CN201354017Y - Self-adjusting electronic differential gear - Google Patents

Abstract

The utility model relates to a self-adjusting electronic differential gear which consists of an accelerator, controllers, drive motors, drive wheels, transmission shafts, a transmission shaft universal set and other parts, and is characterized in that the accelerator consists of an accelerator pedal, an accelerator pedal connecting rod and an accelerator body; a left and a right accelerator signal lines are arranged and respectively connected with a left and a right controllers; the control lines of the controllers are the control lines of the drive motors; the output lines of the left and the right controllers are respectively connected with a left and a right drive motors; the drive motors are connected with the transmission shafts of the drive wheels through the universal set; and the transmission shafts are connected with the drive wheels. The self-adjusting electronic differential gear is mainly used for double-motor independent directly driven electric vehicles. The two drive wheels are respectively driven by the two motors; and the drive motors are respectively controlled by the two controllers with the same dimension, thereby realizing the double-motor independent direct driving mode, and the electronic differential self-adjusting function. The two controllers are controlled by the same accelerator, so that the two motors work under the same current and voltage. Because of the characteristics of the motors, the electronic differential self-adjusting function can be realized through the adjustment of different slip rate.

Description

Self-adjusting electric speed differential

Technical field

The utility model relates to vehicle electric system, relates in particular to the drive configuration and the electronic control system of electronlmobil.

Background technology

Application number is 02136498.2, denomination of invention be " four wheel electronic differential speed steering control system " patent disclosure a kind of four wheel electronic differential speed steering control system, include motor (1), braking mechanism (7), steering hardware (8) and acceleration electric switch (5), 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), this central process unit is gathered the signal of each sensor and on-vehicle parts, and calculate the corresponding rotating speed of target of each wheel, by sending voltage instruction, adjust vehicle wheel rotational speed then to electric machine controller.This four wheel electronic differential speed steering control system keeps the pure rolling state between each wheel and ground in the time of guaranteeing to travel, reduce wheel and ground-surface friction force, prolongs the service life of each parts of automobile.

Application number is 200320105577.6, the utility model name be called " electronic diff " patent disclosure a kind of electronic diff of toy car mould, by capacitor C 1, C2, electric original paper such as resistance R 1, R2 is formed, No. one motor one this power supply of termination positive supply is controlled by the output of acceptor circuit, and be connected with resistance R 1 one ends, resistance R 1 another termination variable resistance Rx, the other end connecting resistance R2 of Rx, R2 other end power connection negative pole, another termination slide plate of motor, slide plate and variable resistance Rx moving contact; No. two motor one termination slide plates, No. two the motor other end is connected with power cathode.The beneficial effects of the utility model are, can make the car mould when changing, and the different revolutions but the automatically regulating drive wheel is respectively done for oneself have been realized the alerting ability of turning, and have improved performance, and are simple in structure, easy for installation.

Application number is 200320123856.5, the utility model name be called " battery-driven car automatic steering differential gear " patent disclosure a kind of automatic electric car steering differential gear.Existing battery-driven car (electronlmobil, road type electro-tricycle) uses mechanical differential gear box, heavy, cost is high, the battery-driven car that has does not have differential, dangerous, turn dumb, the electric vehicle control stalk that also has or press button, switch control, dangerous, inconvenient.This battery-driven car left and right sides Dual-motors Driving, sensing system is laid at the kinematic link place of bearing circle or steering handle, sensing steering angle size, its sensing signal is transported to controller or is directly transported to the sensing system of speed control crank (or pedal speed-adjusting), and two motor speeds were inequality and reach differential effect when battery-driven car was turned.

Application number is 200720107279.9, the utility model name be called " a kind of electronlmobil turns to the electronic differential controller " patent disclosure a kind of electronlmobil turn to the electronic differential controller.This electronic differential controller comprises the left differential signal generation device of bearing circle, right differential signal generation device, acceleration pedal general speed signal generation device, revolver comparator circuit module and the right wheel comparator circuit module of bearing circle.The utility model compares the output that has realized revolver differential control signal by revolver comparator circuit module to the left differential signal and the acceleration pedal general speed signal of bearing circle; Right wheel comparator circuit module compares the output that has realized right wheel differential control signal to the right differential signal and the acceleration pedal general speed signal of bearing circle, has accurate, safe characteristics.

