CN114347800B - Distributed four-wheel drive pure range-extending system and control method thereof - Google Patents
Distributed four-wheel drive pure range-extending system and control method thereof Download PDFInfo
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- CN114347800B CN114347800B CN202210043917.4A CN202210043917A CN114347800B CN 114347800 B CN114347800 B CN 114347800B CN 202210043917 A CN202210043917 A CN 202210043917A CN 114347800 B CN114347800 B CN 114347800B
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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
- Y02T10/62—Hybrid vehicles
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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
- Y02T10/64—Electric machine technologies in electromobility
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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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Abstract
The invention relates to the technical field of vehicles, and discloses a distributed four-wheel drive pure range-extending system and a control method thereof. The distributed four-wheel drive pure range-extending system comprises: the driving assembly comprises a motor control module and four hub motors, and when at least one wheel slips, the motor control module is configured to control the other hub motors to drive the wheel to rotate; the battery assembly comprises a battery control module and a power battery, the power battery is electrically connected with the four motor control modules through high-voltage wires, and the range-extending assembly comprises a power generation control module, an engine and a generator electrically connected with the power battery through the high-voltage wires; the steering assembly comprises a steering control module and four steering machines, and each steering machine corresponds to one wheel respectively. The distributed four-wheel drive pure range-extending system and the control method thereof solve the problems that the existing vehicle is difficult to get rid of the problem when the wheels of the vehicle slip, cooling equipment with high heat dissipation capacity is required to be equipped, and small rotation radius cannot be realized.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a distributed four-wheel drive pure range-extending system and a control method thereof.
Background
The synchronous action of the hub motors of the two front wheels and the synchronous action of the hub motors of the two rear wheels of the existing vehicle are not beneficial to the escape when a certain wheel of the vehicle slips, and meanwhile, the heat loss of the hub motor is increased due to the piezoelectric connection between the existing hub motor and the corresponding control module, so that cooling equipment with higher heat dissipation capacity is required to be equipped. In addition, when the vehicle turns, the two front wheels synchronously act, and the two rear wheels synchronously act, so that the whole vehicle turning with small turning radius cannot be realized.
Disclosure of Invention
Based on the above, the invention aims to provide a distributed four-wheel drive pure range-extending system and a control method thereof, which solve the problems that the existing vehicle is difficult to get rid of the problem when the wheels of the vehicle slip, cooling equipment with high heat dissipation capacity is required to be equipped, and small rotation radius cannot be realized.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a distributed four-wheel drive pure range-extending system comprising: the driving assembly comprises a motor control module and four hub motors, wherein the motor control module comprises a front double-motor controller and a rear double-motor controller, the front double-motor controller is respectively electrically connected with two hub motors corresponding to two front wheels through high-voltage wires, the rear double-motor controller is respectively electrically connected with two hub motors corresponding to two rear wheels through high-voltage wires, and when at least one wheel slips, the motor control module is configured to control other hub motors to drive the wheels to rotate; the battery assembly comprises a battery control module and a power battery, wherein the battery control module is electrically connected with the power battery, and the power battery is electrically connected with the four motor control modules through high-voltage wires; the range-extending assembly comprises a power generation control module, an engine and a generator electrically connected with the power battery through a high-voltage line, wherein the power generation control module is electrically connected with the generator, the engine is in transmission connection with the generator, the generator is electrically connected with the hub motor, and when the electric quantity of the power battery is lower than a preset low electric quantity, the power generation control module is configured to control the generator or the hub motor to generate electricity and store electric energy into the power battery; the steering assembly comprises a steering control module and four steering machines, wherein the four steering machines are electrically connected with the steering control module and the power battery, each steering machine corresponds to one wheel, and the steering control module is configured to calculate steering torque and steering angle of each steering machine and control the steering of the steering machine; and the whole vehicle control module is respectively and electrically connected with the motor control module, the power battery control module, the power generation control module and the steering control module.
As a preferred scheme of the distributed four-wheel drive pure range-extending system, the distributed four-wheel drive pure range-extending system further comprises a brake assembly, wherein the brake assembly comprises a brake control module and four brake motor assemblies, the brake control module is respectively and electrically connected with the whole vehicle control module and the four brake motor assemblies, each brake motor assembly is correspondingly arranged with one wheel, and the four brake motor assemblies are electrically connected with the power battery and the generator; when at least one wheel slips in the process of accelerating or passing through a wet road surface, the whole vehicle control module reduces the output torque of the wheel hub motor corresponding to the slipped wheel through the motor control module, or controls the brake motor assembly corresponding to the slipped wheel to output braking force through the brake control module.
