CN1475390A - Four wheel electronic differential speed steering control system - Google Patents

Four wheel electronic differential speed steering control system Download PDF

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Publication number
CN1475390A
CN1475390A CNA021364982A CN02136498A CN1475390A CN 1475390 A CN1475390 A CN 1475390A CN A021364982 A CNA021364982 A CN A021364982A CN 02136498 A CN02136498 A CN 02136498A CN 1475390 A CN1475390 A CN 1475390A
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CN
China
Prior art keywords
wheel
rotating speed
speed
steering
target
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Application number
CNA021364982A
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Chinese (zh)
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CN1227130C (en
Inventor
钢 万
万钢
陈辛波
余卓平
沈勇
Original Assignee
同济大学新能源汽车工程中心
万钢
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Application filed by 同济大学新能源汽车工程中心, 万钢 filed Critical 同济大学新能源汽车工程中心
Priority to CN 02136498 priority Critical patent/CN1227130C/en
Publication of CN1475390A publication Critical patent/CN1475390A/en
Application granted granted Critical
Publication of CN1227130C publication Critical patent/CN1227130C/en

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Abstract

An electronic differential steering control system for 4 wheels is composed of motors, steering mechanism, braking unit, accelerating switch, motor conrollers, angle displacement sensors, rotation speed sensors, and CPU which can acquire all signals, calculating the target rotation speed of each wheel, and issuring relative instruction to regulate the rotation speed of each wheel. It can ensure the pure rolling between wheel and ground to decrease friction and elongate service life of each part.

