CN202006826U - Differential control device for rear wheels of electric tricycle - Google Patents

Abstract

The utility model discloses a differential control device for rear wheels of an electric tricycle, and relates to the technical field of differential drive for the rear wheels of the electric tricycle. The differential control device comprises an angle sensor for measuring the steering angle of a front wheel, a velocity sensor for measuring the instantaneous velocity of the front wheel, a preprocessing module connected with the angle sensor and the velocity sensor and used for performing preprocessing to signals acquired by the two sensors, a microprocessor connected with the preprocessing module and used for calculating converted data, and a control module connected with the microprocessor and used for controlling a motor of the rear wheels. The differential control device provided by the utility has the advantages that the velocity and the steering signals of the front wheel of the electric tricycle are adopted to control the rotational speed of the rear wheels, so that the signal acquisition is simple and is easy to realize, and the cost of an electronic differential controller of the electric tricycle is also reduced.

Description

Electric three-wheel back wheels of vehicle differential control setup

Technical field

The utility model relates to electric three-wheel back wheels of vehicle differential actuation techniques field, specifically is a kind of electric three-wheel back wheels of vehicle differential control setup, and the two back turbin generators that are used for electro-tricycle are independently controlled.

Background technology

Electro-tricycle becomes more and more manned shippers' of short distance first-selection because characteristics such as lower, easy to operate, the environmental protection of its use cost.When electro-tricycle is turned, the rotating speed difference of interior outboard wheels, therefore needed driving torque of outboard wheels and suffered friction force are also different in, if do not control effectively, wheel can produce slippage, becomes cliding friction in short-term by friction of rolling, significantly reduce tire service life, if load-carrying is bigger, the out-of-balance force of interior foreign steamer even can produce infringement to vehicle bridge, so the trailing wheel differential drives also extremely important in electro-tricycle.

Conventional electric three-wheel vehicle trailing wheel differential drive device mainly still adopts the differential gear housing on the vehicle bridge of back, this is the differential control technology of comparative maturity, on automobile, be extensive use of, but all come from storage battery owing to drive all energy of electro-tricycle, the battery stores finite energy, the vehicle bridge self of band diff is heavier, and the waste of power in adding gear transmission can have a strong impact on the continuation of the journey mileage of electro-tricycle.

The most E-Diffs that adopt of electric three-wheel back wheels of vehicle differential drive device are adopted control at present.Electronic differential adopts sensor technology and microcomputerized control technology, has abandoned the heaviness of mechanical differential gear box, has removed mechanical drive intermediate link and has alleviated the car load load, can effectively utilize the energy content of battery, improves car load efficient, increases the continuation of the journey mileage.The key of foreign steamer differential was need how to judge whether differential and how to carry out differential control in E-Diff was realized, the E-Diff that adopts is mainly according to interior foreign steamer change in friction force two rotating speed of motor at present, as adopt two DC machine series and parallel modes to solve the method for the differential problem of electro-motive vehicle, realize differential by the voltage of two motors and the interior foreign steamer torque of big or small automatically regulating of armature current, but two motor torques can not be controlled in real time.And rotating speed and torque between the drive motor are interrelated, have lost the advantage of electric drive wheel driving itself.E-Diff will obtain back two-wheel friction force or torque data etc., and as the foundation of differential control, it is comparatively complicated that data are obtained, and control process is comparatively loaded down with trivial details.

Summary of the invention

In order to overcome the shortcoming of above-mentioned prior art, the utility model provides a kind of electric three-wheel back wheels of vehicle differential control setup, adopts front wheel steering angle as differential control judgement signal control device, and control process is simple, is easy to realize.

The utility model is realized with following technical scheme: a kind of electric three-wheel back wheels of vehicle differential control setup comprises a speed sensor that is used to measure the angular transducer of front-wheel steering angle and is used to measure the front-wheel momentary velocity; Be connected the signal that is used for two sensor acquisition with speed sensor with angular transducer respectively and carry out pretreated pre-processing module; Be connected with pre-processing module and be used for microprocessor that the data after the conversion are calculated; Be connected the control module that is used to control the back turbin generator with microprocessor.

Principle of work: angular transducer collects the signal of front-wheel steering angle and signal that speed sensor collects the front-wheel momentary velocity all is converted to voltage signal, send into pre-processing module and handle, send into after pre-processing module is handled the voltage signal of angular transducer and speed sensor output and carry out computing in the microprocessor; Obtain the control signal digital quantity of turbin generator after two after the microprocessor computing, these two control signal digital quantities are outputed to the control module that is used to control the trailing wheel motor speed, control module is regulated the voltage and current of motor, realizes the trailing wheel rotating speed of motor is controlled.