Application number is 200810020544.9, denomination of invention be " differential control system of two-wheeled driven electric vehicle " patent disclosure a kind of differential control system of two-wheeled driven electric vehicle, comprise a left side, right driver module and Coordination module, Coordination module receives external control signal, an output corresponding working signal control left side, the horsepower output of right driver module, a left side, right driver module constantly is transferred to Coordination module with the dtc signal of two drive wheels, the principle that Coordination module equates according to two driving wheel torques judges whether to adjust the working signal of two driver modules, and Coordination module is adjusted a left side by the PID controller, the working signal of right driver module.System architecture of the present invention is simple, be easy to realize, prevent that slippage from appearring in vehicle, reduce Tyte Wear, guarantee the stability of vehicle ', with micro controller system process information precision height, speed is fast, can adjust driving wheel torque in real time, no longer needs transmission device and differential gear, save the space, improved the efficient of driving system.

Present electronic differential system needs the steering angle signal of bearing circle and the position signal of accelerator, through Intelligent treatment, controls the rotating speed and the electric current of inside and outside drive wheel, realizes the function of differential.Self-adjusting electric speed differential of the present utility model does not need the steering angle signal of bearing circle, regulates by slippage rate, realizes the self-regulating function of electronic differential.

The utility model content

The purpose of this utility model is, the electronic differential system that is used for the electronlmobil of the independent and direct drive mode of double-motor, do not need the steering angle signal of bearing circle, just according to ground-surface situation, the required rotating speed of drive wheel when turning to, when the rotating speed of two drive wheels not simultaneously because the characteristic of constructional feature and motor is regulated by slippage rate, realize the self-regulating function of electronic differential, reach the purpose of electronic differential.

To achieve these goals, the utility model is by the following technical solutions:

Self-adjusting electric speed differential of the present utility model, by accelerator, controller, drive motor, drive wheel, transmission shaft, parts such as the universal cover of transmission shaft are formed, it is characterized in that: described accelerator is by accelerator pedal, accelerator pedal connecting rod and acceleration body are formed, about the accelerator signal line divides two, be connected with left and right sides controller respectively, the output line of described controller is the control line of drive motor, the output line of left and right sides controller is connected with left and right sides drive motor respectively, described drive motor is by the transmission shaft of universal cover connection drive wheel, and transmission shaft connects drive wheel.

According to described self-adjusting electric speed differential, it is characterized in that: described left and right sides motor connects the left and right sidesing driving wheel transmission shaft respectively, described left and right sidesing driving wheel transmission shaft connects the universal cover of left and right sidesing driving wheel transmission shaft respectively, the universal cover of described left and right sidesing driving wheel transmission shaft connects left and right sidesing driving wheel respectively, realizes independent and the version of direct drive.

According to described self-adjusting electric speed differential, it is characterized in that: described left and right sides controller is by two accelerator signal line controls of parallel connection, and described two accelerator signal lines are exported identical signal.

According to described self-adjusting electric speed differential, it is characterized in that: the output signal of described left and right sides controller is separate, and independence and direct control left and right sides drive motor.

The utility model has the advantages of:

Self-adjusting electric speed differential of the present utility model, be mainly used in the electronlmobil of double-motor individual drive mode, described double-motor is formed left and right sides electric machine structure, constructional feature of the present utility model is, left and right sidesing driving wheel is by left and right sides motor difference direct drive, described left and right sides motor is controlled respectively by the controller of two same sizes, under same power supply, control each controller by same accelerator, has realized the independent and direct drive mode of double-motor.Because the characteristic of constructional feature and motor is regulated by slippage rate, realize the self-regulating function of electronic differential.

The effect of control signal: the position of accelerator pedal is converted to the signal voltage of accelerator signal line, and the position of pedal and signal voltage are to concern one to one.Two controllers about the control of same accelerator, therefore, the position of accelerator pedal with about the output signal voltage of two controllers be to concern one to one, the output signal voltage of two controllers is identical.

The characteristic of motor: because about the output signal voltage of two controllers identical, therefore, the operating voltage of two motors is identical about being added in.Under identical operating voltage, when all the other conditions were identical, rotating speed of motor, torque were identical, otherwise, be different; When the condition difference, make left and right sides rotating speed of motor not simultaneously, the counter electromotive force of the motor that rotating speed is little is little, and then working current is big, and torque is big, and rotating speed increases; The counter electromotive force of the motor that rotating speed is big is big, and then working current is little, and torque is little, and rotating speed reduces, and like this, makes left and right sides rotating speed of motor be tending towards close, but can not be identical, and certain speed discrepancy is arranged, and shows as, and the slippage rate of two drive wheels is inequality.

