CN116749743A - Four-drive force system, vehicle, and control method for vehicle - Google Patents

Four-drive force system, vehicle, and control method for vehicle Download PDF

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Publication number
CN116749743A
CN116749743A CN202310713491.3A CN202310713491A CN116749743A CN 116749743 A CN116749743 A CN 116749743A CN 202310713491 A CN202310713491 A CN 202310713491A CN 116749743 A CN116749743 A CN 116749743A
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CN
China
Prior art keywords
gear pair
motor
vehicle
mode
gear
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Granted
Application number
CN202310713491.3A
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Chinese (zh)
Other versions
CN116749743B (en
Inventor
刘建康
王燕
王德平
牛超凡
霍云龙
刘力源
车显达
李坤远
王云龙
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FAW Group Corp
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FAW Group Corp
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Priority to CN202310713491.3A priority Critical patent/CN116749743B/en
Publication of CN116749743A publication Critical patent/CN116749743A/en
Application granted granted Critical
Publication of CN116749743B publication Critical patent/CN116749743B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more 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
    • 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
    • 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
    • B60L15/2054—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 by controlling transmissions or clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application provides a four-driving-force system, a vehicle and a control method of the vehicle. The four-drive force system includes: four motors for driving front wheels and rear wheels of the vehicle, respectively; the four transmission mechanisms are respectively connected with the four motors; the front wheels comprise right front wheels and left front wheels, the rear wheels comprise right rear wheels and left rear wheels, the four motors comprise a first motor, a second motor, a third motor and a fourth motor, and the first motor, the second motor, the third motor and the fourth motor are respectively used for driving the right front wheels, the left front wheels, the right rear wheels and the left rear wheels; the four transmission mechanisms comprise a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism, wherein the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively connected with a first motor, a second motor, a third motor and a fourth motor, and the in-situ steering function can be realized through the control of the torque and the rotating speed of the motors.

Description

Four-drive force system, vehicle, and control method for vehicle
Technical Field
The application relates to the technical field of vehicles, in particular to a four-driving-force system, a vehicle and a control method of the vehicle.
Background
The main flow power system of the current pure electric vehicle mainly comprises a single motor two-drive motor and a double motor four-drive motor, wherein the single motor two-drive motor is mainly connected with a speed reducer to drive a front shaft or a rear shaft through one motor, the double motor four-drive motor is mainly connected with the speed reducer to drive the front shaft, and the other motor is connected with the other speed reducer to drive the rear shaft. The single motor system has the advantages of simple structure, easy control and good economical efficiency, and has the defect of weak dynamic property; the dual-motor power system has the advantages of strong power performance, poor economy and main reason that when one set of electric drive is driven, the other set of electric drive has resistance loss. In order to solve the problem of insufficient power performance of a single motor, a method for increasing electric drive power and torque is generally adopted in the industry, in order to solve the problem of poor economical efficiency of a double-motor system, the whole vehicle layer is mainly used for reducing wind resistance, rolling resistance and vehicle weight of a vehicle, and the power system layer is mainly used for improving electric drive efficiency, but the improvement of the electric drive efficiency is limited by various factors such as electromagnetic scheme, motor materials, power density requirements and the like, and the improvement is limited. The single motor and double motor systems have the defects that the offside performance is not strong enough, in order to solve the problem of the offside performance deficiency, a method for increasing electric drive power and torque is generally adopted in the industry, but the method is limited by motor size, motor cost and the like, motor torque power is limited in lifting, the single motor and double motor systems cannot independently control the torque of left and right wheels, the torque decoupling control of four wheels cannot be realized, the method is not flexible enough, and the strong off-road performance requirement of a vehicle is difficult to meet; in addition, aiming at the steering and turning functions of the vehicle, the current steering and turning operations of the vehicle are mainly realized through a steering gear, a steering power assisting device, a steering knuckle and the like, the technology is mature, but the turning radius is larger, the steering and turning of the vehicle are inconvenient in a narrow space, the steering wheel is required to be turned for multiple times, and scratch is easy to occur when obstacles exist around the steering wheel.
Disclosure of Invention
The application mainly aims to provide a four-driving-force system, a vehicle and a control method of the vehicle, so as to solve the problem of insufficient power of a single-motor system in the prior art.
