CN203078343U - Driving control system of electric car with rear wheels driven by independent motor - Google Patents
Driving control system of electric car with rear wheels driven by independent motor Download PDFInfo
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- CN203078343U CN203078343U CN 201320095437 CN201320095437U CN203078343U CN 203078343 U CN203078343 U CN 203078343U CN 201320095437 CN201320095437 CN 201320095437 CN 201320095437 U CN201320095437 U CN 201320095437U CN 203078343 U CN203078343 U CN 203078343U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The utility model discloses a driving control system of an electric car with rear wheels driven by an independent motor. The driving control system comprises a driving controller, and is characterized in that the electric signal output ends of a left front wheel rotating speed sensor, a right front wheel rotating speed sensor, a left rear wheel rotating speed sensor, a right rear wheel rotating speed sensor, a hall position sensor of a left driving motor, a hall position sensor of a right driving motor, an accelerating pedal position sensor, a steering wheel angle sensor and a braking sensor are respectively connected with the corresponding signal input ends of the driving controller, power lines of a left rear driving motor and a right rear wheel driving motor are connected with corresponding output interfaces of the controller, and the driving controller is further provided with a CAN (Controller Area Network) interface communicated with the outside. The driving control system is applicable to driving and control of the electric car with a steering wheel as a front wheel and a rear wheel driven by the independent motor, and is accurate in a driving control algorithm and good in control effect, the transmission efficiency can be improved, the wear of tires due to slippage can be reduced, the operating stability of the electric car can be realized, and the driving safety of the electric car can be ensured.
Description
Technical field
The utility model relates to a kind of Control of Drive for EV system.
Background technology
Along with the strictness of the further in short supply and environmental demands of world petroleum resource, countries in the world all have been put into sight on the electronlmobil of energy-conserving and environment-protective, and electronlmobil has had development faster.The electric powered motor driving system mainly contains centralized and distributed two kinds of arrangement forms at present, centralized layout promptly is the position that replaces the orthodox car driving engine with electrical motor, and power still outputs to drive wheel by power-transfer clutch, change-speed box, universal driving device, diff and drive axle.Distributed arrangement is that drive motor is installed near the drive wheel, and the motor outputting power directly sends drive wheel to, or sends drive wheel to after slowing down by speed reduction gearing, and the drive wheel of the right and left is with two motor-driven independently.Compare with centralized layout, distributed arrangement is simplified drive system and complete vehicle structure greatly, effectively utilizes the space to increase in the car, and has reduced the whole vehicle quality, has improved the comfort feature that driving efficiency and chassis are arranged.
Two-wheel drive electronlmobil for distributed arrangement, the f-w-d mode has significant disadvantages, mass distribution was inharmonious before and after f-w-d will cause electronlmobil, reduced the handling and travelling comfort of vehicle, and front-wheel had been not only negative to turn to but also is responsible for driving, the control particularity must be affected, and therefore adopts the back-wheel drive mode at present mostly.Drive system for the driving of trailing wheel individual motor, when automobile on straight road surface during straight-line travelling, require the rotating speed of drive motor consistent with torque, but the individual reasons such as difference that exist of variation, motor owing to road conditions, be easy to occur torque inconsistent of the right and left drive motor, thereby make its rotating speed difference also occur, cause the straight-line travelling ability variation of vehicle; When motor turning or when scraggly road traveling, require the rotating speed difference of inside and outside two side drive wheel, and with the size of Turning radius, turn to speed difference and difference, satisfying the kinematic requirement of running car, but the motor of two individual drive, under condition without any contact, the drive motor of the left and right sides will be difficult to reach the requirement of rotating speed of target, make wheel phenomenons such as difficulty occur trackslipping, break away, turn to, quicken wearing and tearing, riding stability and the handling variation of wheel.Therefore, under different driving conditions, to two independent driving motors carry out rationally, effectively, accurately, failure-free control, be the gordian technique that solves distributed driving system electronlmobil.
The utility model content
It is the driving control system that individual motor drives electronlmobil that the purpose of this utility model is to provide a kind of trailing wheel, this system can to about two drive motor under any driving conditions, carry out accurately control rationally, satisfy the requirement of travelling of automobile.
