CN115195490A - Driving system of electric vehicle and driving control method thereof - Google Patents

Driving system of electric vehicle and driving control method thereof Download PDF

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Publication number
CN115195490A
CN115195490A CN202110382184.2A CN202110382184A CN115195490A CN 115195490 A CN115195490 A CN 115195490A CN 202110382184 A CN202110382184 A CN 202110382184A CN 115195490 A CN115195490 A CN 115195490A
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China
Prior art keywords
speed
wheel
motor
driving
module
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CN202110382184.2A
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Chinese (zh)
Inventor
李慶隆
許逸香
簡連達
林光輝
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Hongchuang Lvneng Co ltd
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Hongchuang Lvneng Co ltd
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Priority to CN202110382184.2A priority Critical patent/CN115195490A/en
Publication of CN115195490A publication Critical patent/CN115195490A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/027—Motorcycles with three wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/421—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
    • 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
    • B60L2240/427—Voltage
    • 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
    • B60L2240/429—Current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The application provides a driving system of an electric vehicle and a driving control method thereof. The method comprises the steps of obtaining steering information of a steering device and a reference speed of an electric vehicle in the steering process, determining a left driving control command and a right driving control command with speed differences based on the steering information and the reference speed, and controlling the speed differences of a left driving module and a right driving module respectively. This application can realize stably turning to and promote the security.

Description

Driving system of electric vehicle and driving control method thereof
Technical Field
The present invention relates to an electric vehicle, and more particularly, to a driving system of an electric vehicle and a driving control method thereof.
Background
In the existing electric vehicle (such as an electric tricycle), a single motor is used to provide power to all driving wheels (such as two rear wheels), and the setting mode enables all driving wheels to have the same rotating speed, so that the driving wheels cannot flexibly steer, and safety risks such as rollover exist.
Another electric vehicle with a wheel speed difference is proposed. The electric vehicle is provided with a group of mechanical differentials, and more power is distributed to the driving wheels on the outer side during steering through a mechanical structure in the steering process, so that the steering speed is improved. However, the addition of a mechanical differential increases the size of the electric vehicle (e.g., increases the wheel base), decreases steering flexibility (increases the turning radius), and increases cost. Furthermore, the power distribution of the mechanical differential is fixed, which makes it impossible for the mechanical differential to dynamically adjust the power distribution depending on the current speed and steering amplitude.
Therefore, the above problems of the conventional electric vehicle have been solved, and a more effective solution has been proposed.
Disclosure of Invention
It is a primary objective of the present invention to provide a driving system of an electric vehicle and a driving control method thereof, which can realize speed difference control between driving wheels through multi-driving module and electronic differential control.
To achieve the above object, the present invention provides a driving system for an electric vehicle, including:
the left driving module is used for providing power to a left driving wheel so as to control the rotation of the left driving wheel;
the right driving module is used for providing power to the right driving wheel so as to control the rotation of the right driving wheel;
a steering device for receiving a steering operation to change the direction of a steered wheel and acquiring steering information; and
a control module electrically connected to the left driving module, the right driving module and the steering device, the control module being configured to calculate a left driving control command and a right driving control command based on the steering information and a reference speed of the electric vehicle, control a speed of the left driving module through the left driving control command, and control a speed of the right driving module through the right driving control command;
in the steering process, the control module generates the left driving control command and the right driving control command with speed difference so as to enable the electric vehicle to stably steer through the speed difference between the left driving wheel and the right driving wheel.
Preferably, the steering device further comprises:
the steering structure is connected with the steering wheel and is used for receiving the steering operation to change the direction of the steering wheel;
the steering sensing module is electrically connected with the control module and used for sensing a steering coordinate of the steering structure;
a speed obtaining module electrically connected to the control module for obtaining a current speed of the electric vehicle; and
the speed control structure is electrically connected with the control module and used for triggering a speed conversion signal based on speed conversion operation;
wherein the control module is configured to determine the reference speed of the electric vehicle based on the speed transformation signal and the current speed;
the control module further comprises a steering angle calculation module, and the steering angle calculation module is configured to calculate a steering angle of the steering wheel based on the steering coordinate to set the steering angle as the steering information.
Preferably, wherein the left drive control command is used to set a left wheel reference speed, the right drive control command is used to set a right wheel reference speed, and the steering information includes a steering angle;
the control module further comprises a speed calculation module configured to calculate the left wheel reference speed and the right wheel reference speed based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and a wheel base between the left driving wheel and the right driving wheel to set the left driving control command and the right driving control command.
Preferably, the speed calculation module is configured to calculate a half speed difference based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and the wheel base, increase the reference speed of the electric vehicle by the half speed difference as one of the left wheel reference speed and the right wheel reference speed, and set the corresponding left drive control command or the right drive control command, and decrease the reference speed of the electric vehicle by the half speed difference as the other of the left wheel reference speed and the right wheel reference speed, and set the corresponding left drive control command or the right drive control command.
Preferably, wherein the left driving module comprises:
the left motor transmits power to the left driving wheel through a left transmission structure;
the left frequency conversion module is connected with the left motor and used for adjusting the input voltage and the input current of the left motor based on a left PWM signal so as to adjust the torque of the left motor; and
the left driving circuit is used for outputting the left PWM signal corresponding to the left reference rotating speed;
wherein, this right drive module includes:
a right motor for transmitting power to the right driving wheel through a right transmission structure;
the right frequency conversion module is connected with the right motor and used for adjusting the input voltage and the input current of the right motor based on a right PWM signal so as to adjust the torque of the right motor; and
and the right driving module is used for outputting the right PWM signal corresponding to the right reference rotating speed.
Preferably, wherein the left driving module includes a left motor sensor to sense sensing data of a left motor, the right driving module includes a right motor sensor to sense sensing data of a right motor;
wherein, this control module electric connection this left motor sensor and this right motor sensor, this control module includes:
a left drive control module configured to calculate a current speed of the left drive wheel based on sensed data of the left motor; and
and the right driving control module is set to calculate the current speed of the right driving wheel based on the sensing data of the right motor.
