CN205220418U - Electron differential steering control system and have its electric automobile - Google Patents
Electron differential steering control system and have its electric automobile Download PDFInfo
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- CN205220418U CN205220418U CN201521043213.9U CN201521043213U CN205220418U CN 205220418 U CN205220418 U CN 205220418U CN 201521043213 U CN201521043213 U CN 201521043213U CN 205220418 U CN205220418 U CN 205220418U
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- speed
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- motor
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The utility model discloses an electron differential steering control system and have its electric automobile, electron differential steering control system includes left in -wheel motor, right in -wheel motor, information acquisition device and motor control means, wherein: left side in -wheel motor is connected with the revolver drive, the right side in -wheel motor be connected with right wheel drive, information acquisition device establishes in order to gather vehicle location information and output on the vehicle, information acquisition device's output with motor control means's input is connected, motor control means's output is connected a left side in -wheel motor with right side in -wheel motor, motor control means is used for receiving vehicle location information and combines to predetermine vehicle velocity, control a left side in -wheel motor with the drive power of right side in -wheel motor output. The utility model discloses can not install at the automobile body and realize electronics differential steering under the circumstances of steering wheel.
Description
Technical field
The utility model relates to electric vehicle engineering field, particularly relates to a kind of electronic differential speed steering control system and has its electronlmobil.
Background technology
In recent years, along with the development of motor and electric machines control technology, modern electronlmobil had had more power system form, such as wheel hub motor technology wherein, and this technology is also referred to as being electric drive wheel technology.The electronlmobil of wheel hub motor is employing two or four drive wheels, is powered separately and do not need driving system by cable, and the electronlmobil that each drive wheel can independently control.Traditional differential control device is in the mode of steering wheel angle to control turning to of wheel, but this device cannot be suitable for the situation not having bearing circle.
Therefore, wish a kind of technical scheme to overcome or at least alleviate at least one above-mentioned defect of prior art.
Utility model content
The purpose of this utility model is to provide a kind of electronic differential speed steering control system to overcome or at least alleviate at least one above-mentioned defect of the prior art.
For achieving the above object, the utility model provides a kind of electronic differential speed steering control system, described electronic differential speed steering control system comprises left wheel hub motor, right wheel hub motor, information collecting device and motor control assembly, wherein: described left wheel hub motor drives with revolver and is connected, described right wheel hub motor is connected with right wheel drive, described information collecting device to be located on vehicle with collection vehicle location information and to export, the mouth of described information collecting device is connected with the input end of described motor control assembly, the mouth of described motor control assembly connects described left wheel hub motor and described right wheel hub motor, described motor control assembly is for receiving vehicle position information and in conjunction with preset vehicle speed, control the propulsive effort of described left wheel hub motor and described right wheel hub motor output.
Further, described information collecting device comprises the sub-device of navigation, and the sub-device of described navigation is located on described vehicle, and the mouth of the sub-device of described navigation connects the input end of described motor control assembly.
Further, described information collecting device also comprises wheel speed detection sub-means, and described wheel speed detection sub-means is located on described left wheel hub motor and described right wheel hub motor, and the mouth of described wheel speed detection sub-means connects the input end of described motor control assembly.
Further, the sub-device of described navigation comprises GPS movement station and difference block, wherein: described GPS movement station is located on the axial line of vehicle, the mouth of described GPS movement station is all connected with the input end of described difference block with the mouth of GPS base station, and the mouth of described difference block is connected with the input end of described motor control assembly.
Further, described wheel speed detection sub-means is the wheel speed sensors that described left wheel hub motor and described right wheel hub motor carry.
Further, described electronic differential speed steering control system also comprises voltage comparator circuit, described voltage comparator circuit is located between described wheel speed detection sub-means and described motor control assembly, for converting actual speed information to second voltage signal by the first voltage signal and being input in described motor control assembly.
