CN1861445A

CN1861445A - Ac drive system for electrically operated vehicle

Info

Publication number: CN1861445A
Application number: CNA2005101191647A
Authority: CN
Inventors: 沃伦·克拉克; 小奥利弗·亚历山大·贝尔
Original assignee: Trextron Inc
Current assignee: Tekeste Ron Rod Ai Lanzhou Ltd.; Textron Innovations Inc
Priority date: 2004-10-28
Filing date: 2005-10-28
Publication date: 2006-11-15
Anticipated expiration: 2025-10-28
Also published as: CA2525269C; CA2525269A1; CN1861445B

Abstract

A drive system is provided for a utility vehicle and includes an alternating-current (AC) motor for providing a drive torque. An AC motor controller receives a battery voltage signal, throttle pedal position signal, brake pedal position signal, key switch signal, forward/neutral/reverse (FNR) signal, and run/tow signal indicative of the utility vehicle being configured to be driven and being configured to be towed. The AC motor controller generates an AC drive signal for the AC motor, wherein the AC drive signal is based on the battery voltage signal, throttle pedal position signal, brake pedal position signal, key switch signal, FNR signal, and run/tow signal.

Description

The AC Driving System that is used for electronlmobil

The cross reference of related application

The application requires in the U.S. Provisional Application No.60/623 of application on October 28th, 2004,149 preceence.The specification sheets of above-mentioned application in full here as a reference.

Technical field

The application relates generally to a kind of brushless ac (AC) drive system that is used for providing power to the drive wheel of elec. vehicle.

Background technology

Description in this part only provides the background technical information relevant with the application, does not constitute prior art.

All electrical motors for example exchange (AC) electrical motor or direct current (DC) electrical motor, and its principle of work is identical, and promptly approximating two magnetic fields trend towards alignment.A kind of method of induced field is that electric current is passed through coil.If alive two coils are closer to each other, the magnetic field that is produced just trends towards mutual alignment so separately.If two coils each other in angle be 0 to 180 degree, so this trend will produce torque between two coils.A kind of structure of electrical motor is that in these coils is mechanically anchored on the axle, and another is fixed on the shell.The torque that produces in these coils can change and change along with the electric current that passes coil.

The AC electrical motor can comprise the electrical motor of a lot of classes, for example single phase motor/multiphase motor, universal motor, servomotor torque constant, asynchronous motor, synchronous motor and gear motor.The magnetic field that the AC electrical motor is produced can produce by electromagnet, and the AC voltage of supplying with to electromagnet is identical with the voltage of motor winding.The coil that produces magnetic field is called " excitation coil " usually, and revolvable coil and solid core are called armature coil.

The AC electrical motor has a lot of advantages that surpass the DC electrical motor.The DC electrical motor of some kinds comprises a device that is called commutator.Commutator can guarantee angle of total maintenance between two coils, when the motor reel rotation surpasses 180 degree, just can produce torque continuously like this.Commutator cuts off electric current from armature coil, and at armature coil be connected to angle between the excitation coil on the motor casing and electric current reconnected on second armature coil before reaching zero degree.

The end of each armature coil all has the contactless switch that is called commutator bar.The contactless switch made from carbon is called as brush, is fixed on the motor casing.The DC electrical motor that has commutator and brush is called " brush " DC electrical motor usually.Along with the rotation of DC motor reel, brush just separates with one group of commutator bar, and contacts with next group commutator bar.This process keeps a relative constant angles between armature coil and excitation coil, so just can keep a constant torque in DC electrical motor rotary course.

The AC electrical motor of some kinds, for example brushless AC electrical motor does not use brush or commutator bar.Brush DC electrical motor wants periodical maintenance to come cross-check sum to change the worn-down brush usually, and will may produce the carbon dust of spark hazard from each motor surfaces cleaning.Therefore, replace brush DC electrical motor with brushless AC electrical motor and can eliminate and safeguard and the relevant problem of wearing and tearing, and the problem of the spark that can eliminate danger.The AC electrical motor can be highly suitable for constant speed drive.This is that the motor speed of AC electrical motor is to be determined by the frequency that is applied to the AC voltage on the Terminal of motor because different with the DC electrical motor.

Existing two kinds of distinct AC electrical motors: AC synchronous motor and AC asynchronous motor.Synchronous motor is included in a series of windings in the stationary part, and this stationary part has simple rotary area.Electric current produces torque by coil in coil.Because electric current is an alternation, so electrical motor usually just can be according to sinusoidal wave frequency and smooth operation.This just makes all has constant, unmodified speed from zero load to fully loaded, and can not skid.

The AC asynchronous motor is more common a kind of usually in two kinds of AC electrical motors.AC asynchronous motor use electric current causes the rotation in coil, rather than rotation directly is provided.Therefore, the AC asynchronous motor uses the wire loop of short circuit on rotating armature, obtains motor torque in the electric current that comes to produce from these wire loops by the magnetic field that changes in excitation coil.

Traditional direct motor drive vehicle, for example golf cart and multipurpose small vehicle all are that DC drives, and all are to adopt bypass type DC drive system to come energize basically.This bypass type DC electrical motor has been substituted a lot of old money strings and has come to provide electric energy to the vehicle of for example golf cart around the DC electrical motor.Bypass type DC electrical motor has armature and the excitation winding that is parallel-connected on the total voltage source, and this structure has greater flexibility than string around the DC electrical motor at the control motor aspect of performance.But also there is the problem of maintenance and potential spark hazard in such bypass type electrical motor.Up to now, brushless AC drive system can't be used to provide and drive for example prime power of the wheel of the vehicle of golf cart.

By following explanation, further application will become more obvious.Be understandable that, illustrate and specific embodiment only is for purposes of illustration, rather than will limit the application's scope.

Summary of the invention

Provide a kind of drive system that is used for all-service vehicle in a first aspect of the present invention, having comprised:

Be used to provide the interchange AC electrical motor of driving torque;

The AC motor controller, be used to receive battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, advance/neutral/reversing FNR signal and represent that this all-service vehicle is driven or trailed travelling/traction signal, wherein this AC motor controller produces the AC drive signal that is used for this AC electrical motor; With

Wherein this AC drive signal be based on this battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/traction signal produces.

Provide a kind of operation to be used for the method for the drive system of all-service vehicle in a second aspect of the present invention, having comprised:

Driving torque is provided;

Receive battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, advance/neutral/reversing FNR signal and represent that this all-service vehicle is driven or trailed travelling/traction signal;

Based on this battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal with travel/traction signal produces the AC drive signal; With

Convert this AC drive signal to be used to advance this all-service vehicle driving torque.

Provide a kind of drive system that is used to comprise the all-service vehicle of a plurality of wheels in a third aspect of the present invention, having comprised:

A plurality of interchange AC electrical motors, each electrical motor provide driving torque for a relevant wheel;

The AC motor controller, be used to receive battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, advance/neutral/reversing FNR signal and represent that this all-service vehicle is driven or trailed travelling/traction signal, wherein this AC motor controller produces a plurality of AC drive signals that are used for a plurality of relevant AC electrical motors;

Provide a kind of all-service vehicle in a fourth aspect of the present invention, having comprised:

The wheel of a plurality of these vehicles of support, at least one wheel is a drive wheel;

Exchange the AC electrical motor, be used for providing driving torque to this drive wheel;

The AC motor controller is used to receive a plurality of inputs, and this motor controller produces the AC drive signal that is used for this AC electrical motor;

Wherein this AC drive signal is according to battery voltage signal, throttle control position signal and brake pedal position signal produce at least.

Provide a kind of operation to be used for the method for the drive system of all-service vehicle in a fifth aspect of the present invention, having comprised:

Driving torque is provided;

Receive battery voltage signal, throttle control position signal, brake pedal position signal, and the key switch signal, advance/neutral/reversing FNR signal and represent that this all-service vehicle is driven or trailed travelling/traction signal at least one;

Produce the AC drive signal according to the signal that is received; With

Provide a kind of drive system that is used to comprise the all-service vehicle of a plurality of wheels in a sixth aspect of the present invention, having comprised:

The AC motor controller, be used to receive battery voltage signal, throttle control position signal, brake pedal position signal, and the key switch signal, advance/neutral/reversing FNR signal and represent that this all-service vehicle is driven or trailed travelling/traction signal at least one, wherein this AC motor controller produces a plurality of AC drive signals that are used for a plurality of relevant AC electrical motors; With

Provide a kind of operation to be used for the method for the drive system of all-service vehicle in a seventh aspect of the present invention, having comprised:

Driving torque is provided;

Based on this battery voltage signal, throttle control position signal, brake pedal position signal, and in key switch signal, FNR signal and travel/traction signal at least one produces AC drive signal; With

Description of drawings

Here shown accompanying drawing only is for illustrative purposes, rather than will limit the application's scope.In application documents, similarly parts represent that with similar Reference numeral this also only is for purposes of illustration, rather than will limit various embodiment.

Fig. 1 is the block diagram according to the AC drive system of various embodiment.