Preferably, wherein the control module comprises:
a left speed control module configured to continuously adjust a speed of the left drive module to conform a current speed of the left drive wheel to a left wheel reference speed of the left drive control command; and
a right speed control module configured to continuously adjust a speed of the right drive module to conform a current speed of the right drive wheel to a right wheel reference speed of the right drive control command.
Preferably, wherein the sensed data of the left motor comprises a rotational speed of the left motor, the sensed data of the right motor comprises a rotational speed of the right motor;
wherein, this control module includes:
a left magnetic field guidance control module configured to adjust a PWM signal for the left motor to adjust an input voltage and an input current of the left motor to adjust a rotation speed of the left motor and to conform sensing data of the left motor to a left reference rotation speed of the left drive control command; and
and the right magnetic field guiding control module is set for adjusting the PWM signal used for the right motor to adjust the input voltage and the input current of the right motor so as to adjust the rotating speed of the right motor and enable the sensing data of the right motor to accord with the right reference rotating speed of the right driving control command.
Preferably, the control module includes a speed calculation module configured to set a left wheel reference speed of the left driving control command to be greater than a right wheel reference speed of the right driving control command when the steering information is a right turn, set the left wheel reference speed to be less than the right wheel reference speed when the steering information is a left turn, and set a speed difference between the left wheel reference speed and the right wheel reference speed to be less than 5% when the steering information is a straight line.
Preferably, the steering wheel is a front wheel of the electric vehicle, and the left driving wheel and the right driving wheel are symmetrically arranged rear wheels of the electric vehicle;
the left driving module comprises a left motor, the right driving module comprises a right motor, and the left motor and the right motor are permanent magnet synchronous motors;
wherein, this electric vehicle is electric tricycle.
The embodiment of the present application further provides a driving control method applied to a driving system of an electric vehicle, where the driving system includes a left driving module for driving a left driving wheel, a right driving module for driving a right driving wheel, a steering device for changing an orientation of a steering wheel, and a control module, and the method includes the following steps:
a) Obtaining steering information corresponding to the direction of the steering wheel through the steering device;
b) Obtaining a reference speed of the electric vehicle from the control module;
c) Calculating a left drive control command and a right drive control command based on the steering information and the reference speed of the electric vehicle; and
d) And controlling the speed of the left driving module through the left driving control command, and controlling the speed of the right driving module through the right driving control command, wherein the left driving control command and the right driving control command generated in the steering process have a speed difference, so that the electric vehicle can be stably steered through the speed difference between the left driving wheel and the right driving wheel.
Preferably, wherein the step a) comprises the steps of:
a1 Receiving, at the control module, steering coordinates of the steering device; and
a2 Calculate a steering angle of the steered wheel based on the steering coordinate to set as the steering information.
Preferably, wherein the left drive control command is for setting a left wheel reference speed, the right drive control command is for setting a right wheel reference speed, the steering information includes a steering angle;
wherein the step c) comprises the steps of:
c1 Calculate the left wheel reference speed and the right wheel reference speed based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and a wheel base between the left driving wheel and the right driving wheel to set the left driving control command and the right driving control command.
Preferably, wherein the step c) comprises the steps of:
c11 Calculating a half-speed difference based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and the wheelbase;
c12 Increasing the reference speed of the electric vehicle by the half speed difference as one of the left wheel reference speed and the right wheel reference speed, and setting the corresponding left driving control command or the right driving control command; and
c13 The reference speed of the electric vehicle is reduced by the half speed difference as the other of the left wheel reference speed and the right wheel reference speed, and the corresponding left drive control command or the right drive control command is set.
Preferably, the method further comprises the steps of:
e1 Sensing data of a left motor of the left driving module through a left motor sensor;
e2 Calculate the current speed of the left drive wheel based on the sensed data of the left motor;
e3 Sensing data of a right motor of the right driving module by a right motor sensor; and
e4 Calculate the current speed of the right drive wheel based on the sensed data of the right motor.
Preferably, wherein the step d) comprises the steps of:
d1 Continuously adjusting the speed of the left drive module to make the current speed of the left drive wheel conform to the left wheel reference speed of the left drive control command; and
d2 Continuously adjusting the speed of the right drive module such that the current speed of the right drive wheel conforms to the right wheel reference speed of the right drive control command.
Preferably, wherein the sensed data of the left motor includes a rotational speed of the left motor and the sensed data of the right motor includes a rotational speed of the right motor;
the step d) comprises the following steps:
d3 Adjusting the input voltage and the input current of the left motor by adjusting the PWM signal for the left motor to adjust the rotation speed of the left motor and make the sensed data of the left motor conform to the left reference rotation speed of the left driving control command; and
d4 Adjusting the input voltage and the input current of the right motor by adjusting the PWM signal for the right motor to adjust the rotation speed of the right motor and make the sensing data of the right motor conform to the right reference rotation speed of the right driving control command.
Preferably, in the step c), when the steering information is a right turn, the reference speed of the left wheel of the left driving control command is greater than the reference speed of the right wheel of the right driving control command, when the steering information is a left turn, the reference speed of the left wheel is less than the reference speed of the right wheel, and when the steering information is a straight line, the speed difference between the reference speed of the left wheel and the reference speed of the right wheel is less than 5%.
The embodiment of the application can realize stable steering and improve safety.
Drawings
FIG. 1 is a schematic diagram of an electric vehicle with a dual motor controller;
fig. 2 is an architecture diagram of a driving system of an electric vehicle according to an embodiment of the present application;
FIG. 3 is an architectural view of a steering apparatus according to an embodiment of the present application;
FIG. 4 is an architecture diagram of a right drive module according to an embodiment of the present application;
FIG. 5 is an architecture diagram of a left drive module according to an embodiment of the present application;
FIG. 6 is an architecture diagram of a control module according to an embodiment of the present application;
FIG. 7 is a circuit diagram of a driving system according to an embodiment of the present application;
fig. 8 is a flowchart of a drive control method according to a first embodiment of the present application;
fig. 9A is a first flowchart of a driving control method according to a second embodiment of the present application;
fig. 9B is a second flowchart of the drive control method according to the embodiment of the present application;
FIG. 10 is a turning schematic diagram of an embodiment of the present application.