Description

Four wheel electronic differential speed steering control system
Technical field
The invention belongs to a kind of motor turning control system, especially a kind of four wheel electronic differential speed steering control system of electronlmobil.
Technical background
At present, the power of orthodox car is not directly to arrive wheel with its initial state transfer, but the effect of several like this devices of process power-transfer clutch-change-speed box-transmission shaft-diff-semiaxis just makes wheel drive, and this sets of transmission mechanism complex structure easily produces problems such as vibration, noise.
Four-wheel driving electric vehicle drives four wheels respectively by four wheel hub motors, and it has omitted the driving system of orthodox car, makes the structure of electronlmobil more succinct, available space increases; But because four vehicle wheel rotational speeds that wheel hub motor drives are identical, therefore when electronlmobil need turn to, the rotating speed that exists the part wheel is too fast or slow excessively, this can cause the motor turning difficulty, some wheel occurs and do relative translation gliding with ground, thereby increased wheel and ground-surface friction, quickened the wearing and tearing of wheel, even also can other parts of automobile be caused damage.
Summary of the invention
The technical issues that need to address of the present invention provide a kind of four wheel electronic differential speed steering control system, keep the pure rolling state when it can guarantee to travel between each wheel and ground, reduce wheel and ground-surface friction, prolong the service life of each parts of automobile.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of four wheel electronic differential speed steering control system, include motor, braking mechanism, steering hardware and acceleration electric switch, it also includes electric machine controller, angular-motion transducer, tachogen and central process unit, described electric machine controller, angular-motion transducer, tachogen, braking mechanism, steering hardware and acceleration electric switch are connected respectively to each corresponding port of central process unit, and this central process unit can be finished following operation:
1. to quicken electric switch, tachogen, angular-motion transducer and signal gather, determine the rotation speed n 1 of calibration wheel;
2. calculate rotating speed of target n2, n3 and the n4 of all the other each wheels, and calculate the difference of this rotating speed of target and actual speed;
3. calculate each wheel of control and realize the required voltage instruction of rotating speed of target;
4. the signal of braking mechanism is judged;
5. when no brake signal, send the correspondent voltage instruction to the electric machine controller of each wheel, adjust the rotating speed of each wheel; If brake signal is arranged, then voltage zero is controlled in output.
The formula of described calculating rotating speed of target n2, n3 and n4 is n 2 = ( L / sin β - a ) ( L / sin α + a ) n 1 , n 3 = ( L cot α + a ) ( L / sin α + a ) n 1 , n 4 = ( Lctgβ - a ) ( L / sin α + a ) n 1
Wherein L is a vehicle wheel base; α is an outside front wheel steering angle; β is inboard front wheel steering angle; A is the distance of wheel center elevation profile to the steering yoke bolt center, and n1 is the calibration rotating speed, and this wheel is an outside front-wheel, and what n2 was represented is the rotating speed of inboard front-wheel, and what n3 represented is the rotating speed of outside rear wheel, and what n4 represented is the rotating speed of inside rear wheel.
Described central process unit also is connected with LCD display and notebook PC.
Owing to taked above-mentioned scheme, the advantage that the present invention is compared with prior art had is:
Because the present invention utilizes central process unit to gather the signal of each sensor and on-vehicle parts, and calculate the corresponding rotating speed of target of each wheel, then by sending voltage instruction to electric machine controller, keep the pure rolling state between each wheel and ground when adjusting vehicle wheel rotational speed with satisfied travelling, thereby reduce wheel and ground-surface friction, prolong the service life of each parts of automobile.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail:
Fig. 1 is the revolution speed calculating schematic diagram of four wheel electronic differential speed steering control system of the present invention;
Fig. 2 is the structural representation of four wheel electronic differential speed steering control system of the present invention.
The specific embodiment
In order to guarantee to remain the pure rolling state between each wheel and the ground, kinematic relation as the four wheel drive among Fig. 1, preceding two-wheel steering (2 ws) is an example, derived the universal relation formula between each vehicle wheel rotational speed and the wheel turning angle, thereby established the rotation speed relation between each wheel under the different deflection angle conditions, n1 is the calibration rotating speed, and this wheel is an outside front-wheel, and what n2 was represented is the rotating speed of inboard front-wheel, what n3 represented is the rotating speed of outside rear wheel, and what n4 represented is the rotating speed of inside rear wheel.
Because in the automobile rotation process, the rotational angular velocity of its four wheels should equate, and rotating speed is proportional with its circumference radius of gyration, so n2/n1=R2/R1, thereby according to shown in Figure 1, draws following formula ctgα - ctgβ = K L sin α = L R Further draw n 2 = ( L / sin β - a ) ( L / sin α + a ) n 1 , n 3 = ( L cot α + a ) ( L / sin α + a ) n 1 , n 4 = ( Lctgβ - a ) ( L / sin α + a ) n 1 . Wherein, L is a vehicle wheel base; K is an automobile wheel track; α is an outside front wheel steering angle; β is inboard front wheel steering angle; A is that the wheel center elevation profile is to steering yoke bolt centre distance.
As shown in Figure 2, four wheel electronic differential speed steering control system of the present invention, form by motor 1, power supply, braking mechanism 7, steering hardware 8, acceleration electric switch 5, electric machine controller 2, angular-motion transducer 6, tachogen 3 and central process unit 4, described electric machine controller 2, angular-motion transducer 6, tachogen 3, braking mechanism 7, steering hardware 8 and acceleration electric switch 5 are connected respectively to central process unit 4 each corresponding port, and this central process unit 4 can be finished following operation:
1. to quicken electric switch, tachogen, angular-motion transducer and signal gather, determine the rotation speed n 1 of calibration wheel;
2. calculate rotating speed of target n2, n3 and the n4 of all the other each wheels, and calculate the difference of this rotating speed of target and actual speed;
3. the difference that 2. draws according to step draws each wheel of control and realizes the required voltage instruction of rotating speed of target;
4. the signal of braking mechanism is judged;
5. when no brake signal, send the correspondent voltage instruction to the electric machine controller of each wheel, adjust the rotating speed of each wheel; If brake signal is arranged, then voltage zero is controlled in output.
Described central process unit 4 is gone back LCD display and notebook PC, is used to show calculating process and modification or new control method more.
The present invention proposes to determine by the rotary speed measure value n1 of deflection angle α and calibration wheel rotating speed of target n2, n3 and the n4 of other wheel, calculate the difference of corresponding rotating speed of target and actual speed then, thereby draw each wheel of control and realize the required voltage instruction of rotating speed of target, send the four wheel electronic differential control that voltage instruction is realized rotating speed of target by central process unit to electric machine controller at last; Wherein, the actual speed n 1 of calibration wheel can not need to adjust by quickening the electric switch direct control.
The principle of work and the working process of four wheel electronic differential speed steering control system of the present invention are: first brake off, and system powers on, the central process unit initialization process; Step on subsequently and quicken electric switch generation vehicle speed signal, and obtain the calibration vehicle wheel rotational speed n1 of open loop control thus; Central process unit detects each sensor signal, calculates rotating speed of target n2, n3 and the n4 of all the other each wheels, and calculates the difference of this rotating speed of target and actual speed; According to the difference that draws, draw each wheel of control and realize the required voltage instruction of rotating speed of target; Signal to braking mechanism is judged, if brake signal is arranged, then voltage zero is controlled in output, when no brake signal, electric machine controller to each wheel sends the correspondent voltage instruction, adjust the rotating speed of each wheel, when electric automobile during traveling, central process unit detects tachogen, angular-motion transducer and each vehicle wheel rotational speed signal in real time, institute's image data is carried out the closed loop control computing, constantly adjust the rotating speed of wheel, keep the pure rolling state when guaranteeing to travel between each wheel and ground, reduce wheel and ground-surface friction, prolong the service life of each parts of automobile.
To the multiple-wheel drive electronlmobil, also can derive similar differential theoretical formula as stated above, constitute the multiple-wheel drive electronic differential control system.