Fig. 2 is the block diagram according to the instrument carrier panel of an embodiment.

Fig. 3 shows the block diagram according to the structure of the CAN communication chip of various embodiment.

Fig. 4 shows the block diagram according to the front-wheel speed sensor of various embodiment.

Fig. 5 shows the block diagram according to many wheels among the various embodiment or all-wheel drive structure.

The specific embodiment

Fig. 1 is the block diagram according to a kind of AC drive system of various embodiment.Figure 1 illustrates AC drive system 100, it can comprise three-phase (3 φ) the AC electrical motor 110 of asynchronous motor for example or permanent magnet motor, the AC The driving motor control device 120 that also comprises coupling, this controller 120 are used for the elec. vehicle 190 of golf cart for example and/or multipurpose small vehicle.As described below, AC drive system 100 can provide tractive force, running braking function, and can be with the recover kinetic energy and the potential energy that changes into electro-motive force (EMF) form of vehicle 190.

With reference to Fig. 1, in response to motor controller 120, electrical motor 110 can provide prime power to come drive wheels 198, and by locking differential 194 and axle 196 prime power or haulage capacity is passed to trailing wheel 198 through axle 192.Electrical motor 110 is operably connected on the dynamo-electric brake 180, and dynamo-electric brake 180 is subjected to the control of motor controller 120 and/or electrical motor 110 by signal wire (SW) 185.In addition, the throttle-valve control that is used for throttle gate (acceleration pedal) 170 is according to through the signal of signal wire (SW) 126 from motor controller 120 receptions, is undertaken by throttle position sensor 175 and throttle gate start sensor 177.And AC drive system 100 also comprises running brake pedal 160, and this pedal 160 comes control brake according to the signal from motor controller 120 by electrical motor 110.Running brake pedal 160 mobile is to be detected by in the sensor one or two, and sensor produces the control signal that sends to motor controller 120 by order wire 122.Can comprise brake position sensor 163 and full stroke sensor 165 with brake pedal 160 relevant sensors, this will further specify below.

As shown in Figure 1, motor controller 120 in operation by direct connection or controller local area network (CAN) bus 145 and the AUI of being correlated with can with other external device (ED) of portable cell group 130, charger 140, external network 150 and for example reverse alarming sensor or one or more the linking to each other in the output unit 155.Work control and data exchange between motor controller 120, charger 140 and external network 150 will be described in detail below.

The AC system logic that is used for AC drive system 100 can comprise a series of driving input and drive output.What introduce below is that these system logics are to carry out in the intelligent apparatus of for example motor sensor 120 to the input of system logic with from the output of system logic.One of ordinary skill in the art will appreciate that input and output parameter except following or signal can be carried out by exemplary AC drive system.

Fig. 2 is the block diagram according to one of various embodiment exemplary instrument carrier panel.With reference to Fig. 2, suitable instrument carrier panel 200 can comprise key switch 220, advances, neutral and reversing (FNR) switch 230, low battery indicator 235, ampere-hour meter 240, LED 245, controller indicating device 248 and reverse alarming indicating device 250.Controller indicating device 248 can be indicated for example state of normal condition, warning or the like, perhaps indicates other parts of AC controller 120 or AC motor control system.LED 245 can be single led or a plurality of LED, can be configured to show suitable numeric error code or alphanumeric error code.Error code can include but are not limited to, with the approximate threshold value or the relevant error code of warning condition of AC electrical motor 110, motor controller 120, battery pack 130, running brake 160, dynamo-electric brake 180 etc.

Suitable travelling that provides in desired location/draw switch 210 can also be provided vehicle 190, and its operator by vehicle 190 is handled.The switch 210 that travels/draw can be positioned at the position of being convenient to draw on the vehicle 190, but should be the position that is not easy to handle this switch from operator's (or passenger) seat, to avoid in the cruising process of vehicle 190, having a mind to or by mistake opening switch 210.

When the switch 210 that travels/draw is selected as travelling, provide prime power to come powered vehicle 190 by motor controller 120 and electrical motor 110.When the switch 210 that travels/draw is converted into traction, give dynamo-electric brake 180 energising a period of times, this time enough starts dynamo-electric brake 180 and motor controller 120, this time can be for example 1 second, and dynamo-electric brake 180 can also provide a given pulse width modulation (PWM) percentum, can be 40% for example, keep dynamo-electric brake 180 subsequent workings.As will introducing more in detail here, this just makes that vehicle 190 can for example be about 4650RPM to equal or to be pulled less times greater than specified electromotor velocity on golf cart.When the switch 210 that travels/draw is in traction state, provide the traction mode of zero wheel torque to be activated.

Another kind of input to system logic can be to provide by the key switch 220 with ON/OFF switch position.Along with key switch 220 is set to open position, then driving the logic energy just can actuating motor controller 120, and energy can start dynamo-electric brake 180.Key switch 220 is set at the logic energy that off status just can stop motor controller 120, and no longer provides energy for dynamo-electric brake 180.

FNR switch 230 is set at forward travel state just can be started and drive the logic energy and select forward driving direction.Speed of advance can equal rated motor speed, perhaps equals the speed of a motor vehicle under the rated motor speed.FNR switch 230 is set at neutral, just can makes driving logic energy can't select to drive forwards direction or reverse drive direction, so just can make AC electrical motor 110 be in the idle mode of a constant relatively RPM (idling just).FNR switch 230 is set at reversing, just can starts driving logic energy and be chosen as the reverse drive direction.The sound of reversing warning also can be sent in this switch position.Inverse direction speed can be set at as required less than command speed, can be 60% of maximum motor speed for example, or is roughly the speed of a motor vehicle of 10MPH.

As shown in Figure 1, another kind of input to system logic can comprise throttle position sensor 175.Throttle position sensor 175 can be located on the signal wire (SW) 126 between acceleration pedal or throttle gate 170 and the motor controller 120, and can be configured to export aanalogvoltage, this aanalogvoltage can convert digital signal in the A/D converter of controller 120.This voltage can change between 0 to 5.0 volt according to the position or the amount of compression of throttle gate 170.In an exemplary configurations, the 0-0.5 volt can be represented the instruction speed of 0RPM, and 4.5 volts or bigger value can be represented maximum instruction motor speed.In other words, the instruction motor speed of 0.5 volt of output corresponding 0% or zero RPM.4.5 or bigger volt output corresponding forwards upwards 100% instruction motor speed (4650RPM) and on inverse direction 60% instruction motor speed (2790RPM).Throttle position sensor 175 can be suitable potentiometer or Hall transducer, so just can all actual speed be defined as 100% of electromotor velocity forward with on the inverse direction.

Another kind of driving input to system logic can be undertaken by throttle gate start sensor 177.Throttle gate start sensor 177 is also referred to as pedal rising sensor once in a while, is used for detecting a kind of in drive pattern and the pedal lift mode based on the position of acceleration pedal or throttle gate 170.When detecting drive pattern (at the at a point that pedal is depressed), throttle gate start sensor 177 is switched on to main contactor, propulsive effort makes 110 work of AC electrical motor, and gives dynamo-electric brake 180 outages, so that can pass to wheel 198 by motor controller 120 and electrical motor 110.If detect pedal lift mode (be meant acceleration pedal " rising " fully, be not depressed), this main contactor just can be de-energized, no longer to drive.

Therefore, need satisfied exemplary initial conditions can comprise that key switch 220 is in out for prime power being offered wheel 198, FNR switch 230 is selected as being in and advances or car backing position, the switch 210 that travels/draw is selected as travelling, brake position sensor 163 receives 0% braking instruction from motor controller 120, and the charge condition of battery 130 (SOC) is at least 20%.These only provide motive exemplary condition, and those of ordinary skills also can be provided with other condition.

Another kind of driving input to system logic can be undertaken by brake position sensor 163.For example, detect less than 0.5 volt of output and can represent 0% braking, and prime power can be offered wheel 198.For example, between 0.51 to 1.0 volt of output, can keep actual vehicle speed, and not have prime power to be imported into wheel 198 by regenerative brake.Between 1.01 to 4.0 volts of output, along with the increase of input voltage just increases ratio deceleration/decel slope.For example, entry condition and termination condition are adjustable.For from 4.1 to 4.5 or bigger volt output from brake position sensor 163 output, instruction motor speed can be 0%, and dynamo-electric brake 180 can be de-energized, so that make that dynamo-electric brake 180 comes to provide braking force to electrical motor 110.Braking function can be according to process condition, for example moist, dry, hills and subdued topography etc., and vehicle performance regulates, so that provide consistent sensation to brake operating.

The logic function of brake position sensor 163 can be preferential, and for example can keep having precedence over any throttle gate input to throttle gate 170.The logic function that is used for brake position sensor 163 can be worked with following conditions: key switch 220 is in out, FNR switch 230 is in and advances or car backing position, the switch 210 that travels/draw is selected as travelling or drawing, throttle gate start sensor 177 detects drive pattern or pedal lift mode, and throttle position sensor 175 detects the instruction motor speed between 0 to 100%.Further condition can be to be higher than any SOC value of battery of 0%.

