and the problem that the matching of the brake and the speed reducer at the rear stage is caused by the too high rotating speed is solved.
2. The method for measuring the output rotating speed in the low gear state replaces the traditional algorithm, so that the obtained information of the output rotating speed, the output torque, the transmission ratio of the speed change mechanism and the like of the electric drive device is finally transmitted to the display through the communication protocol to be displayed, and the time is saved for the data processing in the vehicle detection equipment applied in the later period.
3. The sensor components are non-contact, can realize non-contact and absolute measurement, has the characteristics of high precision and wide range, reduces the abrasion caused in the rotating process of the electric driving device, and particularly, because the magnet and the sensor are not in direct contact, the sensor can be applied to severe industrial environments, such as inflammable, explosive, volatile and corrosive occasions, and reduces the interference of other external factors.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of calculation formula one of the present invention;
FIG. 3 is a schematic diagram of a second calculation formula of the present invention;
FIG. 4 is a schematic diagram of calculation formula three of the present invention;
FIG. 5 is a schematic illustration of calculation formula four of the present invention;
FIG. 6 is a schematic diagram of calculation formula five of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
Example 1
As shown in fig. 1 to 6, the present embodiment provides a double-sided independent two-gear electric drive device for a tracked vehicle, which is characterized by comprising a method for measuring an output rotation speed of the electric drive device in a high-gear state, wherein the expression is as follows:
the transmission ratio iH of the speed change mechanism of the electric drive is:
output speed of electric drive:
electric drive output torque:
wherein k1 and k2 are rotation speed parameters of the two planet rows, ne is a rotation speed parameter of the driving motor, and Te is a torque parameter of the driving motor.
In the structure, a calculation mode capable of measuring the output rotating speed and the output torque of the electric drive device is provided, the situation that the output rotating speed of the electric drive device is too high is avoided in principle, meanwhile, the two mechanical gears can achieve appropriate transmission ratios iL and iH, matching of a transmission shaft, a vehicle brake and a main speed reducer at the rear stage of a vehicle is facilitated, the optimized traditional algorithm is used for setting calculation time of a main control console on the vehicle, and the problem that the matching of the rear stage brake and the speed reducer is caused by too high rotating speed is solved.
Example 2:
as shown in fig. 1-6, in addition to the algorithmic improvement based on the high regime state, the present embodiment also provides, as shown in fig. 1, an algorithmic improvement for the low regime state, wherein the electric drive is a method for determining an output rotational speed for the low regime state, and the expression is as follows:
transmission ratio i of speed-changing mechanism of electric drive deviceLComprises the following steps: i.e. iL＝1+k2；
Output speed of electric drive:
electric drive output torque: t iso＝Te·iL＝Te·(1+k2)；
Wherein k is2Is the rotation speed parameter of the L planet row; n iseIs the rotating speed parameter of the driving motor; t iseIs a torque parameter of the drive motor;
in the process, the method for measuring the output rotating speed in the low gear state replaces the traditional algorithm, so that the obtained information of the output rotating speed, the output torque, the transmission ratio of the speed change mechanism and the like of the electric drive device is finally transmitted to the display through the communication protocol to be displayed, and the time is saved for the data processing in the vehicle detection equipment applied in the later period.
Example 3:
as shown in fig. 1, the method for judging forward, reverse, left turn and right turn of the vehicle according to the rotating speed of the motor comprises the following steps:
judging whether the rotation directions and the rotation speeds of the two driving motors are the same or not, wherein the types of the two driving motors are as follows:
neL＝neR、neL>neR、neL<neR；
if n iseL＝neR(ii) a The vehicle is in a forward or reverse state;
if n iseL<neR(ii) a The vehicle is in a left-turn state;
if n iseL>neR(ii) a The vehicle is in a right-turn state;
wherein, two driving motors are respectively an L motor and an R motor, and ne is the motor rotating speed.