Further, described motor control assembly comprises vehicle desired speed recognin device, vehicle actual speed recognin device and speed comparator, wherein: the input end of described vehicle desired speed recognin device connects the mouth of the difference block in described information collecting device, the input end of described vehicle actual speed recognin device connects the mouth of the wheel speed detection sub-means in described information collecting device, described vehicle desired speed recognin device is connected described left wheel hub motor and described right wheel hub motor with the mouth of described vehicle actual speed recognin device.
Further, described electronic differential speed steering control system also comprises serial port circuit, and described serial port circuit is connected between described vehicle desired speed recognin device and described difference block, for converting the first level signal to second electrical level signal.
Further, described electronic differential speed steering control system also comprises D and A converter, described D and A converter is located at described speed comparator and between described left wheel hub motor and described right wheel hub motor, described speed comparator is connected by D and A converter described in iic bus.
The utility model also provides a kind of electronlmobil, and described electronlmobil comprises electronic differential speed steering control system as above.
After the technical scheme that application the utility model provides, by information collecting device collection vehicle location information, obtain the orbital radius that vehicle needs to travel in real time, then obtain the revolver of vehicle and right wheel speed angle value, and then do not have to realize electronic differential speed steering when installation direction dish at vehicle body.
The utility model can be widely used in directionless dish and only be realized certainly by control revolver and right wheel speed
In dynamic steering swivel system.
Accompanying drawing explanation
The structural principle schematic diagram of the electronic differential speed steering control system that Fig. 1 provides for the utility model one embodiment;
The structural principle schematic diagram of the electronic differential speed steering control system that Fig. 2 provides for another embodiment of the utility model;
Fig. 3 is the structural representation of the information collecting device in Fig. 1 and Fig. 2;
Fig. 4 is the principle of work schematic diagram of the information collecting device in Fig. 1 and Fig. 2;
Fig. 5 is the installing condition schematic diagram of GPS movement station on vehicle in Fig. 1 and Fig. 2;
Fig. 6 is that the revolver of vehicle and right circular arc of taking turns turn to schematic diagram;
Fig. 7 is that the orbital radius r of vehicle solves schematic diagram.
Reference numeral:
| 11 | Left wheel hub motor | 12 | Right wheel hub motor |
| 21 | Revolver | 22 | Rightly to take turns |
| 3 | Information collecting device | 31 | Navigate sub-device |
| 32 | Wheel speed detection sub-means | 311 | GPS movement station |
| 312 | Difference block | 4 | Motor control assembly |
| 41 | Vehicle desired speed recognin device | 42 | Vehicle actual speed recognin device |
| 43 | Speed comparator | 5 | Voltage comparator circuit |
| 6 | Serial port circuit | 7 | D and A converter |
Detailed description of the invention
In the accompanying drawings, use same or similar label to represent same or similar element or there is element that is identical or similar functions.Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail.
In description of the present utility model; term " orientation or the position relationship of the instruction such as " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the utility model and simplified characterization for convenience of description; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as the restriction to the utility model protection domain.
As shown in Figure 1, the electronic differential speed steering control system that present embodiment provides comprises left wheel hub motor 11, right wheel hub motor 12, information collecting device 3 and motor control assembly 4, wherein: left wheel hub motor 11 drives with revolver 21 and is connected, and left wheel hub motor 11 is for providing rotating drive power for revolver 21.Right wheel hub motor 12 is taken turns 22 drivings be connected with right, and right wheel hub motor 12 is for taking turns 22 provide rotating drive power for right.By control revolver 21 and right 22 maintenance kinematic velocitys of taking turns poor, make vehicle without the need to by control bearing circle also can realize Vehicular turn.Information collecting device 3 is located on vehicle, export for collection vehicle location information, can obtain by vehicle position information the orbital radius that vehicle needs to travel in real time, then in conjunction with preset vehicle speed, then obtain vehicle revolver 21 and right take turns 22 desired speed value.The mouth of information collecting device 3 is connected with the input end of motor control assembly 4, the mouth of motor control assembly 4 connects left wheel hub motor 11 and right wheel hub motor 12, motor control assembly 4 according to obtain revolver 21 and right take turns 22 values for actual speed, control the propulsive effort of left wheel hub motor 11 and right wheel hub motor 12 output, and then do not have to realize electronic differential speed steering when installation direction dish at vehicle body.
