CN205679400U - For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method - Google Patents
For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method Download PDFInfo
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- CN205679400U CN205679400U CN201620613112.9U CN201620613112U CN205679400U CN 205679400 U CN205679400 U CN 205679400U CN 201620613112 U CN201620613112 U CN 201620613112U CN 205679400 U CN205679400 U CN 205679400U
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Abstract
The utility model discloses a kind of instruction carriage for verifying In-wheel motor driving Control of Electric Vehicles method, including vehicle body, independent suspension and electric wheel assembly, described electric wheel assembly is 4, it includes wheel, wheel hub motor, electromagnetic brake, being provided with steer motor on independent suspension, electric wheel assembly is connected with steer motor by steering spindle；Vehicle body is provided with steering wheel, accelerator pedal, brake pedal, car load sensor unit, full-vehicle control unit and power supply；Described power supply is that each electric elements are powered.This utility model can be used in the research of the various control methods of electric automobile based on In-wheel motor driving, so that the control method of theory can be verified by experiment.
Description
Technical field
This utility model relates to electric automobile and drives control field, particularly relates to a kind of for verifying In-wheel motor driving electricity
The instruction carriage of electrical automobile control method.
Background technology
By In-wheel motor driving electric automobile, it is the most emerging a kind of electric automobile drive form, the electricity of this form
Electrical automobile by the wheel hub motor being installed in wheel hub as motive power outputting apparatus, eliminate the clutch of orthodox car, variator,
The machine driven systems such as semiaxis, the type electric automobile decreases the application of machine driven system, it is achieved that flexibly connect, and improves
The range of application of wire control technology.The type electric automobile can pass through programme-control, and the difference controlling program causes electronic
The multiformity of automobile control method, due to widely used line traffic control, so the control method of electric automobile is proposed higher wanting
Ask, such as Electronic differential control method, rotating direction control method, brake control method, Anti-slip regulation control method, direct yaw moment
Control method etc..Present stage is to utilize virtual emulation to try for the research of In-wheel motor driving Control of Electric Vehicles method mostly
Test, and that virtual simulation test and real train test exist objectively is different.Therefore, research and development one be able to verify that control method by
The electric automobile instruction carriage of In-wheel motor driving, it is essential to become in In-wheel motor driving Control of Electric Vehicles technique study
Equipment.
Utility model content
For deficiencies of the prior art, the purpose of this utility model is to provide a kind of for verifying wheel hub electricity
Machine drives the instruction carriage of Control of Electric Vehicles method, it is possible to for the various controlling parties of electric automobile based on In-wheel motor driving
The research of method, so that the control method of theory can be verified by experiment.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is such that a kind of for verifying wheel
The instruction carriage of hub motor driven electric car control method, it is characterised in that: include that vehicle body, independent suspension and electric wheel are total
Becoming, described electric wheel assembly is 4, and it includes that wheel, wheel hub motor, electromagnetic brake, 4 electric wheel assemblies lead to respectively
Crossing an independent suspension to be connected with vehicle body, wherein, be provided with steer motor on independent suspension, electric wheel assembly passes through steering spindle
It is connected with steer motor；
Vehicle body is provided with steering wheel, accelerator pedal, brake pedal, car load sensor unit, full-vehicle control unit and
Power supply；Described car load sensor unit includes that steering wheel angle sensor, accelerator pedal displacement transducer, brake pedal displacement pass
Sensor, gyroscope and sensor signal processor, described steering wheel angle sensor, accelerator pedal displacement transducer, braking
Pedal displacement sensor, gyroscope are all connected with sensor signal processor；Described full-vehicle control unit includes that control method is held
Row device, steering controller, driving controller and brake monitor；Wherein, described steering controller hangs with 4 independences simultaneously
Steer motor on frame is connected, and drives controller to be connected with the wheel hub motor of 4 electric wheel assemblies simultaneously, and brake monitor is same
Time be connected with the electromagnetic brake of 4 electric wheel assemblies；Described sensor signal processor passes through CAN_1 bus and controlling party
Method executor is connected, and steering controller, driving controller and brake monitor are performed with control method by CAN_2 bus
Device is connected；
Described power supply is that each electric elements are powered.
Further, described independent suspension is double cross arm independent suspension, described steer motor after decelerator with steering spindle
It is connected.
Compared with prior art, this utility model has the advantage that
1, simple in construction, extensibility is strong, it is possible to for the checking of different control methods；As, can be used for wheel hub motor
The integrated control method driving electric automobile is verified；Can be used for the control method of safety traffic, intelligent driving etc. is carried out
Checking.