As a preferred scheme of the distributed four-wheel drive pure range-extending system, the distributed four-wheel drive pure range-extending system further comprises an engine control module electrically connected with the whole vehicle control module, the engine control module is electrically connected with the engine, and the engine control module is configured to control the engine to be electrically connected with the engine when the electric quantity of the power battery is lower than a preset low electric quantity.
As a preferred scheme of the distributed four-wheel drive pure range-extending system, the distributed four-wheel drive pure range-extending system further comprises a direct current converter, wherein the direct current converter is electrically connected with the whole vehicle control module, and the direct current converter, the motor control module, the battery control module, the power generation control module, the steering control module, the whole vehicle control module, the braking control module and the engine control module are integrated in the power domain controller.
As a preferred scheme of the distributed four-wheel drive pure range-extending system, the steering control module comprises a steering total control module, a front steering control module and a rear steering control module, wherein the steering total control module is respectively connected with the whole vehicle control module, the front steering control module and the rear steering control module, the front steering control module is respectively connected with steering motors corresponding to two front wheels, and the rear steering control module is respectively connected with steering motors corresponding to two rear wheels.
A control method suitable for the distributed four-wheel drive pure range-extending system according to any one of the above schemes, comprising the steps of:
s1, the whole vehicle control module calculates the required driving power and the required output torque of a vehicle;
s2, judging whether one of the preset high discharge power of the power battery is smaller than the required driving power and the electric quantity of the power battery reaches or is lower than the preset low electric quantity or not, if yes, executing S3; if not, executing S4;
s3, judging whether the speed of the vehicle is zero, if so, entering an idle speed power generation mode by the vehicle; if not, the engine drives the generator to generate electricity, and S4 is executed;
s4, judging whether the vehicle enters an off-road mode, if so, executing S5; if not, executing S6;
s5, selecting one of an off-road single-drive mode, an off-road two-drive mode, an off-road three-drive mode and an off-road four-drive mode according to the slip state of the wheels, and executing S7;
s6, judging whether the vehicle selects a four-wheel drive mode, if so, entering the four-wheel drive mode by the vehicle; if not, the vehicle enters a two-drive mode, and S7 is executed;
and S7, the whole vehicle control module judges whether the current running state of the vehicle meets the driving requirement, and if not, the S2 is returned.
As a preferred scheme of the control method of the distributed four-wheel drive pure range-increasing system, the off-road two-wheel drive mode comprises an off-road front-wheel drive mode, an off-road rear-wheel drive mode and an off-road inclined two-wheel drive mode, when two rear wheels are all slipped, the off-road front-wheel drive mode is executed in S5, and the motor control module controls the wheel hub motors corresponding to the two front wheels to work; executing the off-road rear-drive mode in S5 when both of the front wheels slip, the motor control module controlling the in-wheel motors corresponding to both of the rear wheels to operate; when both of the wheels located on the diagonal of the vehicle slip, the two-wheel drive mode is performed in S5, and the motor control module controls the in-wheel motor corresponding to the other two wheels located on the diagonal of the vehicle to operate.
As a preferred scheme of the control method of the distributed four-wheel drive pure range-increasing system, when three wheels slip, the off-road single-drive mode is executed in S5, and the motor control module controls the remaining one wheel hub motor corresponding to the wheels to work; when one of the wheels slips, executing the off-road three-drive mode in S5, and controlling the other three wheel hub motors corresponding to the wheels to work by the motor control module; when four of the wheels slip, the off-road four-wheel drive mode can be performed in S5, and the motor control module controls four in-wheel motors corresponding to the wheels to operate.
As a preferred scheme of the control method of the distributed four-wheel drive pure range-extending system, S2 comprises the following steps:
s21, judging whether the preset high discharge power of the power battery 22 is smaller than the required driving power, if yes, not starting the engine and executing S3; if not, executing S22;
s22, judging whether the electric quantity of the power battery reaches or is lower than a preset low electric quantity, if so, executing S3; if not, the engine is started and S4 is executed.
As a preferred scheme of the control method of the distributed four-wheel drive pure range-extending system, the four-wheel drive mode comprises a range-extending four-wheel drive mode and a pure electric four-wheel drive mode, the two-wheel drive mode comprises a pure electric two-wheel drive mode and a range-extending two-wheel drive mode, the pure electric two-wheel drive mode comprises a pure electric precursor mode and a pure electric rear-wheel drive mode, the range-extending two-wheel drive mode comprises a range-extending precursor mode and a range-extending rear-wheel drive mode, and when a vehicle runs through S4 from S2 to S6, the vehicle enters the pure electric four-wheel drive mode or the pure electric two-wheel drive mode; and when the vehicle runs from S3 to S4 to S6, the vehicle enters the range-extending four-wheel drive mode or the range-extending two-wheel drive mode.