The beneficial effects of the utility model are: compare with the signals such as friction force, torque or slip rate of gathering trailing wheel in the existing electro-tricycle E-Diff, adopt the speed and the angular signal of the front-wheel of electro-tricycle to control rear wheel rotation speed, acquisition of signal is simple, obtain the quantitative relationship of back two wheel speeds and front wheel angle and speed by analysis, with this control signal as rear wheel rotation speed, principle is clear reliable, implement more or less freelyly, also reduced the cost of electro-tricycle electronic differential controller.

Description of drawings

The utility model is described in further detail below in conjunction with drawings and Examples.

Fig. 1 is the utility model schematic diagram;

Fig. 2 is each parameter scheme drawing of electro-tricycle turning wheel.

The specific embodiment

As shown in Figure 1, electric three-wheel back wheels of vehicle differential control setup comprises a speed sensor that is used to measure the angular transducer of front-wheel steering angle and is used to measure the front-wheel momentary velocity; Be connected with speed sensor with angular transducer respectively and be used for pre-processing module that the signal of its collection is changed; Be connected with pre-processing module and be used for microprocessor that the data after the conversion are calculated; Be connected the control module that is used to control the back turbin generator with microprocessor.Described angular transducer and speed sensor are installed in the front-wheel rotating shaft.Microprocessor adopts micro controller system.

As shown in Figure 2, at a kind of three-wheel vehicle of model, at first according to vehicle explanation obtain front wheel spindle in the middle of the vehicle bridge of back distance L 1 and the distance L 2 between the two-wheeled of back; B, C are trailing wheel, and D is a front-wheel, and α is front wheel steering angle (with the left-handed turning explanation, B takes turns in the inboard, and D takes turns in the outside).α _mHard-over for front-wheel.During turning, three wheels are the center of circle with the o point all, and the variation of corner α causes the center of circle also to change at any time.The velocity reversal of three wheels is all tangent with cooresponding circular arc, and velocity magnitude is directly proportional with the distance of wheel to initial point o.Represent with following formula:

$\frac{V_L}{\mathrm{OB}}=\frac{V_R}{\mathrm{OC}}=\frac{V_F}{\mathrm{OD}}$ Formula 1

V _LBe the speed of revolver, V _RBe the speed of right side wheel, V _FBe the speed of front-wheel, OB, OC, OD are respectively the center of circle and the distance that arrives revolver, right wheel and front-wheel, the i.e. turn radius of each wheel.

Can draw by the geometric relationship among Fig. 1:

$\mathrm{OD}=\frac{L_1}{\sin \mathrm{\α}},$ $\mathrm{OB}=\frac{L_1}{\tan \mathrm{\α}}-\frac{L_2}{2},$ $\mathrm{OC}=\frac{L_1}{\tan \mathrm{\α}}+\frac{L_2}{2}$

Convolution 1 can obtain:

Left rear wheel speed: $V_L=(\cos \mathrm{\α}-\frac{L_2}{2L_1}\sin \mathrm{\α})V_F$

Off hind wheel speed: $V_R=(\cos \mathrm{\α}+\frac{L_2}{2L_1}\sin \mathrm{\α})V_F$

Left rear wheel rotating speed then: $n_L=(\cos \mathrm{\α}-\frac{L_2}{2L_1}\sin \mathrm{\α})V_F/\left(\mathrm{\πd}\right)$ Formula 2

The off hind wheel rotating speed: $n_R=(\cos \mathrm{\α}+\frac{L_2}{2L_1}\sin \mathrm{\α})V_F/\left(\mathrm{\πd}\right)$ Formula 3

Formula 2 and formula 3 have provided the quantitative relationship of back two-wheel rotating speed and front wheel angle and speed, can gather the corner and the speed of front-wheel thus, after treatment as control signal, control two trailing wheel motor speeds.The micro controller system processing circuit unit is installed between electro-tricycle seat and the compartment, by the designing treatment program sensor voltage signal is handled, and restores steering direction and steering angle value α and front-wheel velocity amplitude V _FAnd utilize formula 2 and 3 to calculate back two-wheel rotating speed, it is the trailing wheel motor speed, if turn to the right, then revolver in the formula 2 and 3 and right wheel speed calculating formula exchange, result of calculation is delivered in the trailing wheel motor-drive circuit, signal as dynamic control trailing wheel motor speed, turbin generator rotates by the requirement of speed controling signal behind two trailing wheels, realizes that two trailing wheel differentials rotate, and wheel and ground keep rolling condition.

Claims (2)

1. an electric three-wheel back wheels of vehicle differential control setup is characterized in that: comprise a speed sensor that is used to measure the angular transducer of front-wheel steering angle and is used to measure the front-wheel momentary velocity; Be connected the signal that is used for two sensor acquisition with speed sensor with angular transducer respectively and carry out pretreated pre-processing module; Be connected with pre-processing module and be used for microprocessor that the data after the conversion are calculated; Be connected the control module that is used to control the back turbin generator with microprocessor.

2. electric three-wheel back wheels of vehicle differential control setup according to claim 1 is characterized in that: described angular transducer and speed sensor are installed in the front-wheel rotating shaft.

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