Description of reference numerals:
1: an electric vehicle;
10: a differential speed controller;
11: a left motor controller;
12: a right motor controller;
13: a left motor;
14: a right motor;
15: a left drive wheel;
16: a right drive wheel;
2: an electric vehicle;
20: a control module;
21: a steering device;
22: a left drive module;
23: a right drive module;
24: a steering wheel;
25. 26: a drive wheel;
30: a steering structure;
31: a speed control structure;
32: a speed acquisition module;
33: a steering sensing module;
40: right driving circuit
41: a right frequency conversion module;
42: a right motor;
43: a right motor sensor;
44: a right drive structure;
50: a left drive circuit;
51: a left frequency conversion module;
52: a left motor;
53: a left motor sensor;
54: a left drive structure;
60: a corner calculation module;
61: a speed calculation module;
62: a drive control module;
620: a left drive control module;
621: a right drive control module;
63: a differential control module;
630: a left speed control module;
631: a right speed control module;
64: a magnetic field guidance control module;
640: a left magnetic field guidance control module;
641: a right magnetic field guidance control module;
701: inputting steering information;
702: a reference speed input;
704. 705: calculating a rotation angle;
706. 707: combining;
708. 709: adding and multiplying the factors;
710. 711: speed feedback;
712. 713: controlling the speed;
714、715：FOC；
716. 717: a separation and drive circuit;
718. 719: carrying out frequency conversion treatment;
720. 721: a motor;
722. 723: a Hall sensor;
724. 725, the steps of: calculating the speed;
80: a steering wheel;
81: a left drive wheel;
82: a right drive wheel;
83: a center of gravity;
84: bending the center;
θ: turning;
C 1 : a left differential command;
C 2 : a right differential command;
C 3 : a left drive command;
C 4 : a right drive command;
δ: steering information;
δ * : a steering coordinate;
C l : a left drive control command;
C r : a right drive control command;
H l : sensed data of the left motor;
H r : sensed data of the right motor;
l: a length;
w: the wheel base;
r: a distance;
PWM: a pulse wave signal;
ω v : a speed change signal;
ω c : a current speed;
ω * : a reference speed;
ω l : a left feedback speed;
ω * l : a left reference speed;
ω r : a right feedback speed;
ω * r : a right reference speed;
K scale : a factor;
T 1L 、T 2L 、T 3L 、T 4L 、T 5L 、T 6L : a left inverter/power crystal switch;
T 1R 、T 2R 、T 3RL 、T 4R 、T 5R 、T 6R : a right inverter/power crystal switch;
T * l : a left reference speed;
T * r : a right reference speed;
S10-S13: a first control step;
S20-S28: a second control step;
S30-S31: turning;
S40-S41: setting a reference speed;
S50-S53: and a driving step.
Detailed Description
The following detailed description of a preferred embodiment of the present application refers to the accompanying drawings.
Please refer to fig. 1, which is a diagram of an electric vehicle with a conventional dual-motor controller. The left motor controller 11 of the electric vehicle 1 (e.g., an electro-tricycle) may control the left motor 13 to provide power to the left driving wheel 15 individually, and the right motor controller 12 may control the right motor 14 to provide power to the right driving wheel 16 individually. Therefore, compared with the electric vehicle driven by a single motor, the electric vehicle 1 driven by multiple motors can solve the problems related to the transmission between multiple driving wheels, and the transmission structure is omitted to reduce the volume.
In addition, the speed difference between the driving wheels 15 and 16 is produced during steering. The electric vehicle 1 is provided with a differential controller 10 (e.g., an electronic differential). The differential controller 10 can calculate the speed difference of the two drive wheels 15, 16 from the rotation angle θ and send a left differential command C indicating the speed difference 1 And right differential command C 2 (e.g., different left and right wheel speeds) to the left and right motor controllers 11 and 12. Then, the left motor controller 11 follows the left differential command C 1 Sending a left drive command C 3 To the left motor 13 to control the left motor 13 to rotate the left drive wheel 15 at a specified left wheel speed. And, the right motor controller 12 follows the right differential command C 2 Sending a Right drive Command C 4 To the right motor 14 to control the right motor 14 to rotate the right drive wheel 16 at a specified right wheel speed. Thereby realizing the dynamic control of the speed difference of the multiple motors.
However, the provision of the differential controller 10 not only increases the cost, but also increases the volume of the electric vehicle 1 (e.g., increases the wheel base), thereby reducing the steering flexibility (the turning radius increases).
In addition, the provision of the plurality of motor controllers 11 and 12 also increases the cost and volume.
In view of the above, the present invention provides a driving system of an electric vehicle and a driving control method thereof, which are used for an electric vehicle with multiple driving modules, and the speed of each driving module is distributed and controlled by a single control module, so as to solve the problems of "dynamic speed difference control, volume reduction, and cost reduction of the electric vehicle with multiple driving modules", and the like.
In the embodiment of the present application, the "steering wheel" and the "driving wheel" may be a single tire, or may be formed by disposing a plurality of tires on the same transmission shaft, without limitation.
In the following description of the embodiments of the present application, a rear-drive electric tricycle will be described as an example, but the power installation position and the number of wheels in the embodiments of the present application are not limited thereto. Those skilled in the art can refer to the description of the embodiments of the present application as required, and apply the technical modifications of the embodiments of the present application to different power setting positions (e.g. front wheel drive) and wheel numbers (e.g. four-wheel electric vehicle), and these modifications all belong to the protection scope of the embodiments of the present application.
Please refer to fig. 2, which is a block diagram of a driving system of an electric vehicle according to an embodiment of the present application. The electric vehicle 2 according to the embodiment of the present application includes a steering wheel 24, a plurality of driving wheels 25 (taking a left driving wheel 25 and a right driving wheel 26 as an example), and a driving system.
The driving system may include a steering device 21, a left driving module 22, a right driving module 23, and a control module 20 electrically connected to the steering device, the left driving module, the right driving module, and the control module.
The steering device 21 is used for receiving a steering operation of a user to change the orientation of the steering wheel 24, so as to drive the body of the electric vehicle 2 to deviate towards the orientation (such as a left bend, a right bend or a straight line). The steering device 21 can also be used to obtain steering information corresponding to the steering operation.