Another kind of input to system logic can be a cell pressure.Motor controller 120 can monitor the voltage of battery pack 130 under load, and the perhaps internal resistance of monitor battery pack 130 (impedance) is so that determine the charge condition (SOC) of battery pack 130.When SOC is in 100% between 25% the time, controller 120 can start prime power and come powered vehicle 190.When SOC is in 24% between 20% the time, the logic in the motor controller 120 can be defined as instruction speed 40% of maximum drive speed, perhaps near 1860RPM, perhaps near 6MPH, so that the crippled ability of going home to be provided.When SOC less than 20% the time, do not provide prime power to come powered vehicle 190.Like this, logic just can be defined as instruction speed zero RPM, and dynamo-electric brake 180 is de-energized, and the motor braking by electrical motor 110 can be activated, can be by over discharge with protection battery pack 130.Dynamo-electric brake 180 can be set to traction in the SOC of this back scope by the switch that travels/draw and charge.

Table 1 has been summarized the exemplary driver input to the logic of motor controller 120.

Table 1 drives input

Input	The position	Function
Input	The position	Function	Switch 210 travels/draws	Travel	Must select so that can provide prime power to come powered vehicle
Traction	Give dynamo-electric brake 180 power supplies 1 second, apply 40% PWM then and keep dynamo-electric brake 180, allow vehicle 190 to equal or to be pulled less times greater than rated motor speed (4650RPM), traction mode provides zero wheel torque, traction takes place repeatedly every day, does not need U, the external switch of V or W power lead			Travel
Traction		Key switch 220 ON/OFF		Open	Provide for motor controller 120 and drive the logic energy, and give dynamo-electric brake 180 energisings
Close	The logic energy is provided for motor controller 120, gives dynamo-electric brake 180 outages			Open
Close			Throttle gate start sensor 177	Drive	To the main contactor power supply, give dynamo-electric brake 180 outages, start driving
Pedal raises	To the main contactor outage, stop to drive			Drive
Pedal raises	To the main contactor outage, stop to drive	Throttle position sensor 175		0.5V input	0% instruction motor speed (0RPM)
4.5V input	100% instruction motor speed (4650RPM) is advanced and (2790RPM) reversing			0.5V input	0% instruction motor speed (0RPM)

		Actual speed is defined as 100% instruction motor speed (4650RPM) advances and moves backward
				For other initial conditions that provides motive power to satisfy: ● key switch 220=opens and FNR switch 230=advances or move backward ● the switch 210=that travels/draw travels ● brake position sensor 163=0% braking instruction ● battery SOC＞20%
	Brake position sensor 163	0.5V input			0% braking starts prime power
0.51V-1.0V input		0.5V input	Keep actual vehicle speed-do not have prime power by regenerative brake		0% braking starts prime power
0.51V-1.0V input		1.01V-4.0V input		Along with the increase of input voltage, increase ratio deceleration/decel slope (it is adjustable starting and finishing slope)
4.01V-4.5V input		1.01V-4.0V input	Instruction motor speed is 0% (0RPM), cuts off the power supply to dynamo-electric brake
4.01V-4.5V input				This logic function has precedence under the following conditions operation of air throttle input: ● key switch=open and FNR switch=advance or move backward ● the switch 210=that travels/draw travels or draws ● air throttle start sensor 177=startup or disconnection ● TPS 175=0% to 100% ● battery SOC＞0%
Cell pressure					The voltage of supervision battery pack 130 under load, the perhaps internal resistance of monitor battery pack 130 is to determine the charge condition (SOC) of battery pack
	SOC=100% to 25%	Start prime power and come powered vehicle 190
	SOC=100% to 25%	Start prime power and come powered vehicle 190	SOC=24% to 20%	Instruction speed is defined as 40% maximum drive speed (1860RPM)

	SOC=19% to 0%	Instruction speed is defined as 0% (0RPM), give dynamo-electric brake 180 outages, the actuating motor braking, dynamo-electric brake 180 can only be powered when travelling/drawing switch 210=traction, and dynamo-electric brake has the manual function that is better than mechanical release spring
	SOC=19% to 0%		FNR switch 230 (advancing/neutral/reversing)	Advance	Start driving logic energy and selection and drive forwards direction, speed is 100% maximum motor speed (4650 RPM) forward
Neutral	Disconnection is input to the logic energy of motor controller 120, gives dynamo-electric brake 180 outages			Advance
Neutral		Reversing		Start and drive the logic energy, and selection inverse direction, start back-up buzzer 250, inverse direction speed is 60% maximum motor speed (2790RPM)

AC drive system 100 can comprise the exemplary driver output that several are produced by motor controller 120.For example, when key switch 220 is in the pass, FNR switch 230 is in reversing, and the switch 210 that travels/draw is in when travelling, and controller 120 can produce reverse alarming output, to start back-up buzzer 250.Close or the switch 210 that travels/draw is in when drawing when key switch 220 is in, motor controller 120 can stop back-up buzzer 250.

Drive output logic and can be provided for dynamo-electric brake 180.For example, switch is traction when travelling/drawing, or when key switch 220 for open, FNR switch 230 is for advancing or reversing, throttle gate start sensor 177 when being in drive pattern and actual motor speed and being 0RPM, the driving output logic of motor controller 120 can start dynamo-electric brake 180 to maximum trigger voltage, for example 48 volts, continued for 1 second, drop to 40%PWM then.These only are exemplary conditions, and those of ordinary skills can know that other condition also is available.

AC drive system 100 can provide the driving output logic to control main contactor.Switch 210 is traction when travelling/drawing, maybe when travel/draw switch 210 for travel, key switch 220 for open, FNR switch 230 for advance or reversing, when throttle gate start sensor 177 is in drive pattern, drive output logic and can start main contactor to a selected maximum voltage, for example 36 volts (or other magnitude of voltage), continued for 1 second, drop to 40%PWM then.For example, when the switch 210 that travels/draw for travelling, and key switch 220 for open, FNR switch 230 for advance or reversing, when throttle gate start sensor 177 is in drive pattern, controller 120 just can make main contactor quit work at 0 volt.

Can also provide the driving output logic to control locking differential 194.Logic can be with selected maximum voltage, and for example 12 volts, offered locking differential 194 1 seconds, so that its joint is reduced to 40%PWM then, perhaps other selected medium voltage.For example, if travel/draw switch 210 for drawing, if or key switch 220 for open, FNR switch 230 is for advancing or reversing, throttle gate start sensor 177 when being in drive pattern and actual motor speed greater than 0RPM, just can satisfy the condition that is used to engage locking differential 194.If travel/draw switch 210 for travel and key switch 220 for closing, or key switch 210 for open, FNR switch 230 is for advancing or reversing, throttle gate start sensor 177 when being in pedal lift mode and actual motor speed and being 0RPM, drive output logic and just can locking differential 194 not worked at 0 volt.These are only used for engaging/breaking away from the exemplary condition of locking differential 194, also other condition can be set for the person of ordinary skill of the art.

Table 2 has been summarized the driving output of the logic of motor controller 120.

Table 2 drives output

Output	The position	Function
Output	The position	Function	Back-up buzzer 250	Start	When key switch 220=opens, FNR switch 230=moves backward and when the switch 210=that travels/draw travels, be 12V
Stop	When key switch 220=opens, FNR switch 230=advances or move backward or when travelling/drawing switch 210=traction, be 0V			Start
Stop		Dynamo-electric brake 180		Start	When travelling/draw switch 210=traction or key switch 220=opens and FNR switch 230=advances or reversing and throttle gate start sensor 177=drive, or during actual motor speed＞0RPM, be 48 volts and continue 1 second, reduce to 40%PWM then

Main contactor	Start	The switch 210=traction or the switch 210=that travels/draw travel when travelling/drawing, and key switch 220=opens and FNR switch 230=advances or reversing and throttle gate start sensor 177=when driving, be 36 volts and continue 1 second, reduce to 40%PWM then
	Start		Stop	Switch 210=traction and key switch 220=pass or the switch 210=that travels/draw travel when travelling/drawing, and when key switch 220=opens and FNR switch 230=advances or reversing and throttle gate start sensor 177=pedal raise, it is 0 volt
	Locking differential	Start	Stop		When travel/draw switch 210=traction or key switch=advance or move backward and when (throttle gate start sensor 177=driving or actual motor speed＞0 RPM), be 12 volts and continue 1 second, reduce to 40%PWM then
Stop		Start	When the switch 210=that travels/draw travels and key switch 220=pass, or key switch=pass and FNR switch 230=advances or reversing and throttle gate start sensor 177=pedal raise and during actual motor speed=0% (0RPM), be 0V

At intelligent apparatus, for example motor controller 120, battery pack 130, charger 140, external network 150 and various sensor and for example exiter of throttle gate 170, dynamo-electric brake 180, running brake pedal 160 etc., between communication can carry out with relevant CAN AUI by controller local area network CAN bus 145.For example, having CAN chip high and low and the ground pin may be provided in the suitable driving adaptor union of motor controller 120.As below will further describing, communication protocol can be suitable CAN agreement, for example CAN disclosure agreement 2.0B or compatible protocol.CAN bus interface in AC drive system 100 can communicate by external network 150 with for example charger 140 an intermittently diagnosis capability is provided.Data can exchange between the various parts of AC drive system 100, and are stored in the motor controller 120.Such data can include, but not limited to drive error, warning and failure code, battery charging state, cell pressure, charging times, number of run and electrically-charged amount, total driving time and total logic energy time.Though by the agency of a CAN bus be used as the exemplary bus structure, exemplary embodiment can adopt different bus architecture.Other suitable bus architecture can include, but not limited to RS232, RS 422, USB, serial, parallel, wireless, bluetooth and/or optical bus or the like.