The technical solution adopted in the utility model is: a kind of trailing wheel is the driving control system of the electronlmobil of individual motor driving, comprise driving governor, it is characterized in that: the near front wheel tachogen, the off front wheel tachogen, the left rear wheel tachogen, the off hind wheel tachogen, the hall position sensor of left side drive motor, the hall position sensor of right drive motor, accelerator pedal position sensor, each mouth of steering wheel angle sensor and braking sensor electric signal is connected with the corresponding signal input end of driving governor respectively, the power lead of left rear wheel drive motor and off hind wheel drive motor links to each other with the corresponding output interface of controller, and described driving governor also has the CAN interface with extraneous communication;
Described driving governor is by gathering each sensor signal, judge the electric automobile during traveling state, when the steering wheel angle signal is 0, judge that promptly electronlmobil is in straight-line travelling, be rotating speed of target then with left and right sides front wheel rotation speed respectively, utilize PWM to regulate back-wheel drive motor drive power supply controlling and driving rotating speed of motor, realize that left and right sides drive wheel speed is equal or differ assurance vehicle steadily ground straight-line travelling. When the steering wheel angle signal is not 0, judge that promptly automobile travels for turning to, and according to the steering wheel angle signal judge turn to about and speed, be rotating speed of target with left and right sides front wheel rotation speed respectively equally also, utilize PWM to regulate back-wheel drive motor drive power supply controlling and driving rotating speed of motor, realize the velocity contrast of inside and outside drive wheel, guarantee stable turning.
In the technique scheme, described steering wheel angle sensor is made up of 2 blocks of linear Hall integrated circuit, permanent magnets, wherein permanent magnet is installed on the Steering gear, 2 linear Hall integrated circuit are installed in respectively on the Steering gear bearing, and with the permanent magnet symmetry, permanent magnet, Hall element are in the plane perpendicular to the direction post; When two wheel flutters are in over against the place ahead, be installed in permanent magnet on the Steering gear also over against car the place ahead.
In the technique scheme, described driving governor is to be the system of core composition with the micro controller system of being with CAN, the driving current signal of described CAN interface energy outbound course dish angular signal, left and right sides front wheel rotation speed signal, left and right sides back-wheel drive motor speed signal, left and right sides trailing wheel actual speed signal, battery tension signal, left and right sides back-wheel drive motor, system failure information etc. make things convenient for the outside transmission and the demonstration of system information.
In the technique scheme, the near front wheel tachogen, off front wheel tachogen, left rear wheel tachogen and off hind wheel tachogen all adopt electromagnetic senser, and are installed in respectively on the axletree of corresponding wheel inboard.
In the technique scheme, the trailing wheel motor-driven control output end, the left and right sides of described driving governor directly is connected with the power lead of corresponding driving motor respectively, by described controller controlling and driving rotating speed of motor.
In the technique scheme, described drive motor hall position sensor is installed in the inside of drive motor, and driving governor is judged the position of rotor according to this signal, and regulates and control motor speed with this.The motor speed that Hall element calculates is compared with measured trailing wheel actual speed, the detection of the drive current by detecting left and right sides drive motor relatively, judgement road surface actual state and rear wheels slip situation.
In the technique scheme, it is wheel flutter that described driving control system is suitable for front-wheel, and trailing wheel is the electronlmobil that drives of individual motor.
The beneficial effects of the utility model are: simplify vehicle structure, reduce vehicle mass, improve system of vehicle transmission efficient, the chassis is handling good; Drive system of electric automobile adopts accurate control and algorithm, alleviates wear on tyres; Can judge and electric automobile during traveling state and controlling respectively make electric automobile during traveling steady.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a driving control system principle of work schematic diagram of the present utility model;
Fig. 3 is a workflow diagram of the present utility model.
Among the figure, 1 is the near front wheel tachogen, and 2 is the off front wheel tachogen, and 3 is steering wheel angle sensor, 4 is braking sensor, 5 is accelerator pedal position sensor, and 6 is the off hind wheel tachogen, and 7 is the left rear wheel drive motor, 8 is the hall position sensor of right drive motor, 9 is the hall position sensor of left drive motor, and 10 is the off hind wheel drive motor, and 11 is the left rear wheel tachogen.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
As shown in Figure 1, structural representation of the present utility model, comprise the near front wheel tachogen 1, off front wheel tachogen 2, left rear wheel tachogen 11, off hind wheel tachogen 6, the hall position sensor 9 of left side drive motor, the hall position sensor 8 of right drive motor, accelerator pedal position sensor 5, each mouth of the electric signal of steering wheel angle sensor 3 and braking sensor 4 is connected with the corresponding signal input end of driving governor respectively, and the power lead of left rear wheel drive motor 7 and off hind wheel drive motor 10 links to each other with the corresponding output interface of controller.