As shown in Figure 2, as a kind of preferred implementation of information collecting device 3, information collecting device 3 comprises the sub-device 31 of navigation, and the sub-device 31 that navigates is located on described vehicle, and the sub-device 31 that navigates is for collection vehicle location information and export.The mouth of sub-device 31 of navigating connects the input end of motor control assembly 4, the vehicle position information collected is exported to motor control assembly 4 by the sub-device 31 that navigates, motor control assembly 4 by vehicle position information can obtain vehicle need in real time travel orbital radius r.Can obtain vehicle according to vehicle position information needs the method for the orbital radius r travelled specific as follows in real time:
As shown in Figure 6, the Turning travel motion that vehicle at a time carries out, can be similar to corresponding to vehicle around circular motion, wherein Vehicle Speed V presets, and immobilizes.In order to ensure that vehicle travels along the circular arc that radius is r, the cireular frequency of interior foreign steamer must be made identical, namely meet formula (1).
If two-wheeled spacing is l, substitute into formula (1), then V
1, V
2meet formula (2):
Because two-wheeled spacing l is definite value, car speed V is preset by system, also can think fixed value.Then left and right wheels wheel speed is only relevant with orbital radius r.As shown in Figure 7, set up system of axes: with GPS movement station 311 for coordinate origin, the travel direction of vehicle is defined as the forward of Y-axis, and the right side of travel direction is defined as the forward of X-axis, and X-axis is perpendicular to Y-axis, and A point is set to (x for vehicle coordinate point
1, y
1), B point and C point are navigation path point, and according to actual road conditions and the speed of a motor vehicle, choosing of B point and C point can respective change, establishes B, C point coordinate to be respectively (x here
2, y
2), (x
3, y
3).Determined uniquely to justify this theorem by not three points on the same line, then radius r meets (3).
As shown in Fig. 3, Fig. 4 and Fig. 5, the sub-device 31 that navigates comprises GPS movement station 311 and difference block 312, wherein: GPS movement station 311 is located on the axial line of vehicle, the mouth of GPS movement station 311 is all connected with the input end of difference block 312 with the mouth of GPS base station, and the mouth of difference block 312 is connected with the input end of motor control assembly 4.Because single-point (one) GPS location can exist relative deviation, therefore, present embodiment then can eliminate the impact of relative deviation by two GPS co-located, improves positioning precision.GPS base station and GPS movement station 311 receive the gps signal from satellite simultaneously, and base station position immobilizes.GPS movement station 311 is arranged on the axial line of vehicle, moves with car.Motion time does not obtain self latitude and longitude information, there is constant error in the longitude and latitude obtained due to single-point GPS, so do calculus of differences by the latitude and longitude information of difference block 312 pairs of movement stations and base station, the location information of movement station relative to base station can be obtained, thus obtain vehicle position information.Difference block 312 can adopt corresponding difference channel to realize.
As shown in Figure 2, as the another kind of preferred implementation of information collecting device 3, information collecting device 3 also comprises wheel speed detection sub-means 32, wherein: wheel speed detection sub-means 32 is located on described left wheel hub motor 11 and right wheel hub motor 12, the mouth of wheel speed detection sub-means 32 connects the input end of motor control assembly 4.Wheel speed detection sub-means 32 is for detecting revolver 21 and rightly taking turns 22 actual speeds, and be input to motor control assembly 4 respectively, the speed whether actual speed reaches motor control assembly 4 and obtain according to vehicle position information is judged by motor control assembly 4, if actual speed reaches expectation rotating speed, then the stable control voltage now inputted; If motor speed is less than expectation rotating speed, then the corresponding control voltage increasing input, then reduces the control voltage inputted on the contrary.