The left drive module 22 may provide power to the left drive wheel 25 to control rotation of the left drive wheel 25. The right drive module 23 can provide power to the right drive wheel 26 to control the rotation of the right drive wheel 26. Therefore, the rotation of the left driving wheel 25 and the right driving wheel 26 is controlled to drive the advancing and retreating direction and speed of the electric vehicle 2.
The control module 20 (e.g., a control box including a processor (or microcontroller, system on a chip), peripheral control circuits, and a connection interface) is used to control the electric vehicle 2 (e.g., start-up, shut-down, speed increase, and deceleration).
In one embodiment, the control module 20 further acts as a controller for the left drive module 22 and the right drive module 23. Specifically, the control module 20 can generate driving control commands (such as a left driving control command and a right driving control command), and control the rotation speed and the torque of the left driving module 22 and the right driving module 23 through the driving control commands, so as to control the speed of each driving wheel of the electric vehicle 2.
Still further, the control module 20 may also implement asymmetric power distribution. Specifically, the control module 20 can allow a speed difference between the left driving control command and the right driving control command according to different road conditions (e.g., slipping, trapped and single-wheel suspended, steering, etc.), so that each driving wheel has different speeds and powers, and stable driving is achieved (e.g., different power distribution is performed on the driving wheels and the non-slipping wheels to stabilize the vehicle body, more power is provided to the non-suspended wheels to escape from the trapping, and steering is stabilized through the inner-outer speed difference).
In one embodiment, the electric vehicle 2 is an electric tricycle of rear drive design. The front wheels are steering wheels 24, and the left driving wheels 25 and the right driving wheels 26 are symmetrically arranged rear wheels.
Fig. 3 is a schematic view of a steering apparatus according to an embodiment of the present disclosure. The steering device 21 of the embodiment of the present application may include a steering structure 30, a speed control structure 31, a speed obtaining module 32, and a steering sensing module 33.
A steering mechanism 30 (e.g., a faucet or steering wheel) is coupled to the steerable wheel 24 and is configured to receive a user's steering operation and mechanically change the orientation of the steerable wheel 24.
The speed control structure 31 can receive the speed change operation (such as acceleration operation, deceleration operation or reverse operation) of the user to trigger the corresponding speed change signal ω v (e.g., an acceleration signal, a deceleration signal, or a reverse signal).
The speed acquisition module 32 may acquire and provide the current speed ω of the electric vehicle 2 c For example, the rotational speed of the steering wheel 24, or the driving wheels 25, 26 can be sensed (by the meter gear, meter line and meter module), or the rotational speeds of the left driving module 22 and the right driving module 23 can be measured.
The steering sensing module 33 may be disposed on the steering structure 30 (or the steered wheel 24), and sense and provide steering information δ of the steering structure 30 (or the steered wheel 24).
In one embodiment, the steering information δ may include steering coordinates, and the present embodiment sets the steering structure 30 in a coordinate system, and measures the current coordinates of the steering structure 30 (or the steering wheel 24) as the steering coordinates through a sensor (such as an optical or mechanical positioning encoder, an accelerometer, a gyroscope, an electronic compass, etc.).
Referring to fig. 4 and 5 together, fig. 4 is an architecture diagram of a right driving module according to an embodiment of the invention, and fig. 5 is an architecture diagram of a left driving module according to an embodiment of the invention.
The right driving module 23 includes a right driving circuit 40, a right frequency conversion module 41, a right motor 42 and a right motor sensor 43. The left driving module 22 includes a left driving circuit 50, a left frequency conversion module 51, a left motor 52 and a left motor sensor 53.
The right motor 42 and the left motor 52 are used to generate power. Specifically, the right motor 42 transmits power to the right drive wheel 26 through a right transmission structure 44 (e.g., a gear set, a drive belt, or a drive chain), and the left motor 52 transmits power to the left drive wheel 25 through a left transmission structure 54.
In one embodiment, the right motor 42 and the left motor 52 are permanent magnet synchronous motors, but are not limited thereto.
The right driving circuit 40 and the left driving circuit 50 are used to convert the analog circuit signals into pulse signals. Specifically, right drive circuit 40 may accept right drive control command C r And according to the right drive control command C r The right reference rotational speed of the motor outputs a corresponding right PWM (Pulse-width modulation) signal. Left drive circuit 50 may accept left drive control command C l And according to the left driving control command C l Outputs a corresponding left PWM signal.
The right frequency conversion module 41 and the left frequency conversion module 51 are respectively used for adjusting the input voltage and the input current of the right motor 42 and the left motor 52 according to the received pulse signals, so as to respectively adjust the torque and the rotation speed of the right motor 42 and the left motor 52.
The right motor sensor 43 and the left motor sensor 53 (e.g., hall sensors) are respectively disposed on the right motor 42 and the left motor 52 for respectively sensing data (e.g., position and rotation speed) of the current rotation of the right motor 42 and the left motor 52.
Fig. 6 is a schematic diagram of a control module according to an embodiment of the present invention. The control module 20 of the present invention may include all or some of the following modules 60-64, 620-621, 630-631, 640-641, each of which may be configured to perform a different function.
1. The rotation angle calculation module 60: is configured to analyze the steering information of the steering device 21 to convert the steering coordinates of the steering structure 30 into a corresponding steering angle.
2. The speed calculation module 61: is configured to calculate and distribute reference speeds (left reference speed and right reference speed) of the respective drive wheels (left drive wheel 25 and right drive wheel 26), and to generate corresponding left drive control commands and right drive control commands.
3. The drive control module 62: is set to precisely control the rotational speed and torque of the corresponding motor in accordance with the drive control command for each drive wheel.
In one embodiment, the drive control module 62 includes a left drive control module 620 configured to control the left motor 52 and a right drive control module 621 configured to control the right motor 42.
4. The differential control module 63: is configured to monitor and modify the speed of each drive wheel such that the sensed current actual speed (feedback speed) of each drive wheel corresponds to the reference speed specified by the most recent drive control command.