In order to achieve the above object, according to one aspect of the present application, there is provided a four-drive force system including: four motors for driving front wheels and rear wheels of the vehicle, respectively; the four transmission mechanisms are respectively connected with the four motors; the front wheels comprise right front wheels and left front wheels, the rear wheels comprise right rear wheels and left rear wheels, the four motors comprise a first motor, a second motor, a third motor and a fourth motor, and the first motor, the second motor, the third motor and the fourth motor are respectively used for driving the right front wheels, the left front wheels, the right rear wheels and the left rear wheels; the four transmission mechanisms comprise a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism, wherein the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively connected with a first motor, a second motor, a third motor and a fourth motor, the first transmission mechanism comprises a first gear pair, a second gear pair and a third gear pair, the first gear pair is connected with the first motor through a transmission shaft, the second gear pair is connected with the first gear pair, the third gear pair is connected with the second gear pair through a transmission shaft, and the second gear pair is positioned between a right front wheel and the first gear pair.
Further, the second transmission mechanism comprises a fourth gear pair, a fifth gear pair and a sixth gear pair, the fourth gear pair is connected with the second motor through a transmission shaft, the fifth gear pair is connected with the fourth gear pair, the sixth gear pair is connected with the fifth gear pair through a transmission shaft, the fourth gear pair is coaxially arranged with the first gear pair, and the fifth gear pair is positioned between the left front wheel and the fourth gear pair; the third transmission mechanism comprises a seventh gear pair, an eighth gear pair and a ninth gear pair, the seventh gear pair is connected with the third motor through a transmission shaft, the eighth gear pair is connected with the seventh gear pair, the ninth gear pair is connected with the eighth gear pair through a transmission shaft, and the eighth gear pair is positioned between the right rear wheel and the seventh gear pair; the fourth transmission mechanism comprises a tenth gear pair, an eleventh gear pair and a twelfth gear pair, the tenth gear pair is connected with the fourth motor through a transmission shaft, the eleventh gear pair is connected with the tenth gear pair, the twelfth gear pair is connected with the eleventh gear pair through the transmission shaft, the tenth gear pair and the seventh gear pair are coaxially arranged, and the eleventh gear pair is positioned between the left rear wheel and the tenth gear pair.
Further, the four-drive force system further includes a disconnecting device connected to the transmission mechanism, the disconnecting device being configured to disconnect torque transmitted between the transmission mechanism and at least one of the front wheel and the rear wheel, or the disconnecting device being configured to disconnect torque transmitted between the transmission mechanism and the front wheel or the rear wheel.
Further, the disconnecting device comprises a first disconnecting device and a second disconnecting device, the first disconnecting device is in meshed connection with one gear of the third gear pair through a first gear, the second disconnecting device is in meshed connection with one gear of the sixth gear pair through a second gear, or the first disconnecting device is in meshed connection with one gear of the ninth gear pair through a third gear, and the second disconnecting device is in meshed connection with one gear of the twelfth gear pair through a fourth gear.
Further, the disconnecting device further comprises a third disconnecting device and a fourth disconnecting device, the third disconnecting device is in meshed connection with one gear of the third gear pair through the first gear, the fourth disconnecting device is in meshed connection with one gear of the sixth gear pair through the second gear, the first disconnecting device is in meshed connection with one gear of the ninth gear pair through the third gear, and the second disconnecting device is in meshed connection with one gear of the twelfth gear pair through the fourth gear.
According to another aspect of the present application, there is provided a vehicle including a four-drive force system, the four-drive force system being the four-drive force system described above.
According to another aspect of the present application, there is provided a control method of a vehicle, including: receiving a request instruction, wherein the request instruction is used for controlling the vehicle to switch between a running mode and an in-situ steering mode, and the running mode comprises a sport mode, a comfort mode and an economic mode; the vehicle is controlled to execute the switching operation based on the request instruction.
Further, controlling the vehicle to switch between the travel mode and the in-situ steering mode includes: in the process of controlling the vehicle to switch between the driving mode and the in-situ steering mode, the torques of the first motor, the second motor, the third motor and the fourth motor are gradually reduced to be in a combined state, and the first disconnecting device and the second disconnecting device are both in a combined state.
Further, the control method includes: controlling the vehicle to execute a steering-in-place mode, wherein the steering-in-place mode comprises a clockwise steering-in-place mode and a anticlockwise steering-in-place mode, and the steering-in-place mode comprises controlling the rotation speed of the first motor and the rotation speed of the third motor to be negative, the torque to be negative, the rotation speed of the second motor and the rotation speed of the fourth motor to be positive and the torque to be positive, and the first disconnecting device and the second disconnecting device are both in a combined state; controlling the vehicle to execute the anticlockwise in-situ steering mode comprises controlling the rotation speed of the first motor and the rotation speed of the third motor to be positive, controlling the rotation speed of the second motor and the rotation speed of the fourth motor to be negative, and controlling the rotation speed of the fourth motor to be negative and the rotation torque to be negative, wherein the first disconnecting device and the second disconnecting device are both in a combined state.