Claims (3)

1, a kind of four wheel electronic differential speed steering control system, include motor (1), braking mechanism (7), steering hardware (8) and quicken electric switch (5), it is characterized in that: it also includes electric machine controller (2), angular-motion transducer (6), tachogen (3) and central process unit (4), described electric machine controller (2), angular-motion transducer (6), tachogen (3), braking mechanism (7), steering hardware (8) and acceleration electric switch (5) are connected respectively to each corresponding port of central process unit (4), and this central process unit (4) can be finished following operation:
1. to quicken electric switch, tachogen, angular-motion transducer and signal gather, determine the rotation speed n 1 of calibration wheel;
2. calculate rotating speed of target n2, n3 and the n4 of all the other each wheels, and calculate the difference of this rotating speed of target and actual speed;
3. the difference that 2. draws according to step draws each wheel of control and realizes the required voltage instruction of rotating speed of target;
4. the signal of braking mechanism is judged;
5. when no brake signal, send the correspondent voltage instruction to the electric machine controller of each wheel, adjust the rotating speed of each wheel; If brake signal is arranged, then voltage zero is controlled in output.
2, four wheel electronic differential speed steering control system according to claim 1 is characterized in that: the formula of described calculating rotating speed of target n2, n3 and n4 is n 2 = ( L / sin β - a ) ( L / sin α + a ) n 1 , n 3 = ( L cot α + a ) ( L / sin α + a ) n 1 , n 4 = ( Lctgβ - a ) ( L / sin α + a ) n 1
Wherein L is a vehicle wheel base; α is an outside front wheel steering angle; β is inboard front wheel steering angle; A is the distance of wheel center elevation profile to the steering yoke bolt center, and n1 is the calibration rotating speed, and this wheel is an outside front-wheel, and what n2 was represented is the rotating speed of inboard front-wheel, and what n3 represented is the rotating speed of outside rear wheel, and what n4 represented is the rotating speed of inside rear wheel.
3, four wheel electronic differential speed steering control system according to claim 1 is characterized in that: described central process unit (4) also is connected with LCD display and notebook PC.
CN 02136498 2002-08-14 2002-08-14 Four wheel electronic differential speed steering control system CN1227130C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 02136498 CN1227130C (en) 2002-08-14 2002-08-14 Four wheel electronic differential speed steering control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 02136498 CN1227130C (en) 2002-08-14 2002-08-14 Four wheel electronic differential speed steering control system

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CN1475390A true CN1475390A (en) 2004-02-18
CN1227130C CN1227130C (en) 2005-11-16

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100431896C (en) * 2004-04-16 2008-11-12 丰田自动车株式会社 Vehicle steering apparatus
CN100526116C (en) * 2005-12-17 2009-08-12 比亚迪股份有限公司 Four-wheel driving system and method for electric vehicle
CN101032963B (en) * 2006-03-07 2010-06-09 三菱自动车工业株式会社 Differential limiting control device for vehicle
CN101954859A (en) * 2010-03-26 2011-01-26 刘宗锋 Electronic differential system based on relative slip ratio control
CN101618733B (en) * 2009-08-06 2011-05-04 上海交通大学 Front wheel and rear wheel drive steering control system of automobile
CN102198802A (en) * 2011-03-21 2011-09-28 河南龙瑞新能源汽车有限公司 Four-wheel hub motor driving system for electric vehicle
CN101758854B (en) * 2010-01-22 2012-03-28 武汉理工大学 Electronic speed differential control system of an electric wheel drive vehicle
CN101380908B (en) * 2008-09-11 2012-05-16 枣庄学院 Self-adjusting electric speed differential
CN102656050A (en) * 2009-12-11 2012-09-05 Ntn株式会社 Control apparatus and control method for electrically driven vehicle
CN102673555A (en) * 2011-03-18 2012-09-19 现代摩比斯株式会社 Electric vehicle with sensing steering device and steering control method using the same
CN102092308B (en) * 2009-12-15 2013-01-09 财团法人工业技术研究院 Intelligent differential speed control method and device for multiple independent power wheels
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors
TWI421178B (en) * 2009-11-25 2014-01-01 Ind Tech Res Inst An intelligent differential control method for in-wheel hub motors and apparatus thereof
CN104192207A (en) * 2014-08-13 2014-12-10 济宁中科先进技术研究院有限公司 Electronic differential mechanism control system based on FPGA technology and having fault-tolerant capability and control method of electronic differential mechanism control system
CN106114617A (en) * 2016-08-30 2016-11-16 北京华力兴科技发展有限责任公司 Carry the rotating direction control method of car from walking and carry the steering control device of car from walking
CN106143263A (en) * 2016-08-30 2016-11-23 北京华力兴科技发展有限责任公司 Driving control system and container and/or vehicle inspection carry car
CN107539164A (en) * 2016-06-29 2018-01-05 比亚迪股份有限公司 Automobile and its Electronic differential control method and control device
CN108466570A (en) * 2018-04-04 2018-08-31 武汉理工大学 A kind of electric vehicle E-Diff
CN110304139A (en) * 2019-07-04 2019-10-08 北京华力兴科技发展有限责任公司 Wheel steering control method, control device, more wheel walking arrangements and storage medium