In one embodiment, the differential control module 63 includes a left speed control module 630 configured to modify the left current speed of the left motor 52 (left feedback speed) and a right speed control module 631 configured to modify the right current speed of the right motor 42 (right feedback speed).
5. Magnetic field steering control module 64: sensed data (synchronous magnetic Field rotation angle) of the magnetic Field change of each motor is acquired by a hall sensor, and Vector Control (Vector Control) is performed on each motor by a Field Oriented Control (FOC) technique. By vector control, the field steering control module 64 can adjust torque and rotor speed in real time, providing more precise motor performance control than conventional voltage/frequency (V/F) control.
In one embodiment, the fsm 64 includes a left fsm 640 configured to precisely control the torque and speed of the left motor 52 and a right fsm 641 configured to precisely control the torque and speed of the right motor 42.
The modules are connected with each other (electrical connection and information connection), and may be hardware modules (such as electronic circuit modules, integrated circuit modules, soC, and the like), software modules (such as firmware, operating system components, or application programs), or a mixture of the hardware and software modules, without limitation.
It should be noted that when the modules are software modules (such as application programs), the control module 20 may further include a storage device. The storage device may include a non-transitory computer readable storage medium storing a computer program having computer executable program codes recorded thereon, and the functions of the modules may be realized when the processor (or the controller) of the control module 20 executes the program codes.
Fig. 8 is a flowchart of a drive control method according to a first embodiment of the present application. The driving control method of the embodiments of the present application can be applied to any of the driving system combinations shown in fig. 2 to 7. The drive control method of the present embodiment includes the following steps.
Step S10: the control module 20 obtains steering information corresponding to the current orientation of the steered wheels 24 from the steering device 21 via the steering angle calculation module 60. The steering information may be coordinate information, angle information, or a combination thereof, without limitation.
Step S11: the control module 20 obtains the reference speed of the electric vehicle 2 via the speed calculation module 61.
In one embodiment, the control module 20 may obtain the current speed ω of the electric vehicle 2 from the speed obtaining module 32 c Obtaining a velocity conversion signal omega from the velocity control structure 31 v And converts the signal omega according to the speed v Adjusting the current speed omega c (e.g., accelerate, decelerate, or reverse, etc.) as a reference speed for the electric vehicle 2, i.e., a speed that the user would expect to reach after entering a speed conversion operation.
Step S12: the control module 20 calculates a left driving control command for controlling the left driving module 22 and a right driving control command for controlling the right driving module 23 respectively according to the obtained steering information and the reference speed of the electric vehicle 2 through the speed calculation module 61. The driving control command may be an analog signal or a digital signal, and is used to indicate a target speed or a target speed increase/decrease range of the corresponding driving module.
Step S13: the control module 20 controls each drive module via the drive control module 62 to adjust a speed (e.g., rotational speed or torque) based on the generated drive control command.
In one embodiment, the control module 20 may execute a left drive control command via the left drive control module 620 to control the speed of the left motor 52 of the left drive module 22 and execute a right drive control command via the right drive control module 621 to control the speed of the right motor 42 of the right drive module 23.
In one embodiment, in order to greatly improve the steering stability, avoid any driving wheel from being suspended and causing overturning, and simultaneously consider the steering speed, the present application dynamically allocates the speeds of the inner driving wheel and the outer driving wheel according to the steering amplitude (i.e. the steering angle) in the steering process (e.g. right-hand bend or left-hand bend), so that the two driving wheels have a speed difference. If the speed of the outer driving wheel is higher than that of the inner driving wheel, the outer path is longer than the inner path in the steering path, so that all the driving wheels can stably touch the ground.
Furthermore, the present application generates a left driving control command and a right driving control command with a speed difference during the steering process, so as to make the speed difference between the left driving wheel 25 and the right driving wheel 26 to stably steer the electric vehicle 2.
In one embodiment, when the steering information indicates a right turn, the left wheel reference speed of the left drive control command is greater than the right wheel reference speed of the right drive control command so that the left drive wheel 25 traveling the outer course (longer) but at a faster speed can be maintained at the same angle as the right drive wheel 26 traveling the inner course (shorter) but at a slower speed.
When the steering information indicates a left turn, the left wheel reference speed is less than the right wheel reference speed so that the right driving wheel 26 traveling on the outer course but at a faster speed can maintain the same angle of bend as the left driving wheel 25 traveling on the inner course but at a slower speed.
When the steering information is straight, the speed difference between the reference speed of the left wheel and the reference speed of the right wheel is not necessary, so the speed difference between the reference speed of the left wheel and the reference speed of the right wheel can be controlled to be less than 5% (for example, to compensate for the imbalance of the left and right loads), or set to be 0%, without limitation.
Please refer to fig. 10, which is a schematic turning diagram according to an embodiment of the present application. Fig. 10 is a diagram illustrating the calculation of the reference speed of the present application in the right turn (the same applies to the left turn), but the present application is not limited thereto.
In this example, the steered wheel 80 makes a right turn with the steering information δ, the center of gravity is a point 83, the center of the turn is a point 84, and the center of the turn is a distance R. In this example, the left reference speed and the right reference speed are calculated by the following equations (equation one) and (equation two).
Figure BDA0003013435550000161
Figure BDA0003013435550000162
Wherein the content of the first and second substances,
Figure BDA0003013435550000163
is the left reference speed of the left drive wheel;
Figure BDA0003013435550000164
is the right reference speed of the right drive wheel; w is the wheel base between the left driving wheel 81 and the right driving wheel 82; l is the vehicle length (e.g., the vertical distance between the steering wheel 80 and the drive wheel connection); delta is a steering angle; omega c The current speed may be replaced by the reference speed of the electric vehicle 2 (the current speed plus the speed conversion signal); the speed difference between the left driving wheel 81 and the right driving wheel 82 is
Figure BDA0003013435550000165
Further, in the above example, the steering angle of the steering wheel 80 is set to 0, and when the steering angle δ (e.g. 30 degrees) is greater than a threshold value (e.g. 0 degree or 5 degrees), it can be determined as a right turn, and when the steering angle δ is less than the threshold value, it can be determined as a left turn, and the rest is determined as a straight line.