Further, the control method of the vehicle includes: the vehicle is controlled to switch from one of the sport mode, the economy mode, and the comfort mode to the other mode, or the vehicle is controlled to switch from one of the sport mode, the economy mode, the comfort mode, and the in-situ steering mode to the other mode.
Further, the control method of the vehicle includes: controlling the vehicle to perform a sport mode includes: the first disconnecting device and the second disconnecting device are controlled to be in a combined state; controlling the vehicle to perform the economy mode includes: the first disconnecting device and the second disconnecting device are controlled to be in a separated state; controlling the vehicle to perform a comfort mode, comprising: receiving a control instruction, wherein the control instruction is used for controlling the vehicle to execute a comfort mode; acquiring the required torque information of the motor based on the control instruction; the states of the first and second disconnect devices are controlled based on the demand torque information.
By adopting the technical scheme of the application, four motors are arranged to independently drive four wheels, and the four motors are adopted, so that the in-situ steering function can be realized through the control of the torque and the rotating speed of the motors, the steering devices such as a steering wheel and a steering gear are not relied on, the turning radius is greatly reduced, and the steering and turning convenience of the vehicle is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 shows a schematic structural view of a first embodiment of a four-drive force system according to the present application;
fig. 2 shows a schematic structural view of a second embodiment of a four-drive force system according to the present application;
fig. 3 shows a schematic structural view of a third embodiment of the four-drive force system according to the present application;
fig. 4 shows a schematic structural view of a fourth embodiment of a four-drive force system according to the present application;
fig. 5 shows a flow chart of a first embodiment of a control method of a vehicle according to the application;
fig. 6 shows a flow chart of a second embodiment of a control method of a vehicle according to the application;
FIG. 7 shows a quadrant view of a motor of a vehicle in a steer-in-place mode according to the present application;
fig. 8 shows a schematic view of a clockwise in-situ steering structure of the four-drive force system according to the present application;
fig. 9 shows a schematic diagram of a counterclockwise in-situ steering structure of the four-drive force system according to the present application.
Wherein the above figures include the following reference numerals:
1. a first gear pair; 2. a second gear pair; 3. a third gear pair; 4. a fourth gear pair; 5. a fifth gear pair; 6. a sixth gear pair; 7. a seventh gear pair; 8. an eighth gear pair; 9. a ninth gear pair; 10. a tenth gear pair; 11. an eleventh gear pair; 12. a twelfth gear pair;
21. a first disconnecting means; 22. a second disconnecting means; 23. a third disconnect device; 24. a fourth disconnecting means;
41. a first motor; 42. a second motor; 43. a third motor; 44. and a fourth motor.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art, that in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and that identical reference numerals are used to designate identical devices, and thus descriptions thereof will be omitted.
Referring to fig. 1 to 9, a four-drive power system, a vehicle, and a control method of the vehicle are provided according to an embodiment of the present application.
Specifically, as shown in fig. 1, a four-drive force system includes: four motors for driving front wheels and rear wheels of the vehicle, respectively; the four transmission mechanisms are respectively connected with the four motors; the front wheels comprise right front wheels and left front wheels, the rear wheels comprise right rear wheels and left rear wheels, the four motors comprise a first motor 41, a second motor 42, a third motor 43 and a fourth motor 44, and the first motor 41, the second motor 42, the third motor 43 and the fourth motor 44 are respectively used for driving the right front wheels, the left front wheels, the right rear wheels and the left rear wheels; the four transmission mechanisms comprise a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism, the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively connected with a first motor 41, a second motor 42, a third motor 43 and a fourth motor 44, the first transmission mechanism comprises a first gear pair 1, a second gear pair 2 and a third gear pair 3, the first gear pair 1 is connected with the first motor 41 through a transmission shaft, the second gear pair 2 is connected with the first gear pair 1, the third gear pair 3 is connected with the second gear pair 2 through a transmission shaft, and the second gear pair 2 is positioned between a right front wheel and the first gear pair 1.
In this embodiment, through setting up four motors and independently driving four wheels, adopt four motors, through the control of motor torque and rotational speed, can realize the in situ and turn to the function, do not rely on steering device such as steering wheel and steering gear, reduce turning radius by a wide margin, promote the vehicle and turn around the convenience.