Driving governor shown in Figure 1 is with band CAN(Controller Area Network) micro controller system be the system that core is formed, this driving governor has a CAN output interface, by this CAN interface outbound course dish angular signal, left and right sides front wheel rotation speed signal, left and right sides back-wheel drive motor speed signal, left and right sides trailing wheel actual speed signal, battery tension signal, the driving current signal of left and right sides back-wheel drive motor and the failure message of total system, make things convenient for the outside transmission and the demonstration of system information.
The driving power that also comprises left and right sides back-wheel drive motor in the above-mentioned driving governor, the drive controlling mouth of driving governor directly is connected with the power lead of corresponding driving motor respectively, and driving governor is by changing the frequency control drive motor rotating speed of driving power.
Be provided with the supply current sensor in the driving power of above-mentioned driving governor, be used for detecting the drive current of drive motor,, judge the variation of the driving torque of two drive motor, for wheel slip or sideslip provide foundation by the comparison of drive current.
Steering wheel angle sensor shown in Figure 1 is made up of 2 blocks of linear Hall integrated circuit, permanent magnets, wherein permanent magnet is installed on the Steering gear, 2 linear Hall integrated circuit are installed in respectively on the Steering gear bearing, and with the permanent magnet symmetry, permanent magnet, Hall element are in the plane perpendicular to the direction post; When two wheel flutters are in over against the place ahead, be installed in permanent magnet on the Steering gear also over against car the place ahead.
In addition, for making things convenient for tachometric survey, all around wheel speed sensor adopts electromagnetic type, and is installed in respectively on the axletree of corresponding wheel inboard.
As shown in Figure 2, The whole control system is that the micro controller system with band CAN is that core is formed.The main function of driving governor is: receive the tach signal from the left-right and front-back wheel speed sensor, calculate all around vehicle wheel rotational speed and front-wheel velocity contrast; Reception is from the position signal of left and right sides drive motor hall position sensor, and whether by the frequency computation part left and right sides drive motor rotating speed of motor rotor position variation, and it is consistent with cooresponding left and right sides trailing wheel relatively to drive left and right sides motor speed; Reception is calculated accelerated voltage from the position signal of accelerator pedal position sensor; Reception judges whether braking from the speed-slackening signal of brake pedal, controls to left and right sides back-wheel drive motor and cuts off the power supply if brake then controller; Reception is judged vehicle running state from the angular signal of steering wheel angle sensor; By outside transmission system operational factor of CAN interface and system failure information.
As shown in Figure 3, workflow diagram of the present utility model.Electric car power supply is opened, and system controller powers on and carries out system initialization, electric automobile during traveling behind the bend the throttle.Driving governor judges whether to come from the braking force signal of braking sensor, if there is the braking force signal then to allow left and right sides back-wheel drive motor cut off the power supply, otherwise judges according to the steering wheel angle sensor signal whether electronlmobil turns to.If deflection angle is 0 °, then judge the electronlmobil craspedodrome, this moment, driving governor was according to each vehicle wheel rotational speed of wheel speed sensor calculated signals all around, with the front wheel rotation speed is rotating speed of target, relatively whether rear wheel rotation speed is consistent with front-wheel, if inconsistent, it is consistent with front wheel rotation speed then to regulate rear wheel rotation speed; If deflection angle is not 0 °, just the bearing circle angular signal is judged, determine that electronlmobil is to turn left or right-hand rotation, is rotating speed of target equally with the front wheel rotation speed, and respectively different rear drive sprocket speed is controlled.
Concrete case study on implementation is:
1. straight-line travelling: the steering wheel angle signal is 0, moving velocity by front wheel rotation speed sensor left and right sides front-wheel, when two front wheel rotation speed equate, show that automobile travels straight, therefore be rotating speed of target with two front wheel rotation speed, controller makes the rotating speed of two trailing wheels consistent with front wheel rotation speed by the frequency of the driving power of change back-wheel drive motor, that is two drive wheel rotating speeds equate.When two front wheel rotation speed are unequal, show that automobile is at scraggly road surface straight-line travelling, at this moment controller is a rotating speed of target with two front wheel rotation speed equally, control two driving rear wheel rotation speed differences change with the variation of the speed discrepancy of two front-wheels, and left side rear wheel rotation speed is equated with front-wheel, off hind wheel equates with the off front wheel rotating speed.