Referring to fig. 9A and 9B together, fig. 9A is a first flowchart of a driving control method according to a second embodiment of the present application, and fig. 9B is a second flowchart of the driving control method according to the second embodiment of the present application. The drive control method of the present embodiment includes the following steps.
Step S20: the control module 20 obtains steering information corresponding to the direction of the steered wheels 24 from the steering device 21 via the steering angle calculation module 60.
In one embodiment, step S20 may include the following steps S30-S31.
Step S30: the control module 20 receives the steering coordinates (e.g., the current position and attitude of the steering structure 30) provided by the steering sensing module 33 via the steering angle calculation module 60.
Step S31: the control module 20 calculates the steering angle of the steered wheel 24 from this steering coordinate via the steering angle calculation module 60 and adds the steering angle to the steering information.
Step S21: the control module 20 obtains the reference speed of the electric vehicle 2 via the speed calculation module 61.
Step S22: the control module 20 calculates the left wheel reference speed and the right wheel reference speed through the speed calculation module 61, and sets the left driving control command and the right driving control command according to the calculated speeds.
In one embodiment, referring to the above equations (i) and (ii), the speed calculation module 61 may calculate the left wheel reference speed and the right wheel reference speed according to one of the tangent value or the cotangent value (i.e. the reciprocal of the tangent value, or may be equivalently replaced by other trigonometric functions) of the steering angle, the reference speed of the electric vehicle 2 (or may use the current speed), the length of the electric vehicle 2, and the wheel base.
In one embodiment, step S22 may include the following steps S40-S43.
Step S40: the control module 20 determines a steering direction, such as left-right-left-turn or straight-ahead, according to the steering information via the steering angle calculation module 60.
And if it is a left or right turn, executing steps S41-S43 to establish a speed difference between the driving wheels; if the straight line is used, the speed difference is skipped.
Step S41: the control module 20 calculates the half-speed difference, i.e. the half-speed difference, according to the above-mentioned equation (I) and equation (II) via the speed calculation module 61
Figure BDA0003013435550000171
Step S42: the control module 20 increases the reference speed (or the current speed) of the electric vehicle 2 by the calculated half speed difference via the speed calculation module 61 as one of the left wheel reference speed and the right wheel reference speed (i.e., the outer driving wheel, the right bend is the left driving wheel 25, and the left bend is the right driving wheel 26), and sets a corresponding driving control command.
Step S43: the control module 20 sets a corresponding drive control command by using the half speed difference calculated by reducing the reference speed (or the current speed) of the electric vehicle 2 by the speed calculation module 61 as the other one of the left wheel reference speed and the right wheel reference speed (i.e., the inner driving wheel, the right curve is the right driving wheel 26, and the left curve is the left driving wheel 25).
Next, the control module 20 can execute steps S23-S26 to obtain the speed of each driving wheel and each motor.
Step S23: the control module 20 senses the sensing data of the left motor 52 through the left motor sensor 53 via the left driving control module 620.
Step S24: the control module 20 calculates the current speed of the left drive wheel 25 via the left drive control module 620 based on the sensed data from the left motor 52, such as based on the current rotational speed, gear ratio, and wheel diameter.
Step S25: the control module 20 senses the sensed data of the right motor 42 through the right motor sensor 43 via the right driving control module 621.
Step S26: control module 20 calculates the current speed of right drive wheel 26 from the sensed data of right motor 42 via right drive control module 621.
Step S27: the control module 20 controls the speeds of the left and right driving modules 22 and 23 via the differential control module 63 according to the left and right driving control commands.
In one embodiment, step S27 may include steps S50, S52, and steps S50, S52 are for performing accurate speed control.
Step S50: the control module 20 continuously adjusts the speed of the left drive module 22 via the left speed control module 630 such that the current speed of the left drive wheel 25 corresponds to the left wheel reference speed indicated by the left drive control command.
In one embodiment, the left speed control module 630 obtains the left current speed (left feedback speed) of the left driving module 22, and continuously adjusts the signal of the left reference speed input to the left frequency conversion module 51 according to the difference between the left feedback speed and the left wheel reference speed.
Step S52: the control module 20, via the right speed control module 631, continuously adjusts the speed of the right drive module 23 such that the current speed of the right drive wheel 26 corresponds to the right wheel reference speed indicated by the right drive control command.
In one embodiment, the right speed control module 631 obtains a right current speed (right feedback speed) of the right driving module 23, and continuously adjusts the signal of the right reference speed input to the right frequency conversion module 41 according to a difference between the right feedback speed and the right wheel reference speed.
In one embodiment, step S27 may include steps S51, S53, where steps S51, S53 are used to perform more precise speed/torque control based on the FOC. Also, the sensed data of the left motor 52 includes the rotation speed of the left motor 52, and the sensed data of the right motor 42 includes the rotation speed of the right motor 42.
Step S51: the control module 20 adjusts the input voltage and input current of the left motor 52 to adjust the rotational speed and/or torque of the left motor 52 by adjusting the PWM signal for the left motor 52 via the left magnetic field steering control module 640, and conforms the sensed data of the left motor 52 to the left reference rotational speed of the left drive control command.
In one embodiment, the left magnetic field steering control module 640 obtains the sensed data (left feedback data, such as the rotation speed data obtained through the hall sensor) of the left motor 52, and continuously adjusts the PWM signal input to the left motor 52 according to the difference between the left feedback data and the left wheel reference rotation speed.
Step S53: the control module 20 adjusts the input voltage and input current of the right motor 42 by adjusting the PWM signal for the right motor 42 via the right magnetic field steering control module 641 to adjust the rotational speed and/or torque of the right motor 42 and conform the sensed data of the right motor 42 to the right reference rotational speed of the right drive control command.
In one embodiment, the right magnetic field steering control module 641 obtains the sensing data (right feedback data) of the right motor 42 and continuously adjusts the PWM signal input to the right motor 42 according to the difference between the right feedback data and the reference rotation speed of the right wheel.
Step S28: the module control module 20 determines whether the driving system is turned off, such as when the user turns off the power, stops the vehicle, and so on.