Further, the second transmission mechanism comprises a fourth gear pair 4, a fifth gear pair 5 and a sixth gear pair 6, the fourth gear pair 4 is connected with the second motor 42 through a transmission shaft, the fifth gear pair 5 is connected with the fourth gear pair 4, the sixth gear pair 6 is connected with the fifth gear pair 5 through a transmission shaft, the fourth gear pair 4 is coaxially arranged with the first gear pair 1, and the fifth gear pair 5 is positioned between the left front wheel and the fourth gear pair 4; the third transmission mechanism comprises a seventh gear pair 7, an eighth gear pair 8 and a ninth gear pair 9, the seventh gear pair 7 is connected with the third motor 43 through a transmission shaft, the eighth gear pair 8 is connected with the seventh gear pair 7, the ninth gear pair 9 is connected with the eighth gear pair 8 through a transmission shaft, and the eighth gear pair 8 is positioned between the right rear wheel and the seventh gear pair 7; the fourth transmission mechanism includes a tenth gear pair 10, an eleventh gear pair 11, a twelfth gear pair 12, the tenth gear pair 10 being connected to the fourth motor 44 through a transmission shaft, the eleventh gear pair 11 being connected to the tenth gear pair 10, the twelfth gear pair 12 being connected to the eleventh gear pair 11 through a transmission shaft, the tenth gear pair 10 being coaxially disposed with the seventh gear pair 7, and the eleventh gear pair 11 being located between the left rear wheel and the tenth gear pair 10.
Further, the four-drive force system further includes a disconnecting device connected to the transmission mechanism, the disconnecting device being configured to disconnect torque transmitted between the transmission mechanism and at least one of the front wheel and the rear wheel, or the disconnecting device being configured to disconnect torque transmitted between the transmission mechanism and the front wheel or the rear wheel. Through being connected four motors respectively with four drive mechanism, set up disconnect device and drive mechanism and be connected, adopted disconnected four motor power system, four motor power is strong, is in the combined state when disconnect device, and four motors all produce the drive, can solve the problem that single motor system power is not enough, is in the separation state when disconnect device, at two motor during operation, disconnect two other motors, can reduce resistance loss, promotes economic nature.
As shown in fig. 1, 2, 3 and 4, the disconnecting means includes a first disconnecting means 21 and a second disconnecting means 22, the first disconnecting means 21 is engaged with one gear of the third gear pair 3 through a first gear, the second disconnecting means 22 is engaged with one gear of the sixth gear pair 6 through a second gear, or the first disconnecting means 21 is engaged with one gear of the ninth gear pair 9 through a third gear, and the second disconnecting means 22 is engaged with one gear of the twelfth gear pair 12 through a fourth gear. The disconnecting means further comprise third disconnecting means 23, fourth disconnecting means 24, the third disconnecting means 23 being in meshed connection with one gear of the third gear pair 3 via a first gear, the fourth disconnecting means 24 being in meshed connection with one gear of the sixth gear pair 6 via a second gear, and the first disconnecting means 21 being in meshed connection with one gear of the ninth gear pair 9 via a third gear, the second disconnecting means 22 being in meshed connection with one gear of the twelfth gear pair 12 via a fourth gear. Specifically, the third opening means 23 and the fourth opening means 24 are used only when the first opening means 21 and the second opening means 22 fail and the opening cannot be performed, and when one of the first opening means 21 and the second opening means 22 fails, i.e., the first opening means 21 and the second opening means 22 remain in a normally combined state, the first opening means 21 and the second opening means 22 are not controlled any more, and the third opening means 23 and the fourth opening means 24 are activated, the structure and the function of fig. 4 are completely equivalent to those of fig. 2.
According to another specific embodiment of the present application, there is provided a vehicle including a four-drive force system, which is the four-drive force system of the above embodiment.
As shown in fig. 5, according to another embodiment of the present application, there is provided a control method of a vehicle, including: receiving a request instruction, wherein the request instruction is used for controlling the vehicle to switch between a running mode and an in-situ steering mode, and the running mode comprises a sport mode, a comfort mode and an economic mode; the vehicle is controlled to execute the switching operation based on the request instruction. The default mode is a driving mode, when a user manually activates a steering switch (steer switch=1), and all four motors have no fault (motor fault=0), and the vehicle speed is smaller than a certain value (V < Vtar), wherein the certain value is a calibrated quantity, and is usually not greater than 5km/h, preferably 1km/h, and the vehicle mode enters the steering switch from the driving mode; after the in-situ steering mode, if the user turns off the in-situ steering switch (steer switch=0) or one of the four motors reports a motor failure (motor fault=1), the in-situ steering mode is exited and the vehicle running mode is entered. The application adopts four motors, can realize the in-situ steering function through controlling the torque and the rotating speed of the motors, does not depend on steering devices such as steering wheels, steering devices and the like, greatly reduces the turning radius and improves the steering and turning convenience of vehicles.