2, this instruction carriage uses CAN network communication, efficiently avoid the interference between each control system signal, and can be real
Now decouple.
3, this instruction carriage uses four-wheel independent steering technology, it is possible to achieve pivot stud, the action such as laterally, and function is more,
Test effect is more preferable.
4, this instruction carriage adds full-vehicle control unit, it is possible to achieve car load integrating control.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is front view of the present utility model.
Fig. 3 is structural principle block diagram of the present utility model.
In figure: 1 vehicle body, 2 independent suspensions, 3 electric wheel assemblies, 31 wheels, 32 wheel hub motors, 33 electricity
Magnetic brake, 4 steer motor, 5 steering spindles, 6 steering wheels, 7 accelerator pedals, 8 brake pedals, 9 car load sensings
Device unit, 91 steering wheel angle sensors, 92 accelerator pedal displacement transducers, 93 brake pedal displacement transducers,
94 gyroscopes, 95 sensor signal processors, 10 full-vehicle control unit, 101 control method executors, 102 turns
To controller, 103 driving controllers, 104 brake monitors, 11 power supplys, 12 decelerators, 13 seats, 14
Chair support.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Embodiment: see Fig. 1, Fig. 2 and Fig. 3, a kind of for verifying In-wheel motor driving Control of Electric Vehicles method
Instruction carriage, including vehicle body 1, independent suspension 2 and electric wheel assembly 3.Described vehicle body 1 is provided with seat 13 and seat support 14,
Seat 13 is arranged on vehicle body 1 by seat support 14.Described electric wheel assembly 3 is 4: left front Electric Motor Wheel assembly, left back
Electric Motor Wheel assembly behind Electric Motor Wheel assembly, right front Electric Motor Wheel assembly, the right side；Described electric wheel assembly 3 includes wheel 31, wheel hub motor
32, electromagnetic brake 33, can drive wheel 31 to rotate by wheel hub motor 32, can control wheel by electromagnetic brake 33
31 slow down and stop.4 electric wheel assemblies 3 are connected with vehicle body 1, wherein, at independent suspension 2 by an independent suspension 2 respectively
On steer motor 4 is installed, electric wheel assembly 3 is connected with steer motor 4 by steering spindle 5；When being embodied as, described independence
Suspension 2 is double cross arm independent suspension, and described steer motor 4 is connected with steering spindle 5 after decelerator 12, thus increases steer motor
The output moment of torsion of 4.
Vehicle body 1 is provided with steering wheel 6, accelerator pedal 7, brake pedal 8, car load sensor unit 9, full-vehicle control unit
10 and power supply 11.Described car load sensor unit 9 include steering wheel angle sensor 91, accelerator pedal displacement transducer 92,
Brake pedal displacement transducer 93, gyroscope 94 and sensor signal processor 95, described steering wheel angle sensor 91 is used
In the steering angle of detection steering wheel 6, accelerator pedal displacement transducer 92 and brake pedal displacement transducer 93 are respectively used to inspection
Surveying accelerator pedal 7 and the displacement of brake pedal 8, described gyroscope 94 is used for detecting vehicle body 1 lengthwise travel rate and acceleration.Institute
State steering wheel angle sensor 91, accelerator pedal displacement transducer 92, brake pedal displacement transducer 93, gyroscope 94 all with pass
Sensor signal processor 95 is connected；By sensor signal processor 95 by steering wheel angle sensor 91, accelerator pedal displacement
Simulation (voltage) signal that sensor 92, brake pedal displacement transducer 93 and gyroscope 94 detect is converted to numeral letter
Number.
Described full-vehicle control unit 10 include control method executor 101, steering controller 102, drive controller 103,
And brake monitor 104.Wherein, described steering controller 102 is connected with the steer motor 4 on 4 independent suspensions 2 simultaneously,
Drive controller 103 to be connected with the wheel hub motor 32 of 4 electric wheel assemblies 3, with 4 electricity while of brake monitor 104 simultaneously
The electromagnetic brake 33 of motor car wheel assembly 3 is connected.Described sensor signal processor 95 is held with control method by CAN_1 bus
Row device 101 is connected, thus the digital signal after conversion is passed to control method executor 101.Steering controller 102, driving
Controller 103 and brake monitor 104 are connected with control method executor 101 by CAN_2 bus；Control method performs
After device 101 receives sensor signal, after processing according to its interior control method, to steering controller 102, drive control
Device 103 and brake monitor 104 send action command；Thus to steer motor 4, wheel hub motor 32 and electromagnetic brake
33 are controlled.When being embodied as, according to different Control experiment demands, it is possible to write difference to control method executor 101
Control method, then by control executor carry out sending of action command.
