CN204567346U - Two-wheel hub electric four-wheel vehicle electric bridge differential control system - Google Patents
Two-wheel hub electric four-wheel vehicle electric bridge differential control system Download PDFInfo
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- CN204567346U CN204567346U CN201520240507.4U CN201520240507U CN204567346U CN 204567346 U CN204567346 U CN 204567346U CN 201520240507 U CN201520240507 U CN 201520240507U CN 204567346 U CN204567346 U CN 204567346U
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- wheel hub
- electric bridge
- electric
- adjustable resistance
- resistance
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Abstract
The utility model relates to a kind of two-wheel hub electric four-wheel vehicle electric bridge differential control system.Described control system comprises sun and planet gear, adjustable resistance RL and RR, left and right electric bridge, left and right wheel hub electric machine controller, left and right wheel hub motor.Wherein two of adjustable resistance RL export RLl, RL2 two brachium pontis as left electric bridge, and two of adjustable resistance RR export RRl, RR2 two brachium pontis as right electric bridge; During straight-line travelling, the resistance in the electric bridge of left and right is all equal, and left and right electric bridge is all in state of equilibrium, and the control voltage of input left and right wheel hub electric machine controller is equal, and left and right wheel hub motor speed is equal; When turning to, bearing circle drives adjustable resistance RL and RR to rotate by sun and planet gear, the resistance inverse change of RLl and RL2, the resistance inverse change of RRl and RR2, left and right electric bridge lack of equilibrium, the output voltage inverse change of left and right electric bridge, the control voltage inverse change of input left and right wheel hub electric machine controller, make left and right wheel hub motor speed unequal, form differential steering motion.The utility model electric bridge differential control system is compared with E-Diff with mechanical differential gear box, has the features such as structure is simple, volume is little, cost is low.
Description
Technical field
The invention belongs to two-wheel hub electric four-wheel vehicle control technology field, be specifically related to a kind of Miniature two-wheel hub electric four-wheel vehicle electric bridge differential control system.
Background technology
Along with the development in China's battery-driven car market, low speed Miniature electric fourth wheel car enters market rapidly.Two-wheel hub electric four-wheel vehicle, owing to adopting the technology of independent suspension, In-wheel motor driving, has ride comfort, noise is low and storage space is large feature, receives the extensive attention of electric four-wheel vehicle industry.But the differential control of double wheel hub motor is the principal element of restriction two-wheel hub electric four-wheel vehicle development always.The differential control of current double wheel hub motor mainly adopts E-Diff, but E-Diff also exists control structure complexity, high in cost of production feature.
As the battery-driven car differential steering control method that publication number CN101574979A applies for, it is the side velocity recording rear wheels of electric vehicle wheel speed, drive motor actual output torque, vehicle according to wheel speed sensors, side velocity and the yaw velocity of elec. vehicle is calculated again by two-freedom steering model, calculate the sideslip angle of four wheels again, thus calculate the rotating speed of four wheels, then realize controlling the electronic differential speed steering of wheel hub elec. vehicle by dedicated algorithms.
The battery-driven car Electronic differential control equipment applied for as publication number CN102935815A and control method mainly comprise master controller, wheel hub motor, hub motor control device, wheel speed sensors and rotary angle transmitter.Wheel speed sensors is used for the real-time rotate speed of measuring vehicle, and by the speed feedback of measurement to electronic differential master controller, rotary angle transmitter is for measuring the corner size of wheel flutter, for judging whether vehicle terminates steering state, and real-time measurements is fed back to electronic differential master controller, hub motor control device controls the torque of corresponding wheel hub motor output respectively by PID regulating control, the torque feedback simultaneously also exported by corresponding wheel hub motor to electronic differential master controller, and carries out closed loop control by vehicle wheel rotational speed feedback signal to motor torque.