The AC electrical motor

Referring again to Fig. 1, electrical motor 110 can be three-phase and quadrupole AC electrical motor, for example asynchronous motor or motor with permanent magnet.Such electrical motor can be brushless.In inside, electrical motor 110 can comprise winding stator and permanent magnet rotor.On stator, there is winding to help to distribute effectively the winding heat.Stator winding can be to connect into three-phase Y shape, and for example, here that expression is exactly three-phase drive phase place U, V and W (for example U among Fig. 1, V and W line).Rotor can comprise axle and the inner core made from rare-earth permanent magnet, and its peripheral built-in inertia is very low.

In general, rotor motion be by with rotor in the interactional stator winding of magnetic field of permanent magnet in produce rotating field and begin.Rotating field can be energising to be produced for the winding phase place of three-phase drive phase place U, V and W by order.Right electric current can be supplied with the winding phase place to definite sequence, to produce required hand of rotation.At any time, the two-phase in the three-phase can be energized, and third phase is not energized.The torque output of switching on and just can synthesize two-phase simultaneously to two-phase.

AC drive system 100 can not adopt the dc voltage power supply, for example, adopts the commutation logic more complicated a little than brushless DC drive system.In AC drive system 100, the energy of every phase is all by using pulse width modulation (PWM) to open and close gradually.

In general, PWM is the modulation that changes along with some characteristic variations of modulation signal in the duration of pulse.For example, impulse modulation quartz conductor or pulse-width modulator, for example FET (widespread use in electronics industry) can produce and the proportional required voltage of working cycle, and it can also cause that energy to gives phase bit so that open or close.Alternately, can use pulse frequency modulation to produce required voltage.In either case, FET can switch between ON and OFF state, so that when being created in it and opening and the proportional required voltage of working cycle.

Long life is provided AC electrical motor 110 to provide in vehicle 190 need still less to safeguard, have more, electromagnetic interference is lower and turn round quiet electrical motor.The AC electrical motor of the electrical motor 110 for example and motor with permanent magnet (PM) or bypass type DC electrical motor and gear motor are compared, and every frame size can produce bigger energy output.The low rotor inertia of electrical motor 110 can improve acceleration and deceleration time, shorten cycle of operations simultaneously, and for example linear speed/the torque characteristics of the brushless AC electrical motor of electrical motor 110 can produce predictable speed setting.And, because do not need the brush of brushless AC electrical motor is checked, just go for the application that is restricted, golf cart for example, and keep in repair very situation of difficult.

Motor controller

Motor controller 120 can be hardware and/or software, for example can be the one or more digital microprocessors that are positioned on the printed circuit board (PCB).But except digital microprocessor, motor controller 120 also can adopt analog processor, digital signal processor and/or one or more specific integrated circuit of application by suitable microcontroller or the control of microprocessor (not shown).

Controller local area network (CAN)

Controller local area network (CAN) is an integrated serial data communications busses of using in real time of height.CAN can work under the data rate of per second 1,000,000 (Mbps), and has good error detection and limitation capability.CAN can be used for for example automatic guidance, automation of industry and control field.

With reference to Fig. 1, CAN bus 145 can be a serial bus system, is specially adapted to network intelligence equipment, and sensor and the exiter in motor controller 120 and the system 100 for example is though other bus architecture also are suitable for as mentioned above.In general, the CAN bus is the serial bus system that has a plurality of main abilities, that is to say, all CAN nodes can transmit data, and several CAN nodes can send request to CAN bus 145 simultaneously.The serial bus system that has real-time capacity is the theme of international standard ISO 11898, and it has covered the bottom two-layer of ISO/OSI reference model.In controller local area network, do not have traditional user or base station addressing, but can transmit the information of priorization.

In general, the projector in CAN can be given all CAN node emission information.Each node can determine whether to handle this information according to the identifier that is received.Identifier can be determined the priority that information is had in the competition that CAN bus 145 inserts.The CAN agreement relatively simply mean that cost is lower, the CAN chip interface makes application program simpler.

The CAN chip that is used for AC drive system 100 can be commercialization, controller chip cheaply.Such controller chip can use the CAN data link layer protocol in the suitable material of for example silicon, and controller chip can also be used for simply being connected on the microcontroller of motor controller 120 for example or is connected to the suitable controller of charger 140.

A feature of CAN agreement is that it has very high transmission reliability.The CAN controller can be the chip that is positioned on the surface-mounted integrated circuit that has motor controller 120, can write down these errors of station error and statistical appraisal, so that take appropriate measures.These measures comprise that for example disconnecting is the given CAN node of error source.And each CAN message can be transmitted the information of 0 to 8 byte.Certainly, well-known, longer data message can use to cut apart and transmit.The maximum transfer rate of explanation is 1Mbit/s in ISO 11898.This data rate can be used for 40 meters network.For longer distance, can reduce data rate; For example for the distance of 500m, can adopt the speed of about 125kbit/s, the distance of 1km adopts the speed that is at least 50kbit/s.

Fig. 3 shows the block diagram according to the structure of the CAN communication chip of various embodiment.With reference to Fig. 3, suitable CAN communication chip 310 can be installed in the electrical motor 110 or the direct motor drive on the motor controller 120 of vehicle 190.The 2nd CAN communication chip 320 can be installed in the charger 140, and charger generally is positioned at the charging zone of vehicle, and for example vehicle is in the place of downtime or stop in evening, and charger is connected on the socket of 110V.DC Charger (portable round) 330 can be connected on the charger socket 340 of vehicle 190, so that give battery pack 130 chargings as required, for example can carry out every night.DC charger electric wire 350, plug 330, Vehicular charging device socket 340 and vehicle harness (not shown) one or more that are used for vehicle 190 can comprise the special-purpose high and low and ground signalling lines of CAN.When connecting for charging, these connect and just can constitute the CAN bus 145 that motor controller 120 and charger 140 and other smart machine that is used for data exchange are coupled together.

As mentioned above, motor controller 120 can write down and canned data in vehicle 190 employed suitable memory devices or internal memory.The example of internal memory medium includes, but not limited to for example erasable nonvolatile memory, flash memory and the hard disk of ROM.The example of removable memory comprises, but be not limited to for example medium that has built-in erasable nonvolatile memory of the magnetic-based storage media of the magnetic-optical storage medium of the optical storage medium of CD-ROM and DVD, for example MO, for example floppy disk, audiotape and removable hard disk, for example storage card and for example medium that has built-in ROM of ROM tape.

Data that store, that be used for exchanging with charger 140 comprise in the memory device of motor controller 120 or internal memory, but be not limited to, drive forwards time, driving time, logic event ON (just the KEY ON time of key switch 220, this time is that the logic energy is applied to the time on the motor controller 120), various warning, condition and mistake, battery pack 130SOC, the ampere hour that is consumed and voltage data and the data that help to operate charger 140 backward.Communication data exchange by CAN bus 145 can be a beidirectional, and just charger 140 can also be given motor controller 120 with data transfer.This function makes the parameter can change whole fleet, these parameters can be used for being used for the independent vehicle 190 of the arbitrary number of fleet, and coming provides the optional service of having bought to whole fleet.

For example, the charger 140 of any amount can couple together, and forms a bigger controller local area network.The external network 150 that any CAN supports, for example softdog, portable computer, handheld computer or server, can be connected on the CAN bus 145, a system that can carry out data exchange in computing machine that remote control CAN supports and fleet between any vehicle 190 is provided.Therefore, the whole fleet of just can turning round of the bidirectional data exchange by CAN bus 145 so that even when vehicle 190 uses, safeguard, and/or can be according to for example using (just time, mileage) guarantee to keep in good repair vehicle 190.And, can also predict the service needs by the bidirectional data exchange of CAN bus 145, and in use, working cycle, thermal cycle, drive form etc., collect data.

Battery pack 130 can comprise a plurality of batteries (just, four series connected 12V dc-batteries connect into a 48V direct supply) that are serially connected in, so that give vehicle 190 power supplies.According to single battery, electrode and the electrolytical chemical constitution of battery pack 130, battery pack 130 can be any one in lithium ion (Li+), NI-G (NiCd), ni-mh (NiMH), the lead-acid battery group for example.