Motor control assembly 4 comprises vehicle desired speed recognin device 41, vehicle actual speed recognin device 42 and speed comparator 43, wherein: the input end of vehicle desired speed recognin device 41 connects the mouth of the difference block 312 stated in information collecting device 3, vehicle desired speed recognin device 41 receives the vehicle position information that difference block 312 obtains, thus acquisition vehicle needs the orbital radius r of traveling in real time, again in conjunction with preset vehicle speed and above-mentioned formula, so obtain vehicle revolver 21 and right take turns 22 desired speed value.The input end of vehicle actual speed recognin device 42 connects the mouth of described vehicle desired speed recognin device 41 and wheel speed detection sub-means 32.The revolver 21 detected and right 22 actual speeds of taking turns are input to vehicle actual speed recognin device 42 by wheel speed detection sub-means 32.The input end of speed comparator 43 connects the mouth of vehicle desired speed recognin device 41 and vehicle actual speed recognin device 42, the mouth of speed comparator 43 connects left wheel hub motor 11 and right wheel hub motor 12, the actual speed that speed comparator 43 obtains for the desired speed and vehicle actual speed recognin device 42 receiving the acquisition of vehicle desired speed recognin device 41, and compare actual speed and desired speed, if actual speed reaches expectation rotating speed, then the stable control voltage being now input to left wheel hub motor 11 and right wheel hub motor 12; If motor speed is less than expectation rotating speed, then corresponding increase is input to the control voltage of left wheel hub motor 11 and right wheel hub motor 12, then reduces the control voltage being input to left wheel hub motor 11 and right wheel hub motor 12 on the contrary.
Preferably, wheel speed detection sub-means 32 is the wheel speed sensors that left wheel hub motor 11 and right wheel hub motor 12 carry, and wheel speed sensors is that wheel speed pulse exports, and output form is the square-wave pulse of 12V.In order to actual speed of a wheel information wheel speed detection sub-means 32 exported converts the signal that motor control assembly 4 can directly use to, present embodiment also comprises voltage comparator circuit 5, voltage comparator circuit 5 is located between described wheel speed detection sub-means 32 and motor control assembly 4, for converting actual speed information to second voltage signal by the first voltage signal and being input in described motor control assembly 4, that is, voltage comparator circuit 5, for the square-wave pulse of 12V being converted to the square wave of 5V, uses for motor control assembly 4.
Certainly, information collecting device 3 also can utilize the chip that model is MC9SXEP100, the input capture function that it carries is carried out collection to the velocity pulse that wheel hub motor exports and is calculated, thus obtain the rotating speed of wheel hub motor, thus obtain revolver and right wheel speed (rotating speed of this wheel speed and wheel hub motor is proportional) of taking turns.Motor control assembly 4 is now only as the transmission path between information collecting device 3 and wheel hub motor (left wheel hub motor 11 and right wheel hub motor 12).
Described electronic differential speed steering control system also comprises serial port circuit 6, serial port circuit 6 connects vehicle desired speed recognin device 41 and difference block 312, and the first level signal for difference block 312 being exported converts the second electrical level signal that vehicle desired speed recognin device 41 can process to.Wherein: " the first level signal " is EIA (ElectronicIndustriesAssociation, Electronic Industries Association USA) level, and when logic is 1, level is-3V ~-15V; When logic is 0, level is+3 ~+15V." second electrical level signal " is TTL ((transistor-transistor logic level)) level, and when logic is 1, level is+5V; When logic is 0, level is 0V.