Further, controlling the vehicle to switch between the travel mode and the in-situ steering mode includes: during the control of the vehicle switching between the running mode and the in-situ steering mode, the torques of the first motor 41, the second motor 42, the third motor 43, and the fourth motor 44 are gradually reduced to 0, and the first disconnecting device 21 and the second disconnecting device 22 are both in the engaged state. Specifically, the torque of the four motors is gradually reduced to 0, so that the vehicle starts a mode after finishing one mode, the disconnection devices are all in a combined state, the four motors can independently drive the four wheels to move, and the dynamic property of the four motors is stronger. When the vehicle is controlled to switch from the running mode to the in-situ steering mode, the brake master cylinder pressure is gradually increased to a certain value until the wheel speed is gradually reduced to 0.
Further, the control method includes: controlling the vehicle to perform a steering-in-place mode, wherein the steering-in-place mode includes a clockwise steering-in-place mode and a counterclockwise steering-in-place mode, and the controlling the vehicle to perform the clockwise steering-in-place mode includes controlling the rotation speeds of the first motor 41 and the third motor 43 to be negative, the torque to be negative, the rotation speeds of the second motor 42 and the fourth motor 44 to be positive, and the torque to be positive, and both the first disconnecting device 21 and the second disconnecting device 22 are in a combined state; controlling the vehicle to perform the counterclockwise in-situ steering mode includes controlling the rotational speeds of the first motor 41 and the third motor 43 to be positive, the torque to be positive, the rotational speeds of the second motor 42 and the fourth motor 44 to be negative, and the torque to be negative, both the first disconnect device 21 and the second disconnect device 22 being in a coupled state. The positive and negative of the motor rotation speed indicates the motor rotation direction, when the motor rotation speed is positive, the motor rotation forward direction is indicated, when the motor rotation speed is negative, the motor rotation reverse direction is indicated, when the motor torque is positive, the motor rotation forward direction is indicated, and when the motor rotation speed is negative, the motor rotation reverse direction is indicated.
As shown in fig. 7, in the clockwise in-situ steering mode, the rotation speeds of the first motor 41 and the third motor 43 are negative, the torque is negative, the operation is in the third quadrant, the first motor 41 and the third motor 43 drive the front right wheel and the rear right wheel to accelerate and retreat, the rotation speeds of the second motor 42 and the fourth motor 44 are positive, the torque is positive, and the operation is in the first quadrant, and the second motor 42 and the fourth motor 44 drive the front left wheel and the rear left wheel to accelerate and retreat. In the counterclockwise in-situ steering mode, the rotation speed of the first motor 41 and the third motor 43 are positive, the torque is positive, the first motor 41 and the third motor 43 work in the first quadrant, the first motor 41 and the third motor 43 drive the front right wheel and the rear right wheel to accelerate and advance, the second motor 42 and the fourth motor 44 work in the third quadrant, the torque is negative, and the second motor 42 and the fourth motor 44 drive the front left wheel and the rear left wheel to accelerate and retreat. Wherein the specific torque magnitude of each motor is related to accelerator pedal opening, and specifically see table 2 below, the brake master cylinder pressure is dependent upon the driver brake pedal travel.
Specifically, in the in-situ steering mode, the method is divided into instantaneous needle in-situ steering and anticlockwise in-situ steering, the two modes are controlled by a manual switch of a driver, when the driver motor turns the operation button clockwise in-situ, the in-situ steering mode is entered, when the driver clicks the anticlockwise in-situ steering operation button, the anticlockwise in-situ steering mode is entered, if the driver misoperates and presses two buttons simultaneously, the instrument prompts that the driver does not press the two buttons simultaneously, and meanwhile, the in-situ steering mode is not responded, and the in-situ running mode is maintained until the driver presses the in-situ steering button again.
When the vehicle turns clockwise in situ, the first motor 41 and the third motor 43 output negative torque, the second motor 42 and the fourth motor 44 output positive torque, the right front wheel and the right rear wheel move backwards in the ground reaction force direction, the left front wheel and the left rear wheel move forwards in the ground reaction force direction, as shown in fig. 8, the whole vehicle receives a clockwise moment of rotation of the ground, when the moment is larger than the friction moment of the ground to the tire, the vehicle can rotate clockwise, the turning and turning functions are realized, compared with the traditional turning device, the turning radius can be theoretically 0, and the turning flexibility and convenience are greatly improved. Similarly, when the vehicle turns counterclockwise, the first motor 41 and the third motor 43 output positive torque, the second motor 42 and the fourth motor 44 output negative torque, the front right wheel and the rear right wheel move forward in the direction of the ground reaction force, and the front left wheel and the rear left wheel move backward in the direction of the ground reaction force, as shown in fig. 9, the whole vehicle receives a moment of counterclockwise rotation of the ground, and when the moment is larger than the friction moment of the ground against the tire, the vehicle can rotate counterclockwise, thereby realizing the turning and turning functions.