Above Electronic differential control all needs auto model and the control algorithm of tachogen, rotary angle transmitter or complexity, there is the features such as cost is high, control structure is complicated, and does not have universality.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of differential control system utilizing electric bridge to realize two-wheel hub electric four-wheel vehicle, this system does not need the auto model of tachogen, rotary angle transmitter and complexity, has that cost is low, the simple feature of control method.
The present invention is by the following technical solutions:
Two-wheel hub electric four-wheel vehicle electric bridge differential control system of the present invention, comprises pedal governor, sun and planet gear, adjustable resistance RL, adjustable resistance RR, left electric bridge, right electric bridge, left wheel hub electric machine controller, right hub motor control device, left wheel hub motor and right wheel hub motor composition.
Described steering wheel shaft is connected with the sun wheel of sun and planet gear, and the gear ring of sun and planet gear is fixed, and pinion carrier is output shaft, by the gears meshing of gear and adjustable resistance RL and adjustable resistance RR rotating shaft.
Two of described adjustable resistance RL export RLl, RL2 two brachium pontis as left electric bridge, and two of adjustable resistance RR export RRl, RR2 two brachium pontis as right electric bridge.
Described adjustable resistance RL resistance is equal with adjustable resistance RR resistance, and is 2 times of permanent resistor resistance in left electric bridge and right electric bridge.
Described left electric bridge and the control of pedal governor are re-used as the control inputs of left wheel hub electric machine controller after exporting and connecting; Right electric bridge and the control of pedal governor are re-used as the control inputs of right hub motor control device after exporting and connecting.
Described left wheel hub electric machine controller is consistent with the working parameters of right hub motor control device; Left wheel hub motor is consistent with the working parameters of right wheel hub motor.
The present invention is applicable to adopt the motor-driven electric four-wheel vehicle of double wheel hub.Be connected with adjustable resistance RR with adjustable resistance RL after steering wheel shaft is slowed down by sun and planet gear, two of adjustable resistance RL export RLl, RL2 two brachium pontis as left electric bridge, and two of adjustable resistance RR export RRl, RR2 two brachium pontis as right electric bridge; During straight-line travelling, the resistance in the electric bridge of left and right is all equal, and left and right electric bridge is all in state of equilibrium, and the control voltage of input left and right wheel hub electric machine controller is equal, and left and right wheel hub motor speed is equal; When turning to, bearing circle drives adjustable resistance RL and RR to rotate by sun and planet gear, the resistance inverse change of RLl and RL2, the resistance inverse change of RRl and RR2, left and right electric bridge lack of equilibrium, the output voltage inverse change of left and right electric bridge, the control voltage inverse change of input left and right wheel hub electric machine controller, make left and right wheel hub motor speed unequal, form differential steering motion.
Beneficial effect of the present invention is:
The present invention adopts pure circuit to carry out differential control, does not need the wheel speed signal of steering wheel angle signal and wheel, does not also need to set up complicated auto model, has cost low, and control algorithm is simple, is easy to the feature realized.
Accompanying drawing explanation
Fig. 1 is systematic schematic diagram of the present invention.
Fig. 2 is the schematic diagram that bearing circle of the present invention changes adjustable resistance RL and the output of RR resistance.
In figure: 1. pedal governor; 2. left wheel hub electric machine controller; 3. left wheel hub motor; 4. right wheel hub motor; 5. right hub motor control device; 6. left electric bridge; 7. right electric bridge; 8. bearing circle; 9. sun wheel; 10. gear ring; 11. pinion carriers; 12. adjustable resistance RL; 13. adjustable resistance RR.
Detailed description of the invention
Below in conjunction with accompanying drawing, by embodiment, the present invention is further illustrated.