Described electronic differential speed steering control system also comprises D and A converter 7, and D and A converter 7 is located at vehicle actual speed recognin device 42 and between left wheel hub motor 11 and right wheel hub motor 12.Vehicle actual speed recognin device 42 is connected by D and A converter described in iic bus 6.Because the motor control assembly 4 in present embodiment accepts 0 to 5V voltage, therefore need to convert the digital signal that motor control assembly 4 exports to analog signal by D and A converter 7, rotate to drive the wheel hub motor of 0 to 40kw power (left wheel hub motor 11 and right wheel hub motor 12).
The utility model also provides a kind of electronlmobil, and described electronlmobil comprises the electronic differential speed steering control system described in the respective embodiments described above.The other parts of described electronlmobil are prior art, no longer launch to describe at this.
Finally it is to be noted: above embodiment only in order to the technical solution of the utility model to be described, is not intended to limit.Those of ordinary skill in the art is to be understood that: can modify to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; These amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the utility model.
Claims (10)
1. an electronic differential speed steering control system, it is characterized in that, comprise left wheel hub motor (11), right wheel hub motor (12), information collecting device (3) and motor control assembly (4), wherein: described left wheel hub motor (11) drives with revolver (21) and is connected, described right wheel hub motor (12) is taken turns (22) and is driven and be connected with right, described information collecting device (3) to be located on vehicle with collection vehicle location information and to export, the mouth of described information collecting device (3) is connected with the input end of described motor control assembly (4), the mouth of described motor control assembly (4) connects described left wheel hub motor (11) and described right wheel hub motor (12), described motor control assembly (4) is for receiving vehicle position information and in conjunction with preset vehicle speed, control the propulsive effort that described left wheel hub motor (11) and described right wheel hub motor (12) export.
2. electronic differential speed steering control system as claimed in claim 1, it is characterized in that, described information collecting device (3) comprises the sub-device of navigation (31), the sub-device of described navigation (31) is located on described vehicle, and the mouth of the sub-device of described navigation (31) connects the input end of described motor control assembly (4).
3. electronic differential speed steering control system as claimed in claim 2, it is characterized in that, described information collecting device (3) also comprises wheel speed detection sub-means (32), described wheel speed detection sub-means (32) is located on described left wheel hub motor (11) and described right wheel hub motor (12), and the mouth of described wheel speed detection sub-means (32) connects the input end of described motor control assembly (4).
4. electronic differential speed steering control system as claimed in claim 3, it is characterized in that, the sub-device of described navigation (31) comprises GPS movement station (311) and difference block (312), wherein: described GPS movement station (311) is located on the axial line of vehicle, the mouth of described GPS movement station (311) is all connected with the input end of described difference block (312) with the mouth of GPS base station, and the mouth of described difference block (312) is connected with the input end of described motor control assembly (4).
5. electronic differential speed steering control system as claimed in claim 4, it is characterized in that, the wheel speed sensors of described wheel speed detection sub-means (32) for described left wheel hub motor (11) and described right wheel hub motor (12) carry.
6. electronic differential speed steering control system as claimed in claim 5, it is characterized in that, also comprise voltage comparator circuit (5), described voltage comparator circuit (5) is located between described wheel speed detection sub-means (32) and described motor control assembly (4), for converting actual speed information to second voltage signal by the first voltage signal and being input in described motor control assembly (4).
7. the electronic differential speed steering control system according to any one of claim 1 to 6, it is characterized in that, described motor control assembly (4) comprises vehicle desired speed recognin device (41), vehicle actual speed recognin device (42) and speed comparator (43), wherein: the input end of described vehicle desired speed recognin device (41) connects the mouth of the difference block (312) in described information collecting device (3), the input end of described vehicle actual speed recognin device (42) connects the mouth of the wheel speed detection sub-means (32) in described information collecting device (3), described vehicle desired speed recognin device (41) is connected described left wheel hub motor (11) and described right wheel hub motor (12) with the mouth of described vehicle actual speed recognin device (42).
8. electronic differential speed steering control system as claimed in claim 7, it is characterized in that, also comprise serial port circuit (6), described serial port circuit (6) is connected to described vehicle desired speed recognin device (41) and described difference block (312), for converting the first level signal to second electrical level signal.