Further, the control method of the vehicle includes: the vehicle is controlled to switch from one of the sport mode, the economy mode, and the comfort mode to the other mode, or the vehicle is controlled to switch from one of the sport mode, the economy mode, the comfort mode, and the in-situ steering mode to the other mode.
The driving modes mainly comprise a sport mode, an economy mode and a comfort mode, and the switching strategies corresponding to the three modes are shown in fig. 6. A comfortable mode is entered by default, when a driver presses a sport mode switch (sport_mode_switch=1) and the battery SOC is higher than a certain value (SOC > soc_sport_target), the sport mode is entered, and in the sport mode, when the driver presses the comfort mode switch (comfort_mode_switch=1), the comfortable mode is entered; in the comfort mode, when the driver presses the economy mode switch (eco_mode_switch=1) or the battery power is lower than a certain value (SOC < soc_eco_target), the economy mode is entered, and in the economy mode, when the driver presses the comfort mode switch and the battery power is higher than a certain value (SOC > soc_eco_target+5%), the comfort mode is entered; in economy mode, if the driver presses the economy mode switch (sport_mode_switch=1) and the battery SOC is higher than a certain value (SOC > soc_sport_target), the economy mode is entered, if the driver presses the economy mode switch (eco_mode_switch=1) or the battery SOC is lower than a certain value (SOC < soc_eco_target), the soc_sport_target > soc_eco_target is generally defined as high SOC, the preferred range (50% -80%), the specific calibratable, the soc_eco_target is generally defined as low SOC, the preferred range (10% -30%), the specific calibratable.
Further, the control method of the vehicle includes: controlling the vehicle to perform a sport mode includes: controlling the first opening device 21 and the second opening device 22 to be in a combined state; controlling the vehicle to perform the economy mode includes: controlling the first opening device 21 and the second opening device 22 to be in a separated state; controlling the vehicle to perform a comfort mode, comprising: receiving a control instruction, wherein the control instruction is used for controlling the vehicle to execute a comfort mode; acquiring the required torque information of the motor based on the control instruction; the states of the first and second disconnecting devices 21, 22 are controlled based on the required torque information. Specifically, in the sport mode, the comfort mode and the economy mode, the torque of the first motor 41, the torque of the second motor 42, the torque of the third motor 43 and the torque of the fourth motor 44 are all the torques of the first motor, the torque map required by the driver is calibrated according to the accelerator pedal and the vehicle speed of the driver, the specific method is a common technology in the field, the total torque required by the wheel end is obtained by looking up a table according to the current vehicle speed and the opening degree of the accelerator pedal, and the required torque of each motor of the four motors is obtained by dividing the total torque by the speed ratio and then evenly distributing the total torque to the four motors. The master cylinder pressure is determined based on the brake pedal switch and travel, particularly in accordance with a common technique in the art.
The control method of the first and second disconnecting devices 21, 22 in the comfort mode of the vehicle is as follows:
firstly, calibrating a driver required torque map according to a driver accelerator pedal and a vehicle speed, wherein the specific method is a common technology in the field, obtaining a wheel end required total torque Tdmd according to a current vehicle speed and a current accelerator pedal opening degree by looking up a table, and dividing the wheel end required total torque Tdmd by a speed ratio i_gear to obtain the required torque of each of four motors.
If it isThe disconnection means remain disconnected, if the driver demand torque continues to increase, until +.>The disconnection means are changed from disconnected to engaged when the driver demand torque gradually decreases until +.>The disconnection means is changed from coupling to disconnection. />For the standard amount, 100 to 300Nm is set.
The process of the disconnection device from disconnection to combination control is as follows:
taking the first disconnecting device 21 in fig. 1 as an example, the vehicle controller VCU receives the rotation speed signal of the input/output end reported by the sensor of the first disconnecting device 21, the output end of the first disconnecting device 21 is connected with the half axle so as to be connected to the wheel end, the input end of the first disconnecting device 21 is connected with the first motor 41 through the speed reducing mechanism, and in the disconnected state, the vehicle controller VCU performs the speed regulation control of the first motor 41 by sending the rotation speed control command to the first motor 41, so that the rotation speed difference of the input/output end of the disconnecting device is gradually reduced, and when |n Input device -n Output of When the delta n is smaller than or equal to the delta n, the whole vehicle controller VCU sends a combination command to the disconnecting device, the disconnecting device executes the command to perform combination operation, and the delta n is a standard quantity, and the specific value can be calibrated.