Because the characteristic of constructional feature and motor, turning to or during different condition of road surface, about the rotating speed difference of two drive wheels, the driving torque of the drive wheel that rotating speed is little is greater than the driving torque of the big drive wheel of rotating speed, it is inequality slippage rate to have occurred, the slippage rate of the drive wheel that rotating speed is little by the adjusting of slippage rate, is realized the self-regulating function of electronic differential greater than the slippage rate of the big drive wheel of rotating speed.

Description of drawings

Fig. 1 is a view of the present utility model.

In the accompanying drawing: 1, accelerator pedal; 2, accelerator pedal connecting rod; 3, accelerator; 4, accelerator signal line; 5, left and right controller; 6, left and right driving wheel; 7, left and right driving wheel shaft; 8, the universal cover of left and right driving wheel shaft; 9, the bearing of the universal cover of left and right driving wheel shaft; 10, left and right driving motor; 11, the control line of left and right driving motor; 12, the positioning groove of left and right driving motor shaft.

The specific embodiment

Self-adjusting electric speed differential of the present utility model, as shown in Figure 1, accelerator 3 is by accelerator pedal 1 and accelerator pedal connecting rod 2 and quicken body and form, left and right two of accelerator signal line 4 minutes, link to each other the work of control motor respectively with left and right driving motor 10.Left and right driving wheel 6 is driven by left and right driving wheel shaft 7 respectively, left and right driving wheel shaft 7 is connected by the profile of tooth spline with the universal cover 8 of left and right driving wheel shaft, the axle of the universal cover 8 of left and right driving wheel shaft is placed in the bearing 9 of universal cover of left and right driving wheel shaft, the axle of the universal cover 8 of left and right driving wheel shaft links to each other with the roll-shell of left and right driving motor 10, the stator axis of left and right driving motor 10 is placed in the positioning groove 12 of left and right driving motor shaft, plays support, positioning action.

Described self-adjusting electric speed differential, about two drive wheels by double-motor independent and direct drive, the rotating speed of drive wheel, by power line voltage and the decision of control voltage, and the resistance that is produced according to the ground-surface situation, drive wheel reaches certain rotating speed, in the ideal case, when condition of road surface is identical, about the rotating speed of two drive wheels be identical, still, about the real work radius difference of two drive wheels, the condition of road surface difference, the rotating speed difference of two drive wheels about making is under same power line voltage and identical control signal, the electric current of the drive motor that the drive wheel rotating speed is low is big, torque is big, and slippage rate is big; The electric current of the drive motor that the drive wheel rotating speed is high is little, torque is little, and slippage rate is little.Regulate by slippage rate, realize the self-regulating function of electronic differential.

Principle of design of the present utility model is as follows:

The basic condition of 1 self-adjusting electric differential

The total mass of the electronlmobil of this programme is m _a=1200kg: minimum turning radius: R _Min=10m, height of center of mass H=0.55m, wheelspan are B=1.380m, wheelbase is L=2.340m.The drive wheel radius is r=0.26m.

2 self-regulation differential functions are analyzed:

2.1, turn to the rotating speed of drive wheel when travelling: when turning to, the left and right driving wheel is described with inside and outside drive wheel, the Turning radius difference of inside and outside drive wheel, the Turning radius of outer drive wheel is big, rotating speed is big, the Turning radius of interior drive wheel is little, rotating speed is little.Represent by following formula:

Can get: n _{Interior reason}＜n _{Outer reason}

The voltage balance equation of motor is:

U-ΔU＝E _m+IR _d，∴ $I=\frac{U-\mathrm{\ΔU}-E_m}{R_d}\≈\frac{U-E_m}{R_d}.$

Torque factor is K _M=0.85, electro-motive force constant K _E=0.85, theoretical counter electromotive force E=K _Eω=0.85 ω, $E=K_E\·\mathrm{\ω}=K_E\·\frac{V_T}{3.6\·r}={K^{\′}}_E\·V_T,$ K ' _E=0.908, then, E=0.908V _T,

, theoretical work voltage $U=\frac{48}{40.7}{V}_T=1.18V_T.$ Real work voltage is U _Real, its value is quickened the influence of the stroke of electric switch pedal, and by formula E=η U as can be known, its variation has changed E again _Real, finally change the rotating speed of electrical motor.E _{Interior reason}＜E _{Outer reason}, and double-motor is to be operated under the same input voltage, i.e. U _{Interior reason}=U _{Outer reason}, just, U _{Interior reason}-E _{Interior reason}＞U _{Outer reason}-E _{Outer reason}, $I\≈\frac{U-E_m}{R_d},$ Can get,

Behind the abbreviation:

Therefore, I _In＞I _Outward, M _{In the q}＞M _{Outside the q}, further can get δ _In＞δ _OutwardSo, the actual speed of each drive wheel:

2.2 driving torque:

M _q=K _MI, then, M _{In the q}=K _MI _{In the m}, M _{Outside the q}=K _MI _{Outside the m}

M _{In the q}=K _M* I _{In the m}, M _{Outside the q}=K _M* I _{Outside the m}

Can get:

, and M _{In the q}＞M _{Outside the q}, just, the torque of the drive wheel that rotating speed is little is big, and the torque of the drive wheel that rotating speed is big is little.Therefore, when turning to, the output torque of interior drive wheel is big, and the output torque of outer drive wheel is little.