9. electronic differential speed steering control system as claimed in claim 7, it is characterized in that, also comprise D and A converter (7), described D and A converter (7) is located at described speed comparator (43) and between described left wheel hub motor (11) and described right wheel hub motor (12), described speed comparator (43) is connected by D and A converter described in iic bus (6).
10. an electronlmobil, is characterized in that, comprises electronic differential speed steering control system as claimed in any one of claims 1-9 wherein.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043213.9U CN205220418U (en) | 2015-12-15 | 2015-12-15 | Electron differential steering control system and have its electric automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043213.9U CN205220418U (en) | 2015-12-15 | 2015-12-15 | Electron differential steering control system and have its electric automobile |
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| CN205220418U true CN205220418U (en) | 2016-05-11 |
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| CN201521043213.9U Active CN205220418U (en) | 2015-12-15 | 2015-12-15 | Electron differential steering control system and have its electric automobile |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454463A (en) * | 2018-06-15 | 2018-08-28 | 浙江国自机器人技术有限公司 | A kind of chassis of crusing robot and the control method on chassis |
| CN110745009A (en) * | 2019-10-22 | 2020-02-04 | 北京航盛新能科技有限公司 | Method for controlling rotating speed of permanent magnet synchronous motor of rail independent drive locomotive |
| CN111288919A (en) * | 2020-03-20 | 2020-06-16 | 华通科技有限公司 | Curve traveling system for high-speed rail platform limit |
| CN111336944A (en) * | 2020-03-20 | 2020-06-26 | 华通科技有限公司 | High-speed railway platform limit double track measurement system that bends |
| CN112208630A (en) * | 2020-10-19 | 2021-01-12 | 江苏徐工工程机械研究院有限公司 | Differential hydraulic combined steering control method and system and engineering vehicle |
| CN112744222A (en) * | 2021-01-19 | 2021-05-04 | 北京中科慧眼科技有限公司 | Method and system for acquiring vehicle speed and steering information and intelligent terminal |
-
2015
- 2015-12-15 CN CN201521043213.9U patent/CN205220418U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454463A (en) * | 2018-06-15 | 2018-08-28 | 浙江国自机器人技术有限公司 | A kind of chassis of crusing robot and the control method on chassis |
| CN110745009A (en) * | 2019-10-22 | 2020-02-04 | 北京航盛新能科技有限公司 | Method for controlling rotating speed of permanent magnet synchronous motor of rail independent drive locomotive |
| CN111288919A (en) * | 2020-03-20 | 2020-06-16 | 华通科技有限公司 | Curve traveling system for high-speed rail platform limit |
| CN111336944A (en) * | 2020-03-20 | 2020-06-26 | 华通科技有限公司 | High-speed railway platform limit double track measurement system that bends |
| CN112208630A (en) * | 2020-10-19 | 2021-01-12 | 江苏徐工工程机械研究院有限公司 | Differential hydraulic combined steering control method and system and engineering vehicle |
| CN112744222A (en) * | 2021-01-19 | 2021-05-04 | 北京中科慧眼科技有限公司 | Method and system for acquiring vehicle speed and steering information and intelligent terminal |
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Address after: 102208 Beijing City, Changping District Huilongguan East Street No. 338 hit off the square B4-006 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: 102206 Changping road Beijing Changping District city Shahe Town, No. 97 Xinyuan Science Park A block 511 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |
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Address after: Building C-3, Northern Territory, Zhongguancun Dongsheng Science Park, 66 Xixiaokou Road, Haidian District, Beijing, 100176 Patentee after: Beijing Idriverplus Technology Co.,Ltd. Address before: B4-006, maker Plaza, 338 East Street, Huilongguan town, Changping District, Beijing 102208 Patentee before: Beijing Idriverplus Technology Co.,Ltd. |
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