The beneficial effects of the invention are as follows: according to the distributed four-wheel drive pure range-extending system disclosed by the invention, each wheel is controlled by one wheel hub motor, once a certain wheel slips, the motor control module can control the other wheel hub motors to drive the wheel to rotate, so that the escape of a vehicle is facilitated, and as the motor control module is connected with each wheel hub motor by adopting high-voltage electricity, compared with the existing low-voltage electricity connection, the heat loss of the wheel hub motor is reduced, therefore, the wheel hub motor does not need to be provided with cooling equipment with stronger heat dissipation capacity, the input cost of the cooling equipment is reduced, and as each wheel is controlled by one steering machine, the steering of the vehicle is more flexible, and the steering with small rotation radius can be realized.
According to the control method of the distributed four-wheel drive pure range-increasing system, the current running mode of the vehicle can be selected according to the electric quantity of the power battery, so that the electric quantity of the power battery is always maintained in a proper electric quantity range, and when at least one wheel of the vehicle slips, the vehicle can select one of an off-road single-drive mode, an off-road two-drive mode, an off-road three-drive mode and an off-road four-drive mode, so that the vehicle gets rid of poverty.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
FIG. 1 is a block diagram of a distributed four-wheel drive pure range-extending system provided by an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a distributed four-wheel drive pure range-extending system according to an embodiment of the present invention.
In the figure:
11. a hub motor; 12. a front dual motor controller; 13. a rear dual motor controller;
21. a battery control module; 22. a power battery;
31. a power generation control module; 32. an engine; 33. a generator;
41. a steering gear; 42. a steering total control module; 43. a front steering control module; 44. a rear steering control module;
51. the whole vehicle control module; 52. an engine control module; 53. a DC converter;
61. a brake control module; 62. a brake motor assembly;
100. and (3) a wheel.
Detailed Description
In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, 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 some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiment provides a distributed four-wheel drive pure range-increasing system, which comprises a driving assembly, a battery assembly, a range-increasing assembly, a steering assembly and a whole vehicle control module 51, wherein the driving assembly comprises a motor control module and four hub motors 11, the motor control module is respectively and electrically connected with each hub motor 11 through a high-voltage line, each hub motor 11 is respectively and drivingly connected with one wheel 100, when at least one wheel 100 slips, the motor control module is configured to control the other hub motors 11 to drive the wheels 100 to rotate, the battery assembly comprises a battery control module 21 and a power battery 22, the battery control module 21 is electrically connected with the power battery 22, the power battery 22 is electrically connected with the four motor control modules through the high-voltage lines, the range-increasing assembly comprises a power generation control module 31, an engine 32 and a generator 33 electrically connected with the power battery 22 through the high-voltage lines, the power control module 31 is electrically connected with the generator 33, the engine 32 is electrically connected with the generator 33, the generator 33 is electrically connected with the hub motor 11, when the electric quantity of the power battery 22 is lower than a preset low electric quantity, the motor 31 is configured to control the generator 33 or the hub motor 11 and is configured to control the power generator 22 and can drive the wheels 100 to rotate, the battery control module 21 and the power battery 22, the battery control module 21 is electrically connected with the power battery 22, the four motor control modules are respectively, the steering assembly and the steering assembly is electrically connected with the steering motor control module 41 and the steering assembly through the four motor control modules 41 and the steering assembly respectively, the steering assembly and the steering assembly is electrically connected with the four motor control module 41, the steering assembly and the steering control module 41 respectively, the steering assembly is electrically connected with the steering motor control module 41 and the whole vehicle control module and the steering motor control module 41.
The motor control module of the present embodiment includes a front dual-motor controller 12 and a rear dual-motor controller 13, the front dual-motor controller 12 is electrically connected with two in-wheel motors 11 corresponding to two front wheels, respectively, and the rear dual-motor controller 13 is electrically connected with two in-wheel motors 11 corresponding to two rear wheels, respectively. That is, the front two-motor controller 12 controls the two in-wheel motors 11 corresponding to the two front wheels such that each in-wheel motor 11 can drive one front wheel to rotate, respectively, and the rear two-motor controller 13 controls the two in-wheel motors 11 corresponding to the two rear wheels such that each in-wheel motor 11 can drive one rear wheel to rotate, respectively.
It should be noted that, when a slight slip occurs in each of the four wheels 100 of the vehicle, each in-wheel motor 11 drives one wheel 100 to rotate, so that the vehicle gets rid of the problem.