2.3 slippage rate: the electric current of interior drive wheel is big, torque is big, and slippage rate is big; The electric current of outer drive wheel is little, torque is little, and slippage rate is little.

Utilize the approximation method of linear difference (string position method): the slippage rate during approximate representation correspondence Turning radius:

The Turning radius of interior wheel and the relation of slippage rate: (R, δ), cooresponding 2 is (10,10%), (50,5%).η then _{In the δ}=0.1125-0.00125R

Foreign steamer: cooresponding 2 is (10,3%), (50,5%).η _{Outside the δ}=0.025+0.0005R

∵ n _{Interior reason}＜n _{Outer reason}∵ E=K again _Eω=0.85 ω, $\mathrm{\ω}=\frac{2\mathrm{\π}}{60}n,$ ∴ E _{Interior reason}＜E _{Outer reason}, and double-motor is to be operated under the same input voltage, i.e. U _{Interior reason}=U _{Outer reason}, just, U _{Interior reason}-E _{Interior reason}＞U _{Outer reason}-E _{Outer reason}, $I\≈\frac{U-E_m}{R_d},$ Therefore, I _In＞I _Outward, M _{In the q}＞M _{Outside the q}, ∵ $F_q=\frac{M_q}{r},$ ∴ F _{In the q}＞F _{Outside the q}, therefore, δ _In＞δ _Outward

When turning to, work as V _T=20km/h, Turning radius R=15m, then centripetal acceleration $a=\frac{v^2}{R}=\frac{{\mathrm{<figure-callout\; id="2"\; label="V\; T"\; filenames="Y2008201882530012H1.png"\; state="\{\{state\}\}">V</figure-callout>}}_T^{}}{{3.6}^2\&CenterDot;R}=2.06m/{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="Y2008201882530012H1.png"\; state="\{\{state\}\}">S</figure-callout>}}^2,$ Centripetal force f=ma=2.472N.Outer drive wheel weightening finish G ₁=100kg, interior drive wheel loss of weight G ₂=100kg.M _{In the q}=31.8N.m, M _{Outside the q}=23.4N.m.δ _In=9.4%, δ _Outward=3.3%.

Can get by above-mentioned analysis, because, inboard weight saving, and propulsive effort has increased, outside weight increases, and propulsive effort has reduced, so the slippage rate of interior drive wheel is greater than the slippage rate of outer drive wheel, i.e. δ _In＞δ _OutwardRealize the self-regulating function of differential by sacrificing slippage rate.

2.4 the differential function of straight-line travelling:

2.4.1 in straight-line travelling, two drive wheel rotating speeds are difficult to reach in full accord, cause two rotating speed of motor inconsistent, always can have certain rotation speed difference deltan n, are expressed as Δ ω, by E=K _Eω as can be known, the counter electromotive force difference of two motors has less difference, then an electric current $I\&ap;\frac{U-E_m}{R_d}$ Also different, the working current of the motor that rotating speed is big is little, and torque is little, and slippage rate diminishes, rotating speed reduces, and the working current of the motor that rotating speed is little is big, and torque is big, and it is big that slippage rate becomes, rotating speed increases, and regulates each rotating speed of motor by the characteristic of constructional feature and motor, and each wheel speed is regulated.Realize the self-interacting type differential function, strengthened the reliability of vehicle stabilization straight-line travelling.

2.4.2 the difference of the instantaneous axle of the revolution of drive wheel: the varying in size of effective rolling radius.

E=K _Eω=K _EV _T/ (3.6r) reach $n=\frac{V_T}{3.6}\&CenterDot;\frac{60}{2\mathrm{\&pi;}\&CenterDot;r},$ When effective theoretical running radius of tire is big, rotating speed is little to be that n is little, and counter electromotive force is little to be that the value of E is little, and the difference of U-E is just big, $I\&ap;\frac{U-E_m}{R_d},$ Electric current is big, M _q=K _M* I, torque is big, and it is big that slippage rate becomes, and rotating speed is changed to augment direction; Effective rolling radius is little, and rotating speed is big, and electric current is little, and torque is little, and slippage rate diminishes, and rotating speed is changed to reducing direction; Because constructional feature and motor characteristic decision reach unanimity the rotating speed of drive wheel, have realized differential function.