Families Citing this family (1)

* Cited by examiner, † Cited by third party
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CN102717726B (en) * 2012-06-26 2015-04-22 上海三一重机有限公司 Electronic differential control method and electrically driven mine car using same

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100431896C (en) * 2004-04-16 2008-11-12 丰田自动车株式会社 Vehicle steering apparatus
CN100526116C (en) * 2005-12-17 2009-08-12 比亚迪股份有限公司 Four-wheel driving system and method for electric vehicle
CN101032963B (en) * 2006-03-07 2010-06-09 三菱自动车工业株式会社 Differential limiting control device for vehicle
CN101380908B (en) * 2008-09-11 2012-05-16 枣庄学院 Self-adjusting electric speed differential
CN101618733B (en) * 2009-08-06 2011-05-04 上海交通大学 Front wheel and rear wheel drive steering control system of automobile
TWI421178B (en) * 2009-11-25 2014-01-01 Ind Tech Res Inst An intelligent differential control method for in-wheel hub motors and apparatus thereof
US9211807B2 (en) 2009-12-11 2015-12-15 Ntn Corporation Control apparatus and control method for electrically driven vehicle
CN102656050A (en) * 2009-12-11 2012-09-05 Ntn株式会社 Control apparatus and control method for electrically driven vehicle
CN102656050B (en) * 2009-12-11 2015-04-01 Ntn株式会社 Control apparatus and control method for electrically driven vehicle
CN102092308B (en) * 2009-12-15 2013-01-09 财团法人工业技术研究院 Intelligent differential speed control method and device for multiple independent power wheels
CN101758854B (en) * 2010-01-22 2012-03-28 武汉理工大学 Electronic speed differential control system of an electric wheel drive vehicle
CN101954859B (en) * 2010-03-26 2013-02-20 枣庄学院 Electronic differential system based on relative slip ratio control
CN101954859A (en) * 2010-03-26 2011-01-26 刘宗锋 Electronic differential system based on relative slip ratio control
CN102673555A (en) * 2011-03-18 2012-09-19 现代摩比斯株式会社 Electric vehicle with sensing steering device and steering control method using the same
CN102673555B (en) * 2011-03-18 2016-10-05 现代摩比斯株式会社 There is the electric automobile of sensing transfer and utilize its rotating direction control method
CN102198802A (en) * 2011-03-21 2011-09-28 河南龙瑞新能源汽车有限公司 Four-wheel hub motor driving system for electric vehicle
CN103112367B (en) * 2013-03-01 2016-01-06 西南大学 A kind of trailing wheel is the driving control system of the electronlmobil that individual motor drives
CN103112367A (en) * 2013-03-01 2013-05-22 西南大学 Driving control system of electric automobile with rear wheels driven by independent motors
CN104192207A (en) * 2014-08-13 2014-12-10 济宁中科先进技术研究院有限公司 Electronic differential mechanism control system based on FPGA technology and having fault-tolerant capability and control method of electronic differential mechanism control system
CN107539164B (en) * 2016-06-29 2020-05-19 比亚迪股份有限公司 Automobile and electronic differential control method and control device thereof
CN107539164A (en) * 2016-06-29 2018-01-05 比亚迪股份有限公司 Automobile and its Electronic differential control method and control device
CN106143263A (en) * 2016-08-30 2016-11-23 北京华力兴科技发展有限责任公司 Driving control system and container and/or vehicle inspection carry car
CN106143263B (en) * 2016-08-30 2019-11-22 北京华力兴科技发展有限责任公司 Driving control system and container and/or vehicle inspection carrier vehicle
CN106114617A (en) * 2016-08-30 2016-11-16 北京华力兴科技发展有限责任公司 Carry the rotating direction control method of car from walking and carry the steering control device of car from walking
CN108466570A (en) * 2018-04-04 2018-08-31 武汉理工大学 A kind of electric vehicle E-Diff
CN110304139A (en) * 2019-07-04 2019-10-08 北京华力兴科技发展有限责任公司 Wheel steering control method, control device, more wheel walking arrangements and storage medium

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