If the system is shut down, control ends. Otherwise, steps S20-S27 are executed again to continue monitoring and control.
Therefore, the speed difference control of the single control box and the multiple motors can be effectively realized.
Fig. 7 is a circuit architecture diagram of a driving system according to an embodiment of the present application. Each of the functional blocks 701-725 may be, without limitation, hardware or software.
First, the steering information input 701 inputs the steering coordinate δ * The reference speed input 702 inputs a reference speed ω * To an Electronic Differential System (EDS) shown in dashed lines.
The rotation angle calculations 704, 705 are based on the steering coordinate δ * The corresponding steering angle is calculated and input to the combinations 706, 707, respectively, such that the steering angle is combined with the reference speed ω * 。
Then, the factors are multiplied 708, 709 respectively based on the steering angle in combination with the reference speed ω * Calculating and outputting a left reference velocity
Figure BDA0003013435550000191
And a right reference velocity
Figure BDA0003013435550000192
Then, the velocity feedback 710, 711 are based on the left feedback velocity ω respectively l And the right feedback speed omega r Calculating a new left reference velocity
Figure BDA0003013435550000193
And a right reference velocity
Figure BDA0003013435550000194
And input to speed controls 712, 713.
Speed control 712, 713 will reference the left speed
Figure BDA0003013435550000195
And a right reference speed
Figure BDA0003013435550000196
Conversion to analog left reference velocity control signal
Figure BDA0003013435550000197
With simulated right reference velocity
Figure BDA0003013435550000198
Signals, and input to the FOCs 714, 715.
The FOCs 714 and 715 generate corresponding PWM signals according to the received signals, and input the PWM signals to the separation and driving circuits 716 and 717, respectively. The FOCs 714 and 715 can also obtain feedback rotation speed from the Hall sensors 722 and 723 and execute vector control.
The separation and drive circuits 716, 717 are passed through a frequency conversion process 718 (including a left frequency converter T) 1L 、T 2L 、T 3L 、T 4L 、T 5L 、T 6L E.g., power crystal switch) and frequency conversion processing 719 (including right converter T) 1R 、T 2R 、T 3RL 、T 4R 、T 5R 、T 6R E.g. power crystalsSwitches) vary the input voltage and current of the motors 720, 721 to vary the speed and torque of the motors 720, 721.
In addition, the Hall sensors 722, 723 can continuously sense the sensed data of the motors 720, 721, and the left feedback speed ω can be calculated by the speed calculations 724, 725 l And the right feedback speed omega r For speed feedback.
The embodiment of the application can realize stable steering and improve safety through electronic differential control.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, so that all changes, such as equivalents, means, etc., which use the contents of the specification and drawings of the present application are all included in the scope of the present application.

Claims (18)

1. A drive system for an electric vehicle, comprising:
the left driving module is used for providing power to a left driving wheel so as to control the rotation of the left driving wheel;
the right driving module is used for providing power to a right driving wheel so as to control the rotation of the right driving wheel;
a steering device for receiving a steering operation to change the direction of a steered wheel and acquiring steering information; and
a control module electrically connected to the left drive module, the right drive module, and the steering device, the control module configured to calculate a left drive control command and a right drive control command based on the steering information and a reference speed of the electric vehicle, control a speed of the left drive module through the left drive control command, and control a speed of the right drive module through the right drive control command;
in the steering process, the control module generates the left driving control command and the right driving control command with speed difference so as to enable the electric vehicle to stably steer through the speed difference between the left driving wheel and the right driving wheel.
2. The drive system of an electric vehicle according to claim 1, wherein the steering device further comprises:
the steering structure is connected with the steering wheel and is used for receiving the steering operation to change the orientation of the steering wheel;
the steering sensing module is electrically connected with the control module and used for sensing a steering coordinate of the steering structure;
a speed obtaining module electrically connected to the control module for obtaining a current speed of the electric vehicle; and
the speed control structure is electrically connected with the control module and used for triggering a speed conversion signal based on speed conversion operation;
wherein the control module is configured to determine the reference speed of the electric vehicle based on the speed transition signal and the current speed;
wherein the control module further includes a steering angle calculation module configured to calculate a steering angle of the steering wheel based on the steering coordinate to set as the steering information.
3. The drive system of an electric vehicle according to claim 1, wherein the left drive control command is for setting a left wheel reference speed, the right drive control command is for setting a right wheel reference speed, and the steering information includes a steering angle;
wherein the control module further comprises a speed calculation module configured to calculate the left wheel reference speed and the right wheel reference speed based on one of a tangent value or a cotangent value of the steering angle, the reference speed of the electric vehicle, a length of the electric vehicle, and a wheel base between the left drive wheel and the right drive wheel to set the left drive control command and the right drive control command.
4. The drive system of an electric vehicle of claim 3, wherein the speed calculation module is configured to calculate a half speed difference based on one of a tangent value or a cotangent value of the steering angle, the reference speed of the electric vehicle, a length of the electric vehicle, and the wheel base, increase the reference speed of the electric vehicle by the half speed difference as one of the left wheel reference speed and the right wheel reference speed, and set the corresponding left drive control command or the right drive control command, and decrease the reference speed of the electric vehicle by the half speed difference as the other of the left wheel reference speed and the right wheel reference speed, and set the corresponding left drive control command or the right drive control command.
5. The drive system of an electric vehicle of claim 1, wherein the left drive module comprises:
a left motor transmitting power to the left drive wheel through a left transmission structure;
the left frequency conversion module is connected with the left motor and used for adjusting the input voltage and the input current of the left motor based on a left PWM signal so as to adjust the torque of the left motor; and
the left driving circuit is used for outputting the left PWM signal corresponding to the left reference rotating speed;
wherein the right driving module includes:
a right motor transmitting power to the right driving wheel through a right transmission structure;
the right frequency conversion module is connected with the right motor and used for adjusting the input voltage and the input current of the right motor based on a right PWM signal so as to adjust the torque of the right motor; and
and the right driving module is used for outputting the right PWM signal corresponding to the right reference rotating speed.