In other various embodiment, motor controller 120 can be configured to, by charge condition (SOC) for definite battery pack 130, supervision begins to offer the electric energy of electrical motor 110 from last charging in intervals vehicle 190 working processs, determine that desirable electric weight returns to the battery pack 130 of vehicle as percent value.Based on SOC, motor controller 120 provides data can for charger 140, and when charger 140 was operably connected on the vehicle 190, charger 140 just can return to energy battery pack 130 pro rata according to SOC or with SOC like this.

For example, motor controller 120 energy that vehicle 190 driving process, is consumed that can add up and begin from last known charge cycle.The energy that consumes can cut the cycle from given last known charge, therefore just can determine the charge condition (SOC) of battery pack 130.By being arranged in the motor controller 120 or the suitable software of another intelligent apparatus of charger 140 for example, just can calculate and the energy that consumes and return the identical specified quantitative energy of ratio of the energy of battery pack 130.This ratio can be optimized according to amount, battery pack kind, battery pack period of service and the energy expenditure rate of drive-train efficiency, though also can adopt other parameter to optimize the energy and the ratio that returns the energy of battery pack 130 of consumption.This is proportional with the internal resistance of battery pack 130.

Another aspect of exemplary embodiment can be an electric parking brake 180.When the braking accelerator pedal 160 of vehicle 190 is in range, just can encourage brake pedal 160.As shown in Figure 1, drg 180 can be a drg by guy structure, and it can comprise brake pedal position sensor 163 and braking total travel sensor 165.

With reference to Fig. 1, under the cruising situation, dynamo-electric brake 180 can be energized to a release position by motor controller 120.Brake pedal position sensor 163 is determined the position of brake pedal 160, to change the electric energy that imposes on drg 180 by signal wire (SW) 122.For example, when brake pedal 160 be depressed into maximum brake-pedal travel about 5% with interior the time, can interrupt supplying with the energy of drg 180, to influence performance of parking brake or emergency braking performance.In case this circuit is opened, can get on except that energy from dynamo-electric brake 180, friction material can be the spring that is applied on the brake disc.The size of the spring of dynamo-electric brake 180 can be exerted pressure to friction material, and the braking torque that is equal to or greater than electrical motor 110 maximum acceleration torques 120% is provided.This operation can be reduced to electromotor velocity zero, reaches zero velocity up to vehicle 190, perhaps quits work up to drg total travel sensor 165.Alternately, controller 120 also can be independent of brake pedal sensor 163 and use the total travel sensor, only uses this to import and starts parking braking function.System can also be further configured to loosening dynamo-electric brake 180 and keep vehicle 190 static at zero velocity excitation brake pedal 160.As long as pedal 160 loosens, braking total travel sensor 165 is just no longer worked, and normally instructs vehicle ' to continue.

Given motor speed by the instruction time per unit reduces, and brake pedal position sensor 163 can be used for service braking.Provide the input of controller 120 by the position of brake pedal sensor 163 detected brake pedals 60, to determine the moderating ratio of vehicle 190.Dynamo-electric brake 180 for example can be mounted in the electronic plate disc brake that unclamps that has applied spring on the motor shaft.Braking when dynamo-electric brake 180 also can help descending.

According to the position of brake pedal 160, brake pedal position sensor 163 carries a signal to motor controller 120, makes motor deceleration, and generation and the proportional braking torque of pedal position.For example, the minimum value of braking torque is corresponding to the minimum drafts of brake pedal 160, under the total head of its maxim corresponding to brake pedal 160.

Braking total travel sensor 165 is that a kind of of system replenished, but can not replace emergency stop mechanism, thereby guarantees to stop vehicle 190, and key switch 220 being forwarded to the position, pass here just can sudden stop.Drg total travel sensor 165 can be used as additional safety switch, and it can be used for keeping the safety traffic condition, and at this moment vehicle 190 can stop at emergent or unexpected emergency situation separately.For example, such situation can comprise motor controller 120 work interruptions, mistake, operator's mistake and/or other extraneous incident.

On the other hand, motor controller 120 can be configured to provide the automatic parking brake function.Can engage Parking Brake 180 automatically in order to make motor controller 120 determine when, motor controller 120 can monitor for example electrical motor instruction speed, actual speed, key switch position, throttle gate and drg condition.

Can under several possible conditions, make motor controller 120 engage Parking Brake 180 automatically.For example, in the time of vehicle 190 coasts, a kind of condition may take place, and without any the instruction from accelerator (throttle gate 170) or brake pedal 160.In order to keep this condition, vehicle 190 moves, and key switch 220 is positioned at out, and FNR switch 230 is in progressive position.Based on these initial conditions, motor controller 120 can reduce specified rate with the electromotor velocity time per unit, and this can be called " neutral braking ".If vehicle 190 remains on this condition, actual electromotor velocity is near in near the scope the zero velocity, and motor controller 120 can give dynamo-electric brake 180 outages, and Parking Brake 180 is received instruction and is set.Behind specified time, motor controller 120 just can stop electrical motor 110.If motor controller 120 detects actual electromotor velocity greater than the given range near zero velocity, motor controller 120 can attempt stoping electrical motor 110 to rotate, and keeps vehicle 190 to stop.

If another kind of condition occur in brake pedal 160 be depressed the enough time so that vehicle 190 stop fully, when Parking Brake 160 engages then.Stop fully being meant that for example speed is near a zero scope.In order to keep this condition, instruct vehicle 190 to stop by depressing brake pedal 160, key switch 220 is for opening, and instruction speed and actual speed are 0RPM or the given speed zone that is positioned at close zero velocity.Based on these inputs, motor controller 120 can instruct dynamo-electric brake 180 to engage.Through behind the specified time, motor controller 120 can stop electrical motor 110.If motor controller 120 detects actual electromotor velocity greater than the given range near zero velocity, motor controller 120 can attempt stoping electrical motor 110 to rotate, and vehicle 190 is kept stopping.

If occurring in the logic input of giving AC drive system 100, another kind of condition has any mistake, if a sensor outside range, if perhaps motor controller 120 owing to overcurrent, overload voltage, undertension, temperature is too high or the not enough condition of temperature in any one when producing fault.Each fault condition all has according to preventive measure under motor controller 120 controls or reaction distinctive output down, it comprises, but be not limited to, send alarm code or the warning light on the LED on the instrument carrier panel 245, reduce electrical motor 110 performances, stop or the like immediately for continuous mobility operation by instrument 240.These fault conditions can be in any speed of a motor vehicle or are taken place under operator's condition arbitrarily, and under these conditions, motor controller 120 detects one or more above-mentioned fault conditions.In this example, the measure that motor controller 120 can employing prevention property, for example instruction motor speed is zero, engages Parking Brake 160 then in a short period of time immediately, and more stops electrical motor 110 under the opposite extreme situations at some.

If another kind of condition occurs in key switch 220 and is set in when closing on the position.Whenever be set in the pass at key switch 220, motor controller 120 can engage dynamo-electric brake 180, and regardless of any other initial conditions, comprises the speed of vehicle 190.Because key switch 220 also can be the unique emergency braking switch of operator on vehicle 190, so this just can provide a kind of very necessary security function.

Other various embodiment can not have the time of joint with convenient brake pedal so that motor controller 120 can provide pedal to raise based on given supervision input to be braked or the neutral braking function, detect the required braking condition of having realized.By pedal rising braking, when discharging vehicle accelerator pedal, motor controller 120 can initiatively be implemented the base speed that regenerative brake is reduced to the speed of vehicle 190 electrical motor 110.Like this, pedal raises or the neutral braking provides a function can for vehicle 190, when brake pedal 160 and acceleration pedal (throttle gate) 170 all do not engage, can reduce the speed of a motor vehicle of specified rate at time per unit, and irrelevant with the degree of dip (degree of dip on vehicle mountain of living in or inclined-plane just) of vehicle.

In the routine operation of vehicle 190, motor controller 120 can monitor several operator's input and vehicle condition.For example, brake pedal position, accelerator pedal position and actual motor speed can be monitored by motor controller 120, so that implement pedal rising braking.For example, when all being operated the person, acceleration pedal 170 and brake pedal 160 do not engage, and when the actual motor speed of vehicle 190 is defined in the given range, motor controller 120 just can instruction motor 110 in the speed of time per unit reduction specified rate.Electromotor velocity can continue in the reduction of unit time, reaches near the zero velocity condition up to initial conditions or up to electromotor velocity.If electromotor velocity approaches zero, motor controller 120 can instruct automatic parking brake to engage, thereby reduces actual motor speed and stop vehicle 190.Therefore, even owing in the descending process, also reduce car speed automatically, so according to the pedal of various embodiment just can the give security additional measures of vehicle 190 work safetys of braking that raises.

Other various embodiment implement traction mode.At traction mode, motor controller 120 can be configured to limit the maximum haulage speed of vehicle 190, and control motor 110.Electrical motor 110 can be in 190 trailed whiles of vehicle also produce power not of consumed energy neither like this.