The control procedure for the disconnection device to be turned off by the combination is as follows:
taking the first disconnecting device 21 in fig. 1 as an example, when the vehicle controller VCU recognizes that the first disconnecting device 21 needs to be disconnected, a torque reducing command is sent to the first motor controller MCU1, the MCU1 controls the first motor to reduce torque at the maximum speed, the torque gradually becomes 0, and when the first motor torque is reduced to a certain degree T 1 ≤T cal And when the vehicle control unit VCU sends a disconnection command to the disconnection device, and the disconnection operation is executed. T (T) cal The calibration amount is specifically calibrated.
TABLE 1 correspondence between motor positive torque and accelerator pedal opening
Tmax_positive described in Table 1 is the maximum output positive torque of a single motor, the motor output torque and accelerator pedal opening exhibit a linear relationship, the four motors are identical, and the maximum output positive torque is identical
TABLE 2 correspondence between motor negative torque and accelerator pedal opening
Tmax_negtive described in table 2 is the maximum output negative torque of a single motor, the motor output torque and the accelerator pedal opening degree show a linear relationship, and the four motors are identical, and the maximum output negative torque is identical.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be oriented 90 degrees or at other orientations and the spatially relative descriptors used herein interpreted accordingly.
In addition to the foregoing, references in the specification to "one embodiment," "another embodiment," "an embodiment," etc., indicate that the particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application, as generally described. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is intended that such feature, structure, or characteristic be implemented within the scope of the application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (11)

1. A four-drive force system, comprising:
four motors for driving front wheels and rear wheels of the vehicle, respectively;
the four transmission mechanisms are respectively connected with the four motors;
the front wheels comprise right front wheels and left front wheels, the rear wheels comprise right rear wheels and left rear wheels, the four motors comprise a first motor (41), a second motor (42), a third motor (43) and a fourth motor (44), and the first motor (41), the second motor (42), the third motor (43) and the fourth motor (44) are respectively used for driving the right front wheels, the left front wheels, the right rear wheels and the left rear wheels; the four transmission mechanisms comprise a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism, wherein the first transmission mechanism, the second transmission mechanism, the third transmission mechanism and the fourth transmission mechanism are respectively connected with a first motor (41), a second motor (42), a third motor (43) and a fourth motor (44), the first transmission mechanism comprises a first gear pair (1), a second gear pair (2) and a third gear pair (3), the first gear pair (1) is connected with the first motor (41) through a transmission shaft, the second gear pair (2) is connected with the first gear pair (1), the third gear pair (3) is connected with the second gear pair (2) through a transmission shaft, and the second gear pair (2) is positioned between a right front wheel and the first gear pair (1).
2. The four-drive force system according to claim 1, wherein,
the second transmission mechanism comprises a fourth gear pair (4), a fifth gear pair (5) and a sixth gear pair (6), wherein the fourth gear pair (4) is connected with a second motor (42) through a transmission shaft, the fifth gear pair (5) is connected with the fourth gear pair (4), the sixth gear pair (6) is connected with the fifth gear pair (5) through a transmission shaft, the fourth gear pair (4) and the first gear pair (1) are coaxially arranged, and the fifth gear pair (5) is positioned between the left front wheel and the fourth gear pair (4);
the third transmission mechanism comprises a seventh gear pair (7), an eighth gear pair (8) and a ninth gear pair (9), the seventh gear pair (7) is connected with a third motor (43) through a transmission shaft, the eighth gear pair (8) is connected with the seventh gear pair (7), the ninth gear pair (9) is connected with the eighth gear pair (8) through a transmission shaft, and the eighth gear pair (8) is positioned between the right rear wheel and the seventh gear pair (7);
the fourth transmission mechanism comprises a tenth gear pair (10), an eleventh gear pair (11) and a twelfth gear pair (12), wherein the tenth gear pair (10) is connected with the fourth motor (44) through a transmission shaft, the eleventh gear pair (11) is connected with the tenth gear pair (10), the twelfth gear pair (12) is connected with the eleventh gear pair (11) through the transmission shaft, the tenth gear pair (10) and the seventh gear pair (7) are coaxially arranged, and the eleventh gear pair (11) is positioned between the left rear wheel and the tenth gear pair (10).