In the distributed four-wheel drive pure range-extending system provided by the embodiment, as each wheel 100 is controlled by one wheel hub motor 11, once a certain wheel 100 slips, the motor control module can control the rest wheel hub motors 11 to drive the wheel 100 to rotate, so that the vehicle is free from being trapped, and as the motor control module is connected with each wheel hub motor 11 by high-voltage electricity, compared with the existing low-voltage electricity connection, the heat loss of the wheel hub motor 11 is reduced, therefore, the wheel hub motor 11 does not need to be provided with cooling equipment with higher heat dissipation capacity, the investment cost of the cooling equipment is reduced, and as each wheel 100 is controlled by one steering machine 41, the steering of the vehicle is more flexible, and the steering with small rotating radius can be realized.
The distributed four-wheel drive pure range-extending system of the embodiment further comprises a brake assembly, wherein the brake assembly comprises a brake control module 61 and four brake motor assemblies 62, the brake control module 61 is respectively electrically connected with the whole vehicle control module 51 and the four brake motor assemblies 62, each brake motor assembly 62 is correspondingly arranged with one wheel 100, and the four brake motor assemblies 62 are electrically connected with the power battery 22 and the generator 33. Specifically, each brake motor assembly 62 includes a brake motor body, a brake caliper connected to the brake motor body, and a friction plate connected to the brake caliper, the brake motor body is electrically connected to the brake control module 61 through a low voltage cable, and when the brake motor assembly 62 brakes, the brake motor body can apply pressure on the friction plate through the brake caliper, so that the friction plate contacts the wheel 100, and a braking function of the vehicle is realized.
During the braking of the vehicle, the whole vehicle control module 51 distributes the braking force of each brake motor assembly 62 and the output torque of each hub motor 11 according to the deceleration requirement of the vehicle, thereby fully utilizing the braking capability of each wheel 100; during the braking of the vehicle, when the wheel 100 is in a locking state, the whole vehicle control module 51 coordinates the braking force of each brake motor assembly 62 and the output torque of each hub motor 11 to prevent the wheel 100 from locking; during braking of the vehicle, when the lateral force of the wheel 100 is insufficient, the whole vehicle control module 51 controls the brake motor assembly 62 to apply the braking force and controls the output torque of the hub motor 11 to prevent the wheel 100 from sliding laterally.
When at least one wheel 100 slips during acceleration of the vehicle or passing through a wet road surface, the whole vehicle control module 51 reduces the output torque of the in-wheel motor 11 corresponding to the slipped wheel 100 through the motor control module, or the whole vehicle control module 51 controls the brake motor assembly 62 corresponding to the slipped wheel 100 to output a braking force through the brake control module 61.
Specifically, once one or at least two wheels 100 are accelerating or slipping on a wet road surface, the entire vehicle control module 51 reduces the output torque of the in-wheel motor 11 corresponding to the slipping wheel 100 through the motor control module, so that the rotation speed of the wheel 100 is reduced, or reduces the rotation speed of the wheel 100 by braking the brake motor assembly 62 corresponding to the wheel 100, thereby reducing the probability of slipping of the wheel 100.
The distributed four-wheel drive range-extending system of the present embodiment further includes an engine control module 52 electrically connected to the whole vehicle control module 51, the engine control module 52 is electrically connected to the engine 32, the engine control module 52 is configured to control the engine 32 to be electrically connected to the generator 33 when the electric quantity of the power battery 22 is lower than a preset low electric quantity, and to control the engine 32 to be electrically disconnected from the generator 33 until the electric quantity of the power battery 22 reaches a preset high electric quantity. Specifically, in this embodiment, the preset high power is 90% of the full power of the power battery 22, and the preset low power is 30% of the full power of the power battery 22, that is, the electric connection state of the generator 33 and the engine 32 is related to the power of the power battery 22, if the power of the power battery 22 is low, the generator 33 and the engine 32 are connected, and the generator 33 can generate electricity at this time; if the power battery 22 has a higher electric quantity, the generator 33 does not need to be connected with the engine 32, and the power battery 22 directly provides electric energy for electric equipment of the vehicle.
The distributed four-wheel drive pure range-extending system further comprises a direct current converter 53, wherein the direct current converter 53 is electrically connected with the whole vehicle control module 51, the direct current converter 53, the motor control module, the battery control module 21, the power generation control module 31, the steering control module, the whole vehicle control module 51, the braking control module 61 and the engine control module 52 are integrated in a power domain controller, the direct current converter 53 can convert high-voltage direct current into low-voltage direct current so as to be used by electric equipment, and the power domain controller has a wireless signal receiving function.