Two-wheel hub electric four-wheel vehicle electric bridge differential control system of the present invention, as shown in Figure 1, left electric bridge (6) in system exports RLl, RL2 by the identical permanent resistor of two resistances and adjustable resistance RL two and forms, and right electric bridge (7) exports RRl, RR2 by the identical permanent resistor of two resistances and adjustable resistance RR two and forms; The permanent resistor resistance of left electric bridge (6) and right electric bridge (7) is all equal; Total resistance of adjustable resistance RL and adjustable resistance RR is equal, and is 2 times of permanent resistor resistance in electric bridge.
Bearing circle (8) is connected with the sun wheel (9) of sun and planet gear, and gear ring (10) is fixed, and pinion carrier (11) is output shaft, by the gears meshing of gear and adjustable resistance RL and adjustable resistance RR rotating shaft; When bearing circle (8) rotates, make adjustable resistance RL, RR rotate by sun and planet gear after being slowed down, the resistance of the resistance and adjustable resistance RR two output RRl, RR2 that make adjustable resistance RL two export RLl, RL2 produces inverse change respectively.
The control of pedal governor (1) exports
uafter connecting with left electric bridge (6) and right electric bridge (7) respectively, be re-used as control inputs voltage
u l ,
u r input left wheel hub electric machine controller (2) and right hub motor control device (5) respectively; Left wheel hub electric machine controller (2) and right hub motor control device (5) control left wheel hub motor (3) and right wheel hub motor (4) more respectively.
During straight-line travelling, bearing circle (8) mediates, adjustable resistance RL, RR mediate, two two output RRl, RR2 resistances exporting RLl, RL2 and adjustable resistance RR of adjustable resistance RL are all equal, and also equal with the permanent resistor resistance in left electric bridge (6) and right electric bridge (7), namely
RLl=RL2=R RRl=RR2=R （1）
Left electric bridge (6) and right electric bridge (7) are all in state of equilibrium, and it is 0 that voltage exports, and the control inputs voltage of input left wheel hub electric machine controller (2) and right hub motor control device (5) is the control output voltage of pedal governor (1)
u, namely
U l =
U r =U （2）
Because left wheel hub electric machine controller (2) is consistent with the working parameters of right hub motor control device (5), left wheel hub motor (3) is also consistent with the working parameters of right wheel hub motor (4), so left wheel hub motor (3) is consistent with the rotating speed of right wheel hub motor (4), its straight line travels.
Right-hand turning to time, after bearing circle (8) is slowed down by sun and planet gear, adjustable resistance RL, RR are rotated, two of adjustable resistance RL export RLl, RL2 resistance and produce inverse change, two of adjustable resistance RR export RRl, RR2 resistance and also produce inverse change, but because the rotation direction direction of adjustable resistance RL, RR is contrary, changing in the opposite direction of same RRl, RR2 resistance of change direction of RLl, RL2 resistance.If be Δ R by the change in resistance value of RLl after intermediateness to rotation, then
RL1=R+ΔR
RL2=R-ΔR
（3）
RR1=R-ΔR
RR1=R+ΔR
（4）
Left electric bridge (6) and right electric bridge (7) lack of equilibrium, the output voltage of left electric bridge (6) and right electric bridge (7) is respectively
（5）
（6）
Formula (3) and formula (4) are substituted into formula (5) and formula (6) respectively, then the output voltage of left electric bridge (6) and right electric bridge (7) is respectively
（7）
（8）
The control inputs voltage then inputting left wheel hub electric machine controller (2) and right hub motor control device (5) is respectively
（9）
（10）
Formula (9) is the control inputs voltage of left wheel hub electric machine controller (2), formula (10) is the control inputs voltage of right hub motor control device (5), because the rotating speed of wheel hub motor is proportional with control inputs voltage, so left wheel hub motor (3) speedup, right wheel hub motor (4) slows down, and forms differential steering motion.
Left-handed turning to time, all processes in the same way right steering are contrary.
Claims (6)
1. a two-wheel hub electric four-wheel vehicle electric bridge differential control system, is characterized in that: comprise simple planetary arrangement, adjustable resistance RL(12), adjustable resistance RR(13), the composition such as left electric bridge (6), right electric bridge (7), left wheel hub electric machine controller (2), right hub motor control device (5), left wheel hub motor (3), right wheel hub motor (4), pedal governor (1).