6. The drive system of an electric vehicle according to claim 1, wherein the left drive module includes a left motor sensor for sensing data of a left motor, and the right drive module includes a right motor sensor for sensing data of a right motor;
wherein, control module electric connection the left motor sensor with the right motor sensor, control module includes:
a left drive control module configured to calculate a current speed of the left drive wheel based on sensed data of the left motor; and
a right drive control module configured to calculate a current speed of the right drive wheel based on sensed data of the right motor.
7. The drive system of an electric vehicle according to claim 6, wherein the control module comprises:
a left speed control module configured to continuously adjust a speed of the left drive module to conform a current speed of the left drive wheel to a left wheel reference speed of the left drive control command; and
a right speed control module configured to continuously adjust a speed of the right drive module to conform a current speed of the right drive wheel to a right wheel reference speed of the right drive control command.
8. The drive system of an electric vehicle according to claim 6, wherein the sensed data of the left motor includes a rotation speed of the left motor, and the sensed data of the right motor includes a rotation speed of the right motor;
wherein the control module comprises:
a left magnetic field guidance control module configured to adjust a PWM signal for the left motor to adjust an input voltage and an input current of the left motor to adjust a rotation speed of the left motor, and to make the sensing data of the left motor conform to a left reference rotation speed of the left driving control command; and
and the right magnetic field guiding control module is set for adjusting the PWM signal for the right motor to adjust the input voltage and the input current of the right motor so as to adjust the rotating speed of the right motor and enable the sensing data of the right motor to accord with the right reference rotating speed of the right driving control command.
9. The driving system of an electric vehicle according to claim 1, wherein the control module includes a speed calculation module configured to set a left wheel reference speed of the left drive control command to be greater than a right wheel reference speed of the right drive control command when the steering information is a right turn, set the left wheel reference speed to be less than the right wheel reference speed when the steering information is a left turn, and set a speed difference between the left wheel reference speed and the right wheel reference speed to be less than 5% when the steering information is a straight run.
10. The driving system of an electric vehicle according to claim 1, wherein the steering wheel is a front wheel of the electric vehicle, and the left driving wheel and the right driving wheel are symmetrically disposed rear wheels of the electric vehicle;
the left driving module comprises a left motor, the right driving module comprises a right motor, and the left motor and the right motor are permanent magnet synchronous motors;
wherein, the electric vehicle is an electric tricycle.
11. A driving control method applied to a driving system of an electric vehicle, the driving system including a left driving module for driving a left driving wheel, a right driving module for driving a right driving wheel, a steering device for changing an orientation of a steered wheel, and a control module, the method comprising the steps of:
a) Obtaining, by the steering device, steering information corresponding to an orientation of the steered wheel;
b) Obtaining a reference speed of the electric vehicle at the control module;
c) Calculating a left drive control command and a right drive control command based on the steering information and a reference speed of the electric vehicle; and
d) And controlling the speed of the left driving module through the left driving control command, and controlling the speed of the right driving module through the right driving control command, wherein the left driving control command and the right driving control command generated in the steering process have a speed difference, so that the electric vehicle can be stably steered through the speed difference between the left driving wheel and the right driving wheel.
12. The drive control method according to claim 11, wherein the step a) includes the steps of:
a1 Receiving, at the control module, steering coordinates of the steering device; and
a2 Calculate a steering angle of the steered wheel based on the steering coordinate to set as the steering information.
13. The drive control method according to claim 11, wherein the left drive control command is to set a left wheel reference speed, the right drive control command is to set a right wheel reference speed, and the steering information includes a steering angle;
wherein said step c) comprises the steps of:
c1 The left wheel reference speed and the right wheel reference speed are calculated based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and a wheel base between the left drive wheel and the right drive wheel to set the left drive control command and the right drive control command.
14. The drive control method according to claim 13, wherein the step c) includes the steps of:
c11 Calculating a half speed difference based on one of a tangent value or a cotangent value of the steering angle, a reference speed of the electric vehicle, a length of the electric vehicle, and the wheelbase;
c12 Increase the reference speed of the electric vehicle by the half speed difference as one of the left wheel reference speed and the right wheel reference speed, and set the corresponding left drive control command or the right drive control command; and
c13 Reducing the reference speed of the electric vehicle by the half speed difference as the other one of the left wheel reference speed and the right wheel reference speed, and setting the corresponding left drive control command or the right drive control command.
15. The drive control method of claim 11, further comprising the steps of:
e1 Sensing, by a left motor sensor, sensed data of a left motor of the left drive module;
e2 Calculate a current speed of the left drive wheel based on sensed data of the left motor;
e3 Sensing, by a right motor sensor, sensed data of a right motor of the right drive module; and
e4 Calculate the current speed of the right drive wheel based on the sensed data of the right motor.
16. The drive control method according to claim 15, wherein the step d) includes the steps of:
d1 Continuously adjusting the speed of the left drive module to conform the current speed of the left drive wheel to a left wheel reference speed of the left drive control command; and
d2 Continuously adjusting the speed of the right drive module to conform the current speed of the right drive wheel to the right wheel reference speed of the right drive control command.
17. The drive control method according to claim 15, wherein the sensed data of the left motor includes a rotational speed of the left motor, and the sensed data of the right motor includes a rotational speed of the right motor;
the step d) comprises the following steps:
d3 Adjusting an input voltage and an input current of the left motor by adjusting a PWM signal for the left motor to adjust a rotation speed of the left motor and conform sensed data of the left motor to a left reference rotation speed of the left drive control command; and
d4 Adjusting an input voltage and an input current of the right motor by adjusting a PWM signal for the right motor to adjust a rotation speed of the right motor and conform sensed data of the right motor to a right reference rotation speed of the right drive control command.
18. The drive control method according to claim 11, wherein the step c) is that the left wheel reference speed of the left drive control command is greater than the right wheel reference speed of the right drive control command when the steering information is a right turn, the left wheel reference speed is less than the right wheel reference speed when the steering information is a left turn, and a speed difference between the left wheel reference speed and the right wheel reference speed is less than 5% when the steering information is a straight run.
CN202110382184.2A 2021-04-09 2021-04-09 Driving system of electric vehicle and driving control method thereof Pending CN115195490A (en)

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