When the engine 32 is stopped and the vehicle enters a coasting phase, the in-wheel motor 11 is configured to convert kinetic energy of the wheels 100 into electrical energy and store it in the power cells 22. That is, when both the engine 32 and the generator 33 are stopped, the four in-wheel motors 11 are capable of converting the kinetic energy of the four wheels 100 of the vehicle into electric energy, respectively, and storing in the power battery 22, at which time the power battery 22 is in a charged state, and the vehicle is in a braking energy recovery mode.
The steering control module of the present embodiment includes a steering total control module 42, a front steering control module 43 and a rear steering control module 44, the steering total control module 42 is electrically connected with the whole vehicle control module 51, the front steering control module 43 and the rear steering control module 44, the front steering control module 43 is electrically connected with the steering machines 41 corresponding to the two front wheels, and the rear steering control module 44 is electrically connected with the steering machines 41 corresponding to the two rear wheels. That is, the steering total control module 42 controls the two steering machines 41 corresponding to the two front wheels through the front steering control module 43 so that each in-wheel motor 11 can brake one front wheel, respectively, and the steering total control module 42 controls the two steering machines 41 corresponding to the two rear wheels through the rear steering control module 44 so that each steering machine 41 can brake one rear wheel, respectively.
The distributed four-wheel drive pure range-extending system of the embodiment has a pure electric driving mode, a range-extending mode, an off-road mode, a braking energy recovery mode and an idle power generation mode, specifically, the pure electric driving mode is that when the energy of the power battery 22 is high, the engine 32 is stopped, the power battery 22 provides energy for the motor control module, the hub motor 11 is controlled to work, and the power is transmitted to the wheel 100 through the output shaft of the hub motor 11, so that the wheel 100 rotates. The pure electric driving mode includes a pure electric precursor mode, a pure electric rear driving mode and a pure electric four-driving mode, wherein the pure electric precursor mode and the pure electric rear driving mode belong to a pure electric two-driving mode, the pure electric precursor mode refers to that the engine 32 and the generator 33 are stopped, the power battery 22 discharges, the front double-motor controller 12 controls the rotation of two front wheels, at the moment, the two rear wheels rotate along with the rotation of the front wheels, at the moment, the pure electric precursor mode belongs to the precursor mode; the electric-only rear-drive mode refers to that the engine 32 and the generator 33 are stopped, the power battery 22 discharges, so that the rear double-motor controller 13 controls the rotation of two rear wheels, at the moment, the rotation of the two front wheels is carried out after the rotation of the wheels, and at the moment, the electric-only rear-drive mode belongs to the rear-drive mode; the electric-only four-wheel drive mode refers to that the engine 32 and the generator 33 are stopped, the power battery 22 discharges, so that the front dual-motor controller 12 and the rear dual-motor controller 13 control the two wheels 100 to rotate simultaneously, and at the moment, the four wheels 100 are driven, and at the moment, the four-wheel drive mode is adopted.
Specifically, the range-extending mode refers to that the power battery 22 has insufficient electric power, the engine 32 works and drives the generator 33 to generate electricity, the generator 33 transmits the electric power to the motor control module after generating electricity, and the motor control module controls the hub motor 11 to work, so that the wheel 100 rotates, and the power battery 22 can be charged and can be in standby state at this time, and is specifically determined according to the electric power generated by the generator 33 and the electric power consumed by the equipment. The range-extending mode comprises a series-connection precursor mode, a series-connection rear-drive mode and a series-connection four-drive mode, wherein the series-connection precursor mode and the series-connection rear-drive mode both belong to a range-extending two-drive mode, and in the series-connection precursor mode, the working conditions of a motor control module, a front wheel, a rear wheel and a hub motor 11 are the same as those of a pure electric precursor mode, at the moment, an engine 32 and a generator 33 work, a power battery 22 can be charged and can also be standby, at the moment, the range-extending two-drive mode is adopted; in the tandem rear-drive mode, the motor control module, the front wheel, the rear wheel and the hub motor 11 all work in the same manner as in the pure rear-drive mode, the engine 32 and the generator 33 work at the moment, the power battery 22 can be charged or can be standby, and the hybrid vehicle belongs to the range-extending two-drive mode at the moment; the series four-wheel drive mode is also called a range-extending four-wheel drive mode, and in the series four-wheel drive mode, the working conditions of the motor control module, the front wheel, the rear wheel and the hub motor 11 are the same as those of the pure four-wheel drive mode, at this time, the engine 32 and the generator 33 work, and the power battery 22 can be charged or can be standby, at this time, the range-extending four-wheel drive mode is adopted.