2. the two-wheel hub electric four-wheel vehicle electric bridge differential control system according to claims 1, it is characterized in that: bearing circle (8) rotating shaft is connected with the sun wheel (9) of sun and planet gear, gear ring (10) is fixed, pinion carrier (11) is output shaft, by gear and adjustable resistance RL(12) and adjustable resistance RR(13) gears meshing of rotating shaft.
3. the two-wheel hub electric four-wheel vehicle electric bridge differential control system according to claims 1, it is characterized in that: adjustable resistance RL(12) two export RLl, RL2 as two brachium pontis of left electric bridge (6), adjustable resistance RR(13) two export RRl, RR2 two brachium pontis as right electric bridge (7).
4. the two-wheel hub electric four-wheel vehicle electric bridge differential control system according to claims 2, it is characterized in that: adjustable resistance RL(12) resistance and adjustable resistance RR(13) resistance equal, and be 2 times of permanent resistor resistance in left electric bridge (6) and right electric bridge (7).
5. the two-wheel hub electric four-wheel vehicle electric bridge differential control system according to claims 2, is characterized in that: left electric bridge (6) and the control of pedal governor (1) are re-used as the control inputs of left wheel hub electric machine controller (2) after exporting and connecting; After right electric bridge (7) and the control of pedal governor (1) export and connects, be re-used as the control inputs of right hub motor control device (5).
6. the two-wheel hub electric four-wheel vehicle electric bridge differential control system according to claims 1, is characterized in that: left wheel hub electric machine controller (2) is consistent with the working parameters of right hub motor control device (5); Left wheel hub motor (3) is consistent with the working parameters of right wheel hub motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520240507.4U CN204567346U (en) | 2015-04-21 | 2015-04-21 | Two-wheel hub electric four-wheel vehicle electric bridge differential control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520240507.4U CN204567346U (en) | 2015-04-21 | 2015-04-21 | Two-wheel hub electric four-wheel vehicle electric bridge differential control system |
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| Publication Number | Publication Date |
|---|---|
| CN204567346U true CN204567346U (en) | 2015-08-19 |
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|---|---|---|---|
| CN201520240507.4U Expired - Fee Related CN204567346U (en) | 2015-04-21 | 2015-04-21 | Two-wheel hub electric four-wheel vehicle electric bridge differential control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786870A (en) * | 2015-04-21 | 2015-07-22 | 淮阴工学院 | Differential control system for electric bridges of double-hub electric four-wheeler |
| CN106915233A (en) * | 2017-04-18 | 2017-07-04 | 沈阳永磁电机制造有限公司 | The mechanical difference device drive axle that a kind of pure square-wave motor of permanent magnetism drives |
| CN109823394A (en) * | 2019-02-15 | 2019-05-31 | 淮阴工学院 | A kind of two-wheel hub type electric car Hall differential control system |
-
2015
- 2015-04-21 CN CN201520240507.4U patent/CN204567346U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786870A (en) * | 2015-04-21 | 2015-07-22 | 淮阴工学院 | Differential control system for electric bridges of double-hub electric four-wheeler |
| CN106915233A (en) * | 2017-04-18 | 2017-07-04 | 沈阳永磁电机制造有限公司 | The mechanical difference device drive axle that a kind of pure square-wave motor of permanent magnetism drives |
| CN109823394A (en) * | 2019-02-15 | 2019-05-31 | 淮阴工学院 | A kind of two-wheel hub type electric car Hall differential control system |
| CN109823394B (en) * | 2019-02-15 | 2020-09-25 | 淮阴工学院 | Double-hub type Hall differential control system for electric automobile |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150819 Termination date: 20160421 |
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| CF01 | Termination of patent right due to non-payment of annual fee |