Traction mode can be by being set in key switch 220 that open position, FNR switch 230 are set in car backing position and the switch 210 that will travel/draw is arranged on distracted position and selects.As mentioned above, the switch 210 that travels/draw can be positioned at the position of being convenient to draw on the vehicle 190, but this position also should be the position that is not easy starting switch 210 from operator's (or passenger) seat.This just can provide one reasonably to guarantee, the switch 210 that travels/draw can not had a mind in the cruising process of vehicle 190 or by mistake start.

A function of traction mode can be with the speed limit of vehicle 190 at for example per hour 15 miles, as ANSI Z130 defined.Key switch 220 is chosen open position just the logic energy can be supplied to motor controller 120.The switch 210 that will travel/draw is chosen distracted position can stop electric parking brake 180, so that be ready to vehicle 190 to draw.Service brake pedal 160 can normally play a role when vehicle 190 is in traction mode.In some structure, FNR switch 230 can be set in an optimum position.

Opened condition by key and start because supply with the logic of motor controller 120, so the actual haulage speed that motor controller 120 can monitoring vehicle 190.This can be by finishing from electrical motor 110 or from the feedback signal that wheel 198 is supplied with motor controller 120.The electrical motor signal can be provided and/or frequency or voltage by monitoring motor 110 provides by suitable electromotor velocity coder, wheel velocity coder, a no induction device.Based on these inputs, motor controller 120 can calculate vehicle 190 and whether reach for example speed of 15MPH ± a certain given allowance error.Motor controller 120 can be attempted stoping vehicle movement by electrical motor 110 and/or dynamo-electric brake 180 instruction vehicles 190 then, to decelerate to for example 15MPH.

Another function of traction mode is an auxiliary traction, so that the charge condition of battery pack 130 is had slight influence.For example, when vehicle 190 was pulled, motor controller 120 can monitor the electric current between battery pack 130 and motor controller 120.Motor controller 120 can instruction motor speed or torque then, to transmit the clean consuming cells electric current of zero (0) ampere electro-motive force is backward separated with electro-motive force forward.It is because motor controller 120 can only rotate rotor so fast that electric current is limited.Though zero ampere consumption is not easy to obtain in practice, the allowance error of AC drive system 100 helps to realize traction function, and positive current and negative current flow into and flow out battery pack 130, and the whole SOC situation of battery pack 130 is had slight influence.And when vehicle was in traction mode, controller 120 just can encourage drg 180 selectively, was lower than a predetermined value with the restriction haulage speed, and predetermined value can be for example predetermined number of revolutions of per minute driving engine, for example 4800RPM.Such haulage speed just can be determined according to the ability of controller 120, with operating motor 110.

Fig. 4 is the block diagram that illustrates according to the front-wheel speed sensor of various embodiment.With reference to Fig. 4, another embodiment can be a front-wheel speed sensor 510.Front-wheel speed sensor 510 can be realized one or two in ABS (Anti-lock Braking System) or the traction control on the vehicle 190 of for example golf cart or multipurpose small vehicle.Traction control can limit the relative ground-surface slip with brake wheel of flower wheel ability with ABS (Anti-lock Braking System).By reducing the ability that vehicle 190 enters sideslip, the slip of reduction wheel can improve the control to vehicle 190.These features can shorten the stopping distance of vehicle greatly on the low friction road surface of for example wet grass.When the road surface of vehicle was turf, traction control and ABS (Anti-lock Braking System) feature can reduce damage to the meadow by reducing slip between wheel 198 and turf surface.

Motor controller 120 can monitoring motor speed, and this speed is directly proportional with the speed of flower wheel.Motor controller 120 can comprise the pre-programmed data of the storage relevant with the whole gear ratio of vehicle 190, makes that motor controller 120 can calculated example such as the speed of flower wheel.

As shown in Figure 4, suitable vehicle-wheel speed sensor 510 can be installed on the wheel hub on non-flower wheel and the non-brake wheel 198, not have the wheel velocity of the wheel of slip to measure phase road pavement or turf surface.But the take off data from sensor 510 can be used for not having to produce maximum braking and/or acceleration under the situation of sliding.These data can pass to motor controller 120 by for example CAN bus 145.Motor controller 120 can compare the speed of the flower wheel 198 that calculated and the wheel velocity input of non-brake wheel 198.Motor controller 120 can be adjusted electromotor velocity then, is reduced in error between flower wheel and the non-flower wheel to make great efforts matching speed.In case reduced error, electrical motor 110 just can quicken or slow down to make actual motor speed and instruction electromotor velocity coupling.If motor controller 120 measures between non-flower wheel and flower wheel extra error is arranged, motor controller 120 just can further be adjusted electromotor velocity, and assigned error is reduced in the acceptable scope.Such control just can provide maximum braking or acceleration when slippage is reduced to minimum degree.

Fig. 5 shows according to the many wheels of various embodiment or the block diagram of all-wheel drive structure.Wherein electrical motor 110 can be by other various embodiment of rear axle 192 and locking differential 194 driving trailing wheels 198 though Fig. 1 shows, and vehicle 190 can be configured to comprise many wheels or all-wheel-drive system.For example, can provide cascade motor structure or four independently AC electrical motor 610A-D, to give independent or cooresponding wheel 198 energizes.

Two or more wheels of powered vehicle 190 bring several advantages can for the common solid axle of conventional use in the vehicle of for example golf cart independently.For example, can save differential gear box.Save diff 194 and just can eliminate the mechanical loss that mechanical differential wheel velocity is brought.By providing sensor-based steering direction to provide torque or speed inequality to wheel then, can when steered vehicle, help steering swivel system, may reduce steering effort.In addition, two wheels of direct drive just can provide the function of differential mechanical brake.This feature provides extra traction or braking force usually.And, use two-wheeled or all-wheel drive, just can save solid axle 192, be beneficial to adopt independent back to hang.Therefore, each wheel can be driven by cooresponding brushless AC electrical motor 610A-D, and each electrical motor 610A-D provides 3 φ output.And each wheel can comprise cooresponding speed sensor 510 as shown in Figure 4 alternatively.Alternately, except 4 electric motor structures, can also adopt cascade structure, one of them AC brushless motor (610A or 610B) drives front-wheel, and another brushless motor (610C or 610D) drives trailing wheel.

By adopting two to four independent electrical motors 110 to come each wheel of powered vehicle 190, just can carry out independent brake to wheel according to required, strengthening in the acceleration of vehicle or the traction in the braking procedure, and the speed of independent driven wheel just can be measured with front wheel sensor.Sensor for example can be installed in the electrical motor 110.In addition, such structure can provide complement operation under an out-of-run situation of electrical motor; Vehicle 190 can maintenance work under the situation of having only an electric motor system.And, can also in vehicle 190 performances that provide identical or strengthen, reduce motor size.The power level that reduces can be so that direct drive motor, and for example above-mentioned brushless AC electrical motor 110 has more engineering capabilities and economy.At last, can also reduce unsprung weight, therefore just can improve driving quality by suspension.

Therefore, in the vehicle of for example golf cart and/or multipurpose small vehicle, use the AC drive system just can bring several tangible advantages, wherein accurate position control is not that main purpose and/or AC current source are not easy to obtain, but can use three phase mains conv and DC battery pack 130 to simulate simultaneously.

For example, the drive efficiency of selected AC electrical motor can be considerably beyond representative type connect DC electrical motor or independent drive armature and magnetic field (bypass type) DC electrical motor.This higher efficient can be so that the vehicle 190 work longer time, and it is longer to use littler battery pack 130 to travel.

In addition, the peak motor torque can occur at zero electrical motor RPM place, so just can be so that electrical motor 110 can be fixing with vehicle 190.This can prevent that vehicle 190 from moving under some not too safe situation, the time of maintenance enough makes Parking Brake 180 engage, and prevents vehicles roll.

And electrical motor 110 can be controlled by motor controller 120, so that be created in the controlling torque on any one hand of rotation.This just makes electrical motor 110 as foundation brakes, therefore just can save for example mechanical foundation brakes.Just the part of vehicle 190 kinetic energy can be changed into energy of position with AC drive system 100 as vehicle's service, therefore just can give battery pack 130 chargings that link to each other.And, use electrical motor 110 just can reduce and use the heat energy that mechanical foundation brakes produced as foundation brakes.Not producing heat in foundation brakes just can use cold plastics to make for example car body panel, parts and the wheel of vehicle 190.And, because the high efficiency that brushless permanent magnet or induction motor (IM) are compared with series connection or shunt excitation DC electrical motor, so just can adopt littler, lighter electrical motor.

This specification sheets only is exemplary in essence, and therefore, all various modification that do not deviate from this specification sheets main points all fall in the scope of this specification sheets.Such modification should not be regarded as the spirit and scope that break away from this specification sheets.

Claims

1, a kind of drive system that is used for all-service vehicle comprises:

Be used to provide the interchange AC electrical motor of driving torque;

2, drive system as claimed in claim 1, wherein this AC electrical motor comprises in induction motor (IM) and the motor with permanent magnet one.