2. turnon left travels: the near front wheel rotating speed is less than the off front wheel rotating speed, make left and right sides front-wheel produce velocity contrast naturally, speed by two front-wheels about the front wheel rotation speed sensor is also tried to achieve its difference, driving governor is a control target with the velocity contrast of two front-wheels then, the rotating speed of control back left and right sidesing driving wheel results from the velocity contrast that front-wheel equates, and the drive current by current sensor senses left and right sides drive motor, constant with total drive torque of two drive motor about guaranteeing.
In the utility model case study on implementation, the micro controller system of driving governor adopts the PIC18F458 chip of little core company, left and right sides back-wheel drive power supply uses 6 field effect transistor (MOSFET) to constitute three-phase H bridge circuit respectively, drive motor adopts rare earth permanent magnet brushless direct current motor, built-in 3 hall position sensors, motor is installed near the drive wheel, by planetary gear reducing mechanism deceleration rear drive drive wheel, the electronlmobil car body adopts miniature two four-wheeled of sitting, front-wheel steering, the trailing wheel individual drive, turn to the gear entry deflector of adopting 1:1, brake system adopts the double loop hydraulic plate disc brake, by the CAN interface with car load information as the speed of a motor vehicle, left and right sides front wheel rotation speed, left and right sides rear wheel rotation speed, power line voltage, left and right sides drive motor rotating speed, drive motor drive current etc. shows on digital lcd.
After being equipped with this driving control system, under conditions such as the different speed of a motor vehicle, different pavement of road, different corners, straight-line travelling is stable, turns to light reliably, phenomenons such as tyre skidding, sideslip, sideslip do not occur, can the fine requirement of travelling of satisfying automobile.
Claims (3)
1. a trailing wheel is the driving control system of the electronlmobil that drives of individual motor, comprise driving governor, it is characterized in that: the near front wheel tachogen, the off front wheel tachogen, the left rear wheel tachogen, the off hind wheel tachogen, the hall position sensor of left side drive motor, the hall position sensor of right drive motor, accelerator pedal position sensor, each mouth of steering wheel angle sensor and braking sensor electric signal is connected with the corresponding signal input end of driving governor respectively, the power lead of left rear wheel drive motor and off hind wheel drive motor links to each other with the corresponding output interface of controller, and described driving governor also has the CAN interface with extraneous communication.
2. trailing wheel according to claim 1 is the driving control system of the electronlmobil of individual motor driving, it is characterized in that: described steering wheel angle sensor is made up of 2 blocks of linear Hall integrated circuit, permanent magnets, wherein permanent magnet is installed on the Steering gear, 2 linear Hall integrated circuit are installed in respectively on the Steering gear bearing, and with the permanent magnet symmetry, permanent magnet, Hall element are in the plane perpendicular to the direction post; When two wheel flutters are in over against the place ahead, be installed in permanent magnet on the Steering gear also over against car the place ahead.
3. trailing wheel according to claim 1 and 2 is the driving control system of the electronlmobil of individual motor driving, it is characterized in that: the near front wheel tachogen, off front wheel tachogen, left rear wheel tachogen and off hind wheel tachogen all adopt electromagnetic senser, and are installed in respectively on the axletree of corresponding wheel inboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320095437 CN203078343U (en) | 2013-03-01 | 2013-03-01 | Driving control system of electric car with rear wheels driven by independent motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320095437 CN203078343U (en) | 2013-03-01 | 2013-03-01 | Driving control system of electric car with rear wheels driven by independent motor |
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| Publication Number | Publication Date |
|---|---|
| CN203078343U true CN203078343U (en) | 2013-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320095437 Expired - Fee Related CN203078343U (en) | 2013-03-01 | 2013-03-01 | Driving control system of electric car with rear wheels driven by independent motor |
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| CN (1) | CN203078343U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116779A (en) * | 2018-02-06 | 2019-08-13 | 株式会社美姿把 | Drive dynamic control device and drive control method |
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2013
- 2013-03-01 CN CN 201320095437 patent/CN203078343U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110116779A (en) * | 2018-02-06 | 2019-08-13 | 株式会社美姿把 | Drive dynamic control device and drive control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130724 Termination date: 20160301 |