The off-road mode in this embodiment means that the motor control module can control the other in-wheel motors 11 to work when any wheel 100 slips, and the off-road mode includes an off-road four-wheel drive mode, an off-road three-wheel drive mode, an off-road front-wheel drive mode, an off-road rear-wheel drive mode, an off-road diagonal two-wheel drive mode, and an off-road single-wheel drive mode. In off-road mode, it may be that neither the engine 32 nor the generator 33 is operating, and the electric power required for operation of the motor control module and the in-wheel motor 11 is provided by the power battery 22; it is also possible that both the engine 32 and the generator 33 are operated, the generator 33 directly supplying power to the motor control module and the in-wheel motor 11, while the power battery 22 is in a standby or charged state.
Specifically, the off-road four-wheel drive mode refers to that when the four wheels 100 slightly slip, the motor control module, the front wheels, the rear wheels and the hub motor 11 all work in the same manner as the pure four-wheel drive mode, and the off-road four-wheel drive mode belongs to the four-wheel drive mode; the off-road three-drive mode refers to that when one wheel 100 slips, the motor control module controls the other three hub motors 11 to drive the wheel 100 to rotate, at the moment, the three wheels 100 are all driven, and one slipping wheel 100 is in a follow-up state and belongs to the three-drive mode; the off-road two-drive mode refers to a mode in which when two wheels 100 slip, the motor control module controls the other two hub motors 11 to drive the wheels 100 to rotate, at the moment, the two wheels 100 are driven, and the two slipped wheels 100 are in a follow-up state and belong to the two-drive mode; the off-road single-drive mode refers to when three wheels 100 slip, the motor control module controls the remaining hub motor 11 to drive the wheels 100 to rotate, at this time, one wheel 100 is driven, and all three slipping wheels 100 are in a follow-up state, and belong to the single-drive mode.
The braking energy recovery mode of the present embodiment means that when both the engine 32 and the generator 33 are stopped, the four in-wheel motors 11 are capable of converting the kinetic energy of the four wheels 100 of the vehicle into electric energy, respectively, and storing the electric energy in the power battery 22, and the power battery 22 is in a charged state at this time.
The idle power generation mode of the present embodiment means that both the engine 32 and the generator 33 are operated, the generator 33 is capable of storing converted electric energy in the power battery 22 through the high-voltage harness, and at this time, the in-wheel motor 11 of each wheel 100 is in a stopped state, and the power battery 22 is in a charged state.
The embodiment also provides a control method suitable for the distributed four-wheel drive pure range-extending system, which comprises the following steps:
s1, a whole vehicle control module 51 calculates the required driving power and the required output torque of a vehicle;
s2, judging whether one of the preset high discharge power of the power battery 22 is smaller than the required driving power and the electric quantity of the power battery 22 reaches or is lower than the preset low electric quantity occurs, if yes, executing S3; if not, executing S4;
s3, judging whether the speed of the vehicle is zero, if so, entering an idle power generation mode by the vehicle; if not, the engine 32 drives the generator 33 to generate electricity, and S4 is executed;
s4, judging whether the vehicle enters an off-road mode, if so, executing S5; if not, executing S6;
s5, selecting one of an off-road single-drive mode, an off-road two-drive mode, an off-road three-drive mode and an off-road four-drive mode according to the slip state of the wheel 100, and executing S7;
s6, judging whether the vehicle selects a four-wheel drive mode, if so, entering the four-wheel drive mode by the vehicle; if not, the vehicle enters a two-drive mode, and S7 is executed;
s7, the whole vehicle control module 51 judges whether the current running state of the vehicle meets the driving requirement, and if not, the process returns to S2.
Wherein S2 comprises the steps of:
s21, judging whether the preset high discharge power of the power battery 22 is smaller than the required driving power, if yes, not starting the engine 32 and executing S3; if not, executing S22;
s22, judging whether the electric quantity of the power battery 22 reaches or is lower than a preset low electric quantity, if so, executing S3; if not, the engine 32 is started and S4 is performed.
The step S1 is preceded by starting the vehicle, and after receiving the start high-voltage power-on signal, the power domain controller sends a high-voltage power-on command to the power battery 22, the in-wheel motor 11, the dc converter 53, and the generator 33, respectively. After the high-voltage boosting is completed, the vehicle has running conditions.
According to the control method of the distributed four-wheel drive pure range-increasing system, the current running mode of the vehicle can be selected according to the electric quantity of the power battery 22, so that the electric quantity of the power battery 22 is always maintained in a proper electric quantity range, and when at least one wheel 100 of the vehicle slips, the vehicle can select one of an off-road single-wheel drive mode, an off-road two-wheel drive mode, an off-road three-wheel drive mode and an off-road four-wheel drive mode, so that the vehicle gets trapped.