When the vehicle runs straight, the rotating directions and the rotating speeds of the driving motors on the two sides are the same, and the electric driving device can be set to be low-grade and high-grade according to road conditions; when the driving motors on the two sides rotate reversely at the same time and the rotating speeds are the same, the vehicle realizes the reversing maneuver; when the center of the vehicle turns, the rotating directions of the driving motors on the two sides are opposite and the rotating speeds are the same, and the electric driving device needs to be put in a low gear; when the vehicle is turned during advancing, the rotating speed of the left driving motor is lower than that of the right driving motor during left turning, the rotating speed of the right driving motor is lower than that of the left driving motor during right turning, the visible road conditions of the electric driving device are low-grade and high-grade, and the subsequent application of the electric driving device to the gear shifting brake is easier to realize full electric control, so that a hydraulic gear shifting control system and a high-pressure oil source system can be cancelled, the volume and the weight of the electric driving device can be simplified while the digitalized and ultrahigh precision gear shifting control can be realized, and the cost is reduced.
Example 4:
the electric drive device is internally provided with an electromagnetic sensor for measuring the rotating speed of the motor, the signal output end of the electromagnetic sensor is connected with the input end of a vehicle center console, and the electromagnetic sensor is a high-precision magnetostrictive sensor; the high-precision magnetostrictive sensor is an SDMSS magnetostrictive displacement sensor, the magnetostrictive displacement sensor is developed by utilizing the magnetostrictive effect, the sensor can realize non-contact and absolute measurement, has the characteristics of high precision and wide range, reduces the abrasion caused in the rotating process in an electric drive device, and can be applied to severe industrial environments, such as inflammable, explosive, volatile and corrosive occasions, and prolongs the service life of the sensor particularly because the magnet and the sensor are not in direct contact; in addition, the sensor can bear high-temperature, high-pressure and high-oscillation environments; because the sensor components are all non-contact, the sensor cannot be abraded even if the measurement process is repeated, so that the service life of the SDMSS magnetostrictive displacement sensor is prolonged, and the interference of external factors in the use process is reduced.
Claims (7)
1. A bilateral independent two-gear electric driving device for a tracked vehicle is characterized by comprising a step of inputting a measured output rotating speed into a control program of the electric driving device; the method for measuring the output rotating speed of the electric driving device in a high-grade state comprises the following expression:
the transmission ratio iH of the speed change mechanism of the electric drive is:
output speed of electric drive:
electric drive output torque:
wherein k1 and k2 are rotation speed parameters of two planet rows, neFor the rotational speed parameter, T, of the drive motoreIs a torque parameter of the drive motor.
2. A double-sided independent two-speed electric drive for a tracked vehicle according to claim 1, further comprising means for determining the output speed for the low regime of the electric drive, expressed as:
transmission ratio i of speed-changing mechanism of electric drive deviceLComprises the following steps: i.e. iL＝1+k2；
Output speed of electric drive:
electric drive output torque: t iso＝Te·iL＝Te·(1+k2)；
Wherein k is2Is the rotation speed parameter of the L planet row; n iseIs the rotating speed parameter of the driving motor; t iseIs a torque parameter of the drive motor.
3. A double-sided independent two-gear electric driving device for a tracked vehicle according to any one of claims 1-2, wherein the method for judging forward, reverse, left-turn and right-turn of the vehicle according to the rotating speed of the motor comprises the following steps:
judging whether the rotation directions and the rotation speeds of the two driving motors are the same or not, wherein the specific mode is as follows:
neL＝neR、neL>neR、neL<neR；
if n iseL＝neR(ii) a The vehicle is in a forward or reverse state;
if n iseL<neR(ii) a The vehicle is in a left-turn state;
if n iseL>neR(ii) a The vehicle is in a right-turn state;
wherein, the two driving motors are respectively an L motor and an R motor, wherein neIs the motor speed.
4. A double-sided independent two-speed electric drive device for a tracked vehicle according to claim 3, further comprising an electromagnetic sensor for measuring the rotational speed of the motor disposed in the electric drive device, wherein a signal output terminal of the electromagnetic sensor is connected to an input terminal of a center console of the tracked vehicle.