3, drive system as claimed in claim 2, wherein this AC electrical motor is the three-phase and quadrupole brushless motor.

4, drive system as claimed in claim 2, wherein this AC electrical motor comprises winding stator and permanent magnet rotor.

5, drive system as claimed in claim 4, wherein this permanent magnet comprises rare-earth magnet.

6, drive system as claimed in claim 1, wherein this AC motor controller further comprises media drive, is used for receiving the movable storage medium that comprises compact disk CD, Digital video disc DVD, magnetic medium and storage card.

7, drive system as claimed in claim 1, wherein this AC motor controller further receives braking total travel signal and throttle gate actuation signal.

8, drive system as claimed in claim 1, wherein this AC motor controller further produces alerting signal.

9, drive system as claimed in claim 1, wherein this AC drive signal comprises three-phase AC drive signal.

10, drive system as claimed in claim 1, wherein this AC drive signal comprises at least one in pulse width modulating signal and the pulse frequency modulated signal.

11, drive system as claimed in claim 1, wherein this AC motor controller is determined the maximum speed of this AC electrical motor based on this battery voltage signal.

12, drive system as claimed in claim 1, wherein this AC motor controller is determined the maximum speed of this AC electrical motor based on this traction on-off signal and FNR signal.

13, drive system as claimed in claim 1, wherein this AC motor controller further produces the status signal that is transported to read-out.

14, drive system as claimed in claim 13, wherein at least one in this status signal pilot cell situation, ampere hour demonstration, error code and the reverse-drive situation.

15, drive system as claimed in claim 13, wherein this read-out comprises at least one in LED, digital display and the alphanumeric display device.

16, drive system as claimed in claim 1, wherein when this key switch be in open position, FNR switch be in advance and car backing position in one, traction switch when being in run location, speed-slackening signal and indicating 0% braking instruction and battery charging state SOC greater than predetermined SOC, this AC motor controller produces this AC drive signal.

17, drive system as claimed in claim 1, wherein when this speed-slackening signal shows greater than 0% braking instruction, this AC motor controller slows down this AC electrical motor, and no matter battery voltage signal, throttle control position signal, travel/traction signal and FNR signal.

18, drive system as claimed in claim 1, wherein this AC motor controller is determined the SOC of battery, and determines the maximum speed of this AC electrical motor according to this SOC.

19, drive system as claimed in claim 1, further comprise the contactless switch that selectively connects this AC drive signal and this AC electrical motor, wherein this AC motor controller further produces the PWM contactor control signal that is sent to this contactless switch, this AC motor controller produces this contactor control signal in a PWM working cycle when this contactless switch of closure, produce this contactor control signal in the 2nd PWM working cycle after this contactless switch is closed.

20, drive system as claimed in claim 1, further comprise the drg that selectively slows down this AC electrical motor, wherein this AC motor controller also produces the drg control signal that is sent to this drg, wherein this AC motor controller produces this drg control signal in a PWM working cycle when using this drg, produces this drg control signal after using this drg when the 2nd PWM working cycle.

21, drive system as claimed in claim 20, wherein this drg is included in the Parking Brake that is used when this AC electrical motor stops.

22, drive system as claimed in claim 1, wherein when this speed-slackening signal showed that 0% braking instruction and this throttle signal show the instruction of 0% throttle gate, this AC motor controller reduced the speed of this AC electrical motor with set rate.

23, drive system as claimed in claim 1, wherein when this travel/traction signal shows that this all-service vehicle is in when being pulled, this AC motor controller minimizes this driving torque in working direction and astern direction.

24, drive system as claimed in claim 1 further comprises being used for providing the rechargeable battery of power supply to this AC motor controller, and wherein the kind of this rechargeable battery comprises a kind of in lithium ion, NI-G, ni-mh, the plumbic acid.

25, drive system as claimed in claim 24, wherein when this travel/when traction signal showed that this all-service vehicle is pulled, this AC motor controller minimized the electric current by this rechargeable battery.

26, drive system as claimed in claim 24, wherein this AC motor controller uses the energy that receives from this AC electrical motor to recharge to this rechargeable battery.

27, drive system as claimed in claim 26, wherein this AC motor controller determines to offer the energy percentage of this rechargeable battery based on battery pack type, battery pack period of service and energy expenditure rate.

28, drive system as claimed in claim 1, the drg that further comprises this all-service vehicle that is used for slowing down, wherein this AC motor controller based on this brake position signal, key switch signal with travel/traction signal produces the speed-slackening signal that is used to control this drg.

29, drive system as claimed in claim 1, wherein this AC motor controller further comprises and is used for transmitting the data communication bus interface.

30, drive system as claimed in claim 29, wherein these data comprise real-time control data.

31, drive system as claimed in claim 29, a kind of compatibility in wherein this communication bus interface and controller local area network CAN, RS-232, RS-422, general-purpose serial bus USB, serial, parallel, wireless, bluetooth and the format optical.

32, drive system as claimed in claim 30, wherein this real-time control data comprises this battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/in the traction signal at least one.

33, drive system as claimed in claim 29 further comprises battery charger, this battery charger comprise be used for and the communication bus interface of this AC motor controller between second communication bus interface of transmission battery charging state SOC.

34, drive system as claimed in claim 1 further comprises the locking differential that receives and be rerouted to this driving torque of a pair of axle.

35, drive system as claimed in claim 34, wherein this locking differential is according to the differential controls semaphore lock and the release that are produced by this AC motor controller.

36, drive system as claimed in claim 35, wherein this AC motor controller produces this differential controls signal in a PWM working cycle when this locking differential of locking, produces this differential controls signal in the locked back of locking differential in the 2nd PWM working cycle.

37, drive system as claimed in claim 1 further comprises a plurality of wheel velocity signals, and wherein this AC drive signal is further based on this wheel velocity signal.

38, drive system as claimed in claim 37, wherein this AC motor controller comprises at least one in anti-skid brake system and the pull-in control system, these systems receive wheel velocity signal, and limit the acceleration/accel and the deceleration/decel of this AC electrical motor.

39, drive system as claimed in claim 38, wherein this pull-in control system limits this acceleration/accel and deceleration/decel based on the comparative result with the wheel velocity signal that flower wheel is relevant with non-flower wheel separately.

40, drive system as claimed in claim 1, comprise the 2nd AC electrical motor that is used to provide second driving torque, wherein transmit the 2nd AC drive signal between this AC motor controller and the 2nd AC electrical motor, and the 2nd AC drive signal is based on the working condition of this AC electrical motor.

41, a kind of operation is used for the method for the drive system of all-service vehicle, comprising:

Driving torque is provided;

42, method as claimed in claim 41 wherein produces this AC drive signal and comprises generation three-phase AC drive signal.

43, method as claimed in claim 41 further comprises at least one the value in record described battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/traction signal.

44, method as claimed in claim 41 further comprises receiving braking total travel signal and throttle gate actuation signal.

45, method as claimed in claim 41, further comprise based on described battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/in the traction signal at least one produce alerting signal.

46, method as claimed in claim 41, wherein this AC drive signal comprises at least one in pulse width modulating signal and the pulse frequency modulated signal.

47, method as claimed in claim 41 further comprises the maximum frequency of determining this AC drive signal based on this battery voltage signal.

48, method as claimed in claim 41 further comprises the maximum frequency of determining this AC drive signal based on this traction on-off signal and FNR signal.

49, method as claimed in claim 41 further comprises producing status signal and based on this status signal show state indication.

50, method as claimed in claim 49, wherein at least one in this status signal pilot cell situation, ampere hour indication, error code, the reverse-drive situation.

51, method as claimed in claim 41, further comprise when key switch signal indication open position, the indication of FNR signal advance and car backing position in one, travel/traction signal indication traveling-position, speed-slackening signal is indicated 0% braking instruction and battery charging state SOC during greater than predetermined SOC, produces this AC drive signal.

52, method as claimed in claim 41, further comprise when this speed-slackening signal is indicated greater than 0% braking instruction, reduce the frequency of this AC drive signal, and no matter this battery voltage signal, throttle control position signal, travel/traction signal and FNR signal.

53, method as claimed in claim 41 further comprises definite battery SOC, and determines the maximum frequency of this AC drive signal based on this SOC.

54, method as claimed in claim 41 further includes selectively this AC drive signal is offered this switch process.

55, method as claimed in claim 41 further comprises:

Produce the drg control signal and continue the schedule time in a PWM working cycle, when described speed-slackening signal was indicated greater than 0% braking instruction, the 2nd PWM working cycle subsequently produced the drg control signal.

56, method as claimed in claim 41 further comprises when this speed-slackening signal indicates 0% braking instruction and this throttle signal to indicate the instruction of 0% throttle gate, reduces the frequency of this AC drive signal.

57, method as claimed in claim 41, further comprise when this travel/during traction signal indication distracted position, minimize the driving torque of working direction and astern direction.