Specifically, the off-road two-drive mode in S5 includes an off-road front-drive mode, an off-road rear-drive mode, and an off-road diagonal two-drive mode, and when both rear wheels slip, the off-road front-drive mode is executed in S5, and the motor control module controls the in-wheel motor 11 corresponding to both front wheels to operate; when both front wheels slip, an off-road rear-drive mode is executed in S5, and the motor control module controls the in-wheel motors 11 corresponding to both rear wheels to operate; when both wheels 100 located on the diagonal of the vehicle slip, the two-wheel drive mode is performed in S5, and the motor control module controls the in-wheel motors 11 corresponding to the other two wheels 100 located on the diagonal of the vehicle to operate.
When three wheels 100 slip, an off-road single-drive mode is performed in S5, and the motor control module controls the operation of the remaining one in-wheel motor 11 corresponding to the wheel 100; when one wheel 100 is slipping, an off-road three-drive mode is executed in S5, and the motor control module controls the operation of the remaining three in-wheel motors 11 corresponding to the wheel 100; when the four wheels 100 are all slipping, the off-road four-wheel drive mode can be performed in S5, and the motor control module controls the four in-wheel motors 11 corresponding to the wheels 100 to operate.
The four-wheel drive mode of the embodiment comprises a range-extended four-wheel drive mode and a pure electric four-wheel drive mode, wherein the two-wheel drive mode comprises a pure electric two-wheel drive mode and a range-extended two-wheel drive mode, the pure electric two-wheel drive mode comprises a pure electric precursor mode and a pure electric rear-wheel drive mode, the range-extended two-wheel drive mode comprises a range-extended precursor mode and a range-extended rear-wheel drive mode, and when the vehicle is executed by S2 through S4, the vehicle enters the pure electric four-wheel drive mode or the pure electric two-wheel drive mode; when the vehicle passes S4 from S3 to S6, the vehicle enters a range-extending four-wheel drive mode or a range-extending two-wheel drive mode.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A distributed four-wheel drive pure range-extending system, comprising:
the driving assembly comprises a motor control module and four hub motors (11), wherein the motor control module comprises a front double-motor controller (12) and a rear double-motor controller (13), the front double-motor controller (12) is respectively and electrically connected with the two hub motors (11) corresponding to two front wheels through high-voltage wires, the rear double-motor controller (13) is respectively and electrically connected with the two hub motors (11) corresponding to two rear wheels through high-voltage wires, and when at least one wheel (100) slips, the motor control module is configured to control the other hub motors (11) to drive the wheel (100) to rotate;
the battery assembly comprises a battery control module (21) and a power battery (22), wherein the battery control module (21) is electrically connected with the power battery (22), and the power battery (22) is electrically connected with the four motor control modules through high-voltage wires;
the range-extending assembly comprises a power generation control module (31), an engine (32) and a generator (33) electrically connected with the power battery (22) through a high-voltage line, wherein the power generation control module (31) is electrically connected with the generator (33), the engine (32) is in transmission connection with the generator (33), the generator (33) is electrically connected with the hub motor (11), and when the electric quantity of the power battery (22) is lower than a preset low electric quantity, the power generation control module (31) is configured to control the generator (33) or the hub motor (11) to generate electricity and store electric energy into the power battery (22);
steering assembly comprising a steering control module and four steering machines (41), the four steering machines (41) being electrically connected to the steering control module and the power battery (22), each steering machine (41) corresponding to a respective one of the wheels (100), the steering control module being configured to calculate a steering torque and a steering angle of each steering machine (41) and to control steering of the steering machines (41);
and the whole vehicle control module (51) is electrically connected with the motor control module, the battery control module (21), the power generation control module (31) and the steering control module respectively.
2. The distributed four-wheel drive range-extending system according to claim 1, further comprising a brake assembly comprising a brake control module (61) and four brake motor assemblies (62), the brake control module (61) being electrically connected to the whole vehicle control module (51) and the four brake motor assemblies (62), respectively, each brake motor assembly (62) being arranged in correspondence of one of the wheels (100), each brake motor assembly (62) being electrically connected to the power battery (22) and the generator (33);
when at least one wheel (100) slips during acceleration of the vehicle or passing through a wet road surface, the whole vehicle control module (51) reduces the output torque of the hub motor (11) corresponding to the slipped wheel (100) through the motor control module, or the whole vehicle control module (51) controls the brake motor assembly (62) corresponding to the slipped wheel (100) to output braking force through the brake control module (61).
3. The distributed four-wheel drive range-extending system according to claim 2, further comprising an engine control module (52) electrically connected to the vehicle control module (51), the engine control module (52) being electrically connected to the engine (32), the engine control module (52) being configured to control the engine (32) to be electrically connected to the generator (33) when the power of the power battery (22) is lower than a preset low power.