2.4.3 in ground-surface adhesive ability coefficient difference: ground-surface adhesive ability coefficient is little, and slippage rate is big, and rotating speed is big, torque is little, and rotating speed is changed to reducing direction; Ground-surface adhesive ability coefficient is big, and slippage rate is little, and rotating speed is little, torque is big, and rotating speed is changed to augment direction.Play differential action.

2.5 realize the self-regulating function of electronic differential by different slippage rates

The efficient of trackslipping:

Slippage rate $\mathrm{\&delta;}=\frac{P_q(V_T-V)}{P_q\&CenterDot;V_T}=1-\frac{V}{V_T}=1-{\mathrm{\&eta;}}_{\mathrm{\&delta;}}$

The efficient of electrical motor: η=85% is discussed slippage rate: δ=9.4%.

The driving efficiency of car load: η _Real=η η _δ=η * (1-δ)=0.77.

Gross horsepower:

Usable horsepower: $N_{q1}=\frac{1}{1000}\&CenterDot;F\&CenterDot;\frac{V_T}{3.6}.$

The resisting moment of the drive wheel that rotating speed is big is greater than the resisting moment of the little drive wheel of rotating speed.And when the automatically regulating state, the moment of the drive wheel that rotating speed is big is less than the moment of the little drive wheel of rotating speed.When Turning radius is 15m, when the speed of a motor vehicle is 20km/h, be a=2.06m.s-2 to cadion-acceleration, centripetal force is F=ma=2469N, height of center of mass is 40% and is 0.55m, then moment M20=1358N.m.Wheelspan is 1380mm, and then the pressure of the drive wheel that rotating speed is big increases 980N, and increasing weight is 100Kg, and the pressure of the drive wheel that rotating speed is little is reduced to 980N, and loss of weight is 100Kg.Friction coefficient is 0.4, and it is 40N that the drive wheel that rotating speed is big can increase friction force, and the drive wheel that rotating speed is little can reduce friction and be 40N.The weight of car body is 1200Kg, and the weight of the car body that front driving wheel bore that single rotating speed is big is 250Kg, and weight has increased by 40%, and the front driving wheel weight that single rotating speed is little has reduced 40%.Like this, it is big that the slippage rate of the drive wheel that rotating speed is little becomes, and the slippage rate of the drive wheel that rotating speed is big has diminished.

Under same operating voltage, when identical road conditions, when not having steering angle, the rotating speed of left and right driving wheel is essentially identical, and slippage rate is identical.When steering angle was arranged, the rotating speed of interior drive wheel diminished, and it is big that slippage rate becomes, and it is big that the rotating speed of outer drive wheel becomes, and slippage rate diminishes.Realize the function of differential by the difference of slippage rate.

As long as have speed discrepancy between the and arranged on left and right sides drive wheel, the working current of the motor of and arranged on left and right sides is just different, and irrelevant with steering wheel angle, that is to say, by constructional feature and motor characteristic, needn't detect the function that steering wheel angle just can be realized mechanical differential gear box.

Claims (4)

1, a kind of self-adjusting electric speed differential, form by parts such as accelerator, controller, drive motor, drive wheel, transmission shaft, the universal covers of transmission shaft, it is characterized in that: described accelerator is made up of accelerator pedal, accelerator pedal connecting rod and acceleration body, about the accelerator signal line divides two, be connected with left and right sides controller respectively, the output line of described controller is the control line of drive motor, the output line of left and right sides controller is connected with left and right sides drive motor respectively, described drive motor is by the transmission shaft of universal cover connection drive wheel, and transmission shaft connects drive wheel.

2, according to right request 1 described self-adjusting electric speed differential, it is characterized in that: described left and right sides motor connects the left and right sidesing driving wheel transmission shaft respectively, described left and right sidesing driving wheel transmission shaft connects the universal cover of left and right sidesing driving wheel transmission shaft respectively, the universal cover of described left and right sidesing driving wheel transmission shaft connects left and right sidesing driving wheel respectively, realizes independent and the version of direct drive.

3, according to right request 1 described self-adjusting electric speed differential, it is characterized in that: described left and right sides controller is by two accelerator signal line controls of parallel connection, and described two accelerator signal lines are exported identical signal.

4, according to right request 1 described self-adjusting electric speed differential, it is characterized in that: the output signal of described left and right sides controller is separate, and independence and direct control left and right sides drive motor.

Images