58, method as claimed in claim 41, further comprise when this travel/during traction signal indication distracted position, minimize and change battery charging state SOC.

59, method as claimed in claim 41 comprises that further the kinetic energy with this all-service vehicle changes into electric energy, to increase battery charging state SOC.

60, method as claimed in claim 59 further comprises the percentum based on the definite kinetic energy that will transform of battery pack type, battery pack period of service and energy expenditure rate.

61, method as claimed in claim 41, further comprise based on this brake position signal, key switch signal and travel/in the traction signal at least one brake this all-service vehicle.

62, method as claimed in claim 41, further comprising from this all-service vehicle communications of control data, this control data comprises this battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/in the traction signal at least one.

63, method as claimed in claim 62, wherein this control data comprises real-time control data.

64, method as claimed in claim 62 further comprises based on the battery charging state SOC data that receive by above-mentioned communication steps and recharges for this all-service vehicle.

65, method as claimed in claim 41 further comprises the driving torque that receives and be rerouted to a pair of axle selectively.

66, method as claimed in claim 41 comprises further receiving a plurality of wheel velocity signals that wherein this AC drive signal is further based on this wheel velocity signal.

67, as the described method of claim 66, wherein the rate of change of this AC driving signal frequency is less than the rate of change based on the limits value of this wheel velocity signal.

68, as the described method of claim 67, wherein the rate of change of this limits value is based on the comparative result with the wheel velocity signal that flower wheel is relevant with non-flower wheel separately.

69, method as claimed in claim 41 further comprises:

Result based on the step that transforms described AC drive signal produces the 2nd AC drive signal; With

Described the 2nd AC drive signal is changed into second driving torque that is used for driving this all-service vehicle.

70, as the described method of claim 69, the step that wherein produces this AC drive signal comprises generation three-phase AC drive signal.

71, a kind of drive system that is used to comprise the all-service vehicle of a plurality of wheels comprises:

72, as the described drive system of claim 71, further comprise rotation direction sensor, be used for producing and this AC motor controller between the turn sign that transmits, wherein this AC drive signal is further based on this turn sign.

73, a kind of all-service vehicle comprises:

74, as the described drive system of claim 73, wherein this AC electrical motor comprises in induction motor (IM) and the motor with permanent magnet one.

75, as the described drive system of claim 73, wherein this AC electrical motor is the three-phase and quadrupole brushless motor.

76, as the described drive system of claim 75, wherein this AC electrical motor comprises winding stator and permanent magnet rotor.

77, as the described drive system of claim 76, wherein this permanent magnet comprises rare-earth magnet.

78, as the described drive system of claim 73, wherein this AC motor controller further comprises the media drive that is used to receive movable storage medium.

79, as the described drive system of claim 73, wherein this AC motor controller further receives braking total travel signal and throttle gate actuation signal.

80, as the described drive system of claim 73, wherein this AC motor controller further produces alerting signal.

81, as the described drive system of claim 73, wherein this AC drive signal comprises three-phase AC drive signal.

82, as the described drive system of claim 73, wherein this AC drive signal comprises at least one in pulse width modulating signal and the pulse frequency modulated signal.

83, as the described drive system of claim 73, wherein this AC motor controller is determined the maximum speed of this AC electrical motor according to this battery voltage signal at least.

84, as the described drive system of claim 73, wherein this AC motor controller is determined the maximum speed of this AC electrical motor based on traction on-off signal and FNR signal.

85, as the described drive system of claim 73, wherein this AC motor controller further produces the status signal that is transported to read-out.

86, as the described drive system of claim 85, at least one in this status signal pilot cell situation, ampere hour demonstration, error code and the reverse-drive situation wherein.

87, as the described drive system of claim 85, wherein this read-out comprises at least one in LED, digital display and the alphanumeric display device.

88, as the described drive system of claim 73, wherein when key switch be in open position, FNR switch be in advance and car backing position in one, traction switch when being in traveling-position, speed-slackening signal and indicating 0% braking instruction and battery charging state SOC greater than predetermined SOC, this AC motor controller produces this AC drive signal.

89, as the described drive system of claim 73, wherein when speed-slackening signal is indicated greater than 0% braking instruction, this AC motor controller slows down this AC electrical motor, and no matter this battery voltage signal, throttle control position signal, travel/traction signal and FNR signal.

90, as the described drive system of claim 73, wherein this AC motor controller is determined the SOC of battery, and determines the maximum speed of this AC electrical motor according to this SOC.

91, as the described drive system of claim 73, further comprise the contactless switch that selectively connects this AC drive signal and this AC electrical motor, wherein this AC motor controller further produces the PWM contactor control signal that is sent to this contactless switch, this AC motor controller produces this contactor control signal in a PWM working cycle when this contactless switch of closure, produce this contactor control signal in the 2nd PWM working cycle after this contactless switch is closed.

92, as the described drive system of claim 73, further comprise the drg that selectively slows down this AC electrical motor, wherein this AC motor controller further produces the drg control signal that is sent to this drg, wherein this AC motor controller produces this drg control signal in a PWM working cycle when using this drg, produces this drg control signal after using this drg when the 2nd PWM working cycle.

93, as the described drive system of claim 92, wherein this drg is included in the Parking Brake that is used when this AC electrical motor stops.

94, as the described drive system of claim 73, wherein when this brake position signal aspect and indication 0% braking instruction and this throttle signal showed the instruction of 0% throttle gate, this AC motor controller reduced the speed of this AC electrical motor with set rate.

95, as the described drive system of claim 73, wherein when travel/traction signal shows that this all-service vehicle is in when being pulled, this AC motor controller is minimized in this driving torque of working direction and astern direction.

96, as the described drive system of claim 73, further comprise the rechargeable battery that is used for providing power supply to this AC motor controller, wherein the kind of this rechargeable battery comprises a kind of in lithium ion, NI-G, ni-mh, the plumbic acid.

97, as the described drive system of claim 96, wherein when this travel/when traction signal showed that this all-service vehicle is pulled, this AC motor controller minimized the electric current by this rechargeable battery.

98, as the described drive system of claim 96, wherein this AC motor controller uses the energy that receives from this AC electrical motor to recharge to this rechargeable battery.

99, as the described drive system of claim 98, wherein this AC motor controller determines to offer the energy percentage of this rechargeable battery based on battery pack type, battery pack period of service and energy expenditure rate.

100, as the described drive system of claim 73, the drg that further comprises this all-service vehicle that is used for slowing down, wherein this AC motor controller based on this brake position signal, key switch signal with travel/traction signal produces the speed-slackening signal that is used to control this drg.

101, as the described drive system of claim 73, wherein this AC motor controller further comprises and is used for transmitting the data communication bus interface.

102, as the described drive system of claim 101, wherein these data comprise control data.

103, as the described drive system of claim 101, a kind of compatibility in wherein this communication bus interface and controller local area network CAN, RS-232, RS-422, general-purpose serial bus USB, serial, parallel, wireless, bluetooth and the format optical.

104, as the described drive system of claim 103, wherein this control data comprises this battery voltage signal, throttle control position signal, brake pedal position signal, key switch signal, FNR signal and travel/in the traction signal at least one.

105, as the described drive system of claim 102, further comprise battery charger, this battery charger comprise be used for and the communication bus interface of this AC motor controller between second communication bus interface of transmission battery charging state SOC.

106,, further comprise the locking differential that receives and be rerouted to this driving torque of a pair of axle as the described drive system of claim 73.

107, as the described drive system of claim 106, wherein this locking differential is according to the differential controls semaphore lock and the release that are produced by this AC motor controller.

108, as the described drive system of claim 107, wherein this AC motor controller produces this differential controls signal in a PWM working cycle when this locking differential of locking, produces this differential controls signal in the locked back of locking differential in the 2nd PWM working cycle.

109, as the described drive system of claim 73, further comprise a plurality of wheel velocity signals, wherein this AC drive signal is further based on this wheel velocity signal.

110, as the described drive system of claim 109, wherein this AC motor controller comprises at least one in anti-skid brake system and the pull-in control system, and these systems receive wheel velocity signal, and limits the acceleration/accel and the deceleration/decel of this AC electrical motor.

111, as the described drive system of claim 110, wherein this pull-in control system limits this acceleration/accel and deceleration/decel based on the comparative result with the wheel velocity signal that flower wheel is relevant with non-flower wheel separately.

112, as the described drive system of claim 73, comprise the 2nd AC electrical motor that is used to provide second driving torque, wherein transmit the 2nd AC drive signal between this AC motor controller and the 2nd AC electrical motor, and the 2nd AC drive signal is based on the working condition of this AC electrical motor.

113, a kind of operation is used for the method for the drive system of all-service vehicle, comprising:

Driving torque is provided;

Produce the AC drive signal according to the signal that is received; With

114, a kind of drive system that is used to comprise the all-service vehicle of a plurality of wheels comprises:

115, a kind of operation is used for the method for the drive system of all-service vehicle, comprising:

Driving torque is provided;