5. A double-sided independent two-speed electric drive according to claim 4, wherein said electromagnetic sensor is a high precision magnetostrictive sensor.
6. A double-sided independent two-speed electric drive for a tracked vehicle according to claim 5, wherein said high accuracy magnetostrictive sensor is of the type SDMSS magnetostrictive displacement sensor.
7. A double-sided independent two-speed electric drive device for a tracked vehicle according to any one of claims 1 to 2, wherein the method for determining the output speed of the electric drive device for the high-speed regime is applied in an on-board centre console.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111252466.7A CN114083994A (en) | 2021-10-25 | 2021-10-25 | Two independent two grades of electric drive devices of side for tracked vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111252466.7A CN114083994A (en) | 2021-10-25 | 2021-10-25 | Two independent two grades of electric drive devices of side for tracked vehicle |
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| CN114083994A true CN114083994A (en) | 2022-02-25 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509491A (en) * | 1994-04-18 | 1996-04-23 | General Motors Corporation | Dual-motor electric drive system for vehicles |
| JP2000220731A (en) * | 1999-02-04 | 2000-08-08 | Mitsubishi Motors Corp | Electro-motive vehicle |
| CN103507857A (en) * | 2013-07-23 | 2014-01-15 | 北京理工大学 | Double-motor coupling type mechanical and electrical composite transmission device of a crawler |
| CN106342041B (en) * | 2012-06-29 | 2014-07-30 | 中国北方车辆研究所 | A kind of electromechanical compound gearing for series parallel hybrid power endless-track vehicle |
| CN109760758A (en) * | 2018-12-07 | 2019-05-17 | 江西悦丰农业科技有限公司 | The crawler unit that a kind of electrodynamic type or so is operated alone |
| CN110594408A (en) * | 2018-06-13 | 2019-12-20 | 上海汽车集团股份有限公司 | Vehicle, power transmission system, gear shifting actuating mechanism and gear shifting method thereof |
| US20200062059A1 (en) * | 2017-02-24 | 2020-02-27 | Shawn Watling | An amphibious multi-terrain water planing high speed tracked vehicle |
| CN110920375A (en) * | 2019-11-07 | 2020-03-27 | 中国北方车辆研究所 | Electric drive system of multi-wheel drive tracked vehicle and control method thereof |
-
2021
- 2021-10-25 CN CN202111252466.7A patent/CN114083994A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509491A (en) * | 1994-04-18 | 1996-04-23 | General Motors Corporation | Dual-motor electric drive system for vehicles |
| JP2000220731A (en) * | 1999-02-04 | 2000-08-08 | Mitsubishi Motors Corp | Electro-motive vehicle |
| CN106342041B (en) * | 2012-06-29 | 2014-07-30 | 中国北方车辆研究所 | A kind of electromechanical compound gearing for series parallel hybrid power endless-track vehicle |
| CN103507857A (en) * | 2013-07-23 | 2014-01-15 | 北京理工大学 | Double-motor coupling type mechanical and electrical composite transmission device of a crawler |
| US20200062059A1 (en) * | 2017-02-24 | 2020-02-27 | Shawn Watling | An amphibious multi-terrain water planing high speed tracked vehicle |
| CN110594408A (en) * | 2018-06-13 | 2019-12-20 | 上海汽车集团股份有限公司 | Vehicle, power transmission system, gear shifting actuating mechanism and gear shifting method thereof |
| CN109760758A (en) * | 2018-12-07 | 2019-05-17 | 江西悦丰农业科技有限公司 | The crawler unit that a kind of electrodynamic type or so is operated alone |
| CN110920375A (en) * | 2019-11-07 | 2020-03-27 | 中国北方车辆研究所 | Electric drive system of multi-wheel drive tracked vehicle and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 朱新军，段福海，胡青春: "封闭行星齿轮内部功率流与系统参数的关系研究", 设计与研究, no. 2007, pages 14 - 16 * |
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