4. The distributed four-wheel drive range-extending system according to claim 3, further comprising a direct current converter (53), wherein the direct current converter (53) is electrically connected with the whole vehicle control module (51), and the direct current converter (53), the motor control module, the battery control module (21), the power generation control module (31), the steering control module, the whole vehicle control module (51), the brake control module (61) and the engine control module (52) are integrated in a power domain controller.
5. The distributed four-wheel drive range-extending system according to claim 1, wherein the steering control module comprises a steering total control module (42), a front steering control module (43) and a rear steering control module (44), the steering total control module (42) is electrically connected with the whole vehicle control module (51), the front steering control module (43) and the rear steering control module (44) respectively, the front steering control module (43) is electrically connected with the steering machines (41) corresponding to two front wheels respectively, and the rear steering control module (44) is electrically connected with the steering machines (41) corresponding to two rear wheels respectively.
6. A control method suitable for the distributed four-wheel drive pure range-extending system as claimed in any one of claims 1 to 5, comprising the steps of:
s1, the whole vehicle control module (51) calculates the required driving power and the required output torque of a vehicle;
s2, judging whether one of the preset high discharge power of the power battery (22) is smaller than the required driving power and the electric quantity of the power battery (22) reaches or is lower than the preset low electric quantity or not, if yes, executing S3; if not, executing S4;
s3, judging whether the speed of the vehicle is zero, if so, entering an idle speed power generation mode by the vehicle; if not, the engine (32) drives the generator (33) to generate electricity, and S4 is executed;
s4, judging whether the vehicle enters an off-road mode, if so, executing S5; if not, executing S6;
s5, selecting one of an off-road single-drive mode, an off-road two-drive mode, an off-road three-drive mode and an off-road four-drive mode according to the slip state of the wheel (100), and executing S7;
s6, judging whether the vehicle selects a four-wheel drive mode, if so, entering the four-wheel drive mode by the vehicle; if not, the vehicle enters a two-drive mode, and S7 is executed;
s7, the whole vehicle control module (51) judges whether the current running state of the vehicle meets driving requirements, and if not, the S2 is returned.
7. The control method of a distributed four-wheel drive pure range-extending system according to claim 6, wherein the off-road two-wheel drive mode includes an off-road front drive mode, an off-road rear drive mode, and an off-road diagonal two-wheel drive mode, the off-road front drive mode being executed in S5 when both rear wheels slip, the motor control module controlling the in-wheel motors (11) corresponding to both front wheels to operate; executing the off-road rear-drive mode in S5 when both of the front wheels slip, the motor control module controlling the in-wheel motors (11) corresponding to both of the rear wheels to operate; when both of the wheels (100) located on the diagonal of the vehicle slip, the two-wheel drive mode is performed in S5, and the motor control module controls the in-wheel motors (11) corresponding to the other two wheels (100) located on the diagonal of the vehicle to operate.
8. The control method of the distributed four-wheel drive pure range-extending system according to claim 6, wherein when three of the wheels (100) slip, the off-road single-drive mode is executed in S5, and the motor control module controls the operation of the remaining one of the in-wheel motors (11) corresponding to the wheels (100); when one of the wheels (100) is slipping, executing the off-road three-drive mode in S5, and the motor control module controlling the operation of the remaining three in-wheel motors (11) corresponding to the wheels (100); when four of the wheels (100) slip, the off-road four-wheel drive mode can be executed in S5, and the motor control module controls four in-wheel motors (11) corresponding to the wheels (100) to operate.
9. The control method of a distributed four-wheel drive pure range-extending system according to claim 6, wherein S2 comprises the steps of:
s21, judging whether the preset high discharge power of the power battery (22) is smaller than the required driving power, if yes, not starting the engine (32) and executing S3; if not, executing S22;
s22, judging whether the electric quantity of the power battery (22) reaches or is lower than a preset low electric quantity, if so, executing S3; if not, the engine (32) is started and S4 is executed.
10. The control method of a distributed four-wheel drive pure range-extending system according to claim 6, wherein the four-wheel drive mode comprises a range-extending four-wheel drive mode and a pure electric four-wheel drive mode, the two-wheel drive mode comprises a pure electric two-wheel drive mode and a range-extending two-wheel drive mode, the pure electric two-wheel drive mode comprises a pure electric precursor mode and a pure electric rear-wheel drive mode, the range-extending two-wheel drive mode comprises a range-extending precursor mode and a range-extending rear-wheel drive mode, and when a vehicle is executed by S2 through S4, the vehicle enters the pure electric four-wheel drive mode or the pure electric two-wheel drive mode; and when the vehicle runs from S3 to S4 to S6, the vehicle enters the range-extending four-wheel drive mode or the range-extending two-wheel drive mode.
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