3. A four-drive force system according to claim 2, further comprising a disconnect device connected to the transmission mechanism for disconnecting torque transmitted between the transmission mechanism and at least one of the front wheels and the rear wheels, or for disconnecting torque transmitted between the transmission mechanism and the front wheels or the rear wheels.
4. A four-drive force system according to claim 3, characterized in that the disconnecting means comprise a first disconnecting means (21), a second disconnecting means (22), the first disconnecting means (21) being in meshed connection with one of the third gear pair (3) via a first gear, the second disconnecting means (22) being in meshed connection with one of the sixth gear pair (6) via a second gear, or the first disconnecting means (21) being in meshed connection with one of the ninth gear pair (9) via a third gear, the second disconnecting means (22) being in meshed connection with one of the twelfth gear pair (12) via a fourth gear.
5. A four-drive force system according to claim 4, characterized in that the disconnecting means further comprise third disconnecting means (23), fourth disconnecting means (24), the third disconnecting means (23) being in meshed connection with one gear of the third gear pair (3) via a first gear, the fourth disconnecting means (24) being in meshed connection with one gear of the sixth gear pair (6) via a second gear, and the first disconnecting means (21) being in meshed connection with one gear of the ninth gear pair (9) via a third gear, the second disconnecting means (22) being in meshed connection with one gear of the twelfth gear pair (12) via a fourth gear.
6. A vehicle comprising a four-drive force system, characterized in that the four-drive force system is the four-drive force system according to any one of claims 1 to 5.
7. A control method of a vehicle, characterized by comprising:
receiving a request instruction, wherein the request instruction is used for controlling a vehicle to switch between a running mode and an in-situ steering mode, and the running mode comprises a sport mode, a comfort mode and an economic mode;
and controlling the vehicle to execute a switching operation based on the request instruction.
8. The control method of the vehicle according to claim 7, characterized by controlling the vehicle to switch between the running mode and the in-situ steering mode, comprising:
during the process of controlling the vehicle to switch between the driving mode and the in-situ steering mode, the torque of the first motor (41), the second motor (42), the third motor (43) and the fourth motor (44) is gradually reduced to 0, and the first disconnecting device (21) and the second disconnecting device (22) are both in a combined state.
9. The control method of the vehicle according to claim 8, characterized in that the control method includes:
controlling the vehicle to perform the steer-in-place mode, wherein the vehicle performing the steer-in-place mode comprises a clockwise steer-in-place mode and a counter-clockwise steer-in-place mode,
controlling the vehicle to execute the clockwise in-situ steering mode includes controlling the first motor (41) and the third motor (43) to be negative in rotation speed and negative in torque, the second motor (42) and the fourth motor (44) to be positive in rotation speed and positive in torque, and the first disconnecting device (21) and the second disconnecting device (22) are both in a combined state;
controlling the vehicle to execute the anticlockwise in-situ steering mode includes controlling the rotational speeds of the first motor (41) and the third motor (43) to be positive, the torque to be positive, the rotational speeds of the second motor (42) and the fourth motor (44) to be negative, and the torque to be negative, and the first disconnecting device (21) and the second disconnecting device (22) are both in a combined state.
10. The control method of the vehicle according to claim 7, characterized in that the control method of the vehicle includes:
controlling the vehicle to switch from one of the sport mode, the economy mode, and the comfort mode to another mode, or controlling the vehicle to switch from one of the sport mode, the economy mode, the comfort mode, and the in-situ steering mode to another mode.
11. The control method of the vehicle according to claim 8, characterized in that the control method of the vehicle includes:
controlling the vehicle to perform the sport mode includes: -controlling the first disconnecting means (21), the second disconnecting means (22) to be in a combined state;
controlling the vehicle to execute the economy mode includes: -controlling the first disconnecting means (21), the second disconnecting means (22) to be in a disconnected state;
controlling the vehicle to execute the comfort mode includes:
receiving a control instruction for controlling the vehicle to execute the comfort mode;
acquiring the required torque information of the motor based on the control instruction;
-controlling the state of the first disconnecting means (21), the second disconnecting means (22) based on the required torque information.
CN202310713491.3A 2023-06-15 2023-06-15 Four-drive force system, vehicle, and control method for vehicle Active CN116749743B (en)

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CN115140157A (en) * 2021-06-28 2022-10-04 比亚迪股份有限公司 Steering control method and device for vehicle, storage medium and vehicle
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CN107776663A (en) * 2016-08-31 2018-03-09 比亚迪股份有限公司 Vehicle pivot steering system and vehicle and vehicle pivot stud control method
CN109835414A (en) * 2017-11-29 2019-06-04 长城汽车股份有限公司 Rotating direction control method, device, vehicle and storage medium
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