Described power supply 11 is powered for each electric elements.
In whole control method process of the test:
1) checking In-wheel motor driving electric automobile drives control method: when driver applies active force to accelerator pedal
Time, accelerator pedal displacement sensor accelerator pedal displacement stroke, meanwhile, measure vehicular longitudinal velocity by gyroscope and add
Speed；Then by two sensor acquisition to signal be delivered to sensor signal processor and carry out analog digital conversion, digital signal
Being delivered to control method executor by CAN_1 bus, digital signal is decoupled and processes, then by control method executor
Sending corresponding actions instruction, action command is delivered to drive controller by CAN_2 bus, by driving controller to control simultaneously
The rotating speed of each wheel hub motor and torque, make the wheel hub motor synchronous axial system of 4 electric wheel assemblies, thus reach to control wheel hub
The purpose of the vehicle wheel rotational speed of motor driven electric car.
2) checking In-wheel motor driving type electric car brake control: when driver applies active force to brake pedal
Time, brake pedal displacement transducer gathers the displacement of brake pedal, and is passed to by the displacement signal (voltage signal) collected
Sensor signal processor carries out analog digital conversion, and the digital signal after conversion is delivered to control method by CAN_1 bus and performs
Device, digital signal is decoupled and processes by control method executor, then sends corresponding actions instruction, and action command passes through
CAN_2 bus is delivered to brake monitor, brake monitor control simultaneously each electromagnetic brake produce brake force, make 4 electronic
The electromagnetic brake of wheel set synchronizes to produce brake force, thus realizes the purpose that car braking is slowed down, stopped.
3) checking In-wheel motor driving electric automobile rotating direction control method: driver turn steering wheel, steering wheel angle passes
Sensor gathers steering wheel rotation angle, and the turn signal (voltage signal) collected is passed to sensor signal processor enters
Row analog digital conversion, the digital signal after conversion is delivered to control method executor, control method executor couple by CAN_1 bus
Digital signal decouples and processes, and sends corresponding actions instruction, and action command is delivered to course changing control by CAN_2 bus
Device, steering controller control simultaneously each steer motor produce torque, it is achieved motor turning, walk crosswise, the action of pivot stud.
Control method can be evaluated according to the action effect in whole experimentation and correct by testing crew,
To improve the control method of In-wheel motor driving electric automobile, reach aspect driving, the purpose of safe driving.
It is last it should be noted that above example is only in order to illustrate the technical solution of the utility model rather than restriction technologies
Scheme, it will be understood by those within the art that, the technical solution of the utility model is modified or is equal to by those
Replace, without deviating from objective and the scope of the technical program, all should contain in the middle of right of the present utility model.
Claims (2)
1. one kind for verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method, it is characterised in that: include vehicle body, solely
Vertical suspension and electric wheel assembly, described electric wheel assembly is 4, and it includes wheel, wheel hub motor, electromagnetic brake, 4
Electric wheel assembly is connected with vehicle body by an independent suspension respectively, wherein, is provided with steer motor on independent suspension, electronic
Wheel set is connected with steer motor by steering spindle；
Vehicle body is provided with steering wheel, accelerator pedal, brake pedal, car load sensor unit, full-vehicle control unit and power supply；
Described car load sensor unit include steering wheel angle sensor, accelerator pedal displacement transducer, brake pedal displacement transducer,
Gyroscope and sensor signal processor, described steering wheel angle sensor, accelerator pedal displacement transducer, brake pedal
Displacement transducer, gyroscope are all connected with sensor signal processor；Described full-vehicle control unit include control method executor,
Steering controller, driving controller and brake monitor；Wherein, described steering controller simultaneously with on 4 independent suspensions
Steer motor is connected, and drives controller to be connected with the wheel hub motor of 4 electric wheel assemblies simultaneously, and brake monitor is simultaneously with 4
The electromagnetic brake of individual electric wheel assembly is connected；Described sensor signal processor is held with control method by CAN_1 bus
Row device is connected, and steering controller, driving controller and brake monitor are by CAN_2 bus and control method executor's phase
Even；
Described power supply is that each electric elements are powered.
Instruction carriage for verifying In-wheel motor driving Control of Electric Vehicles method the most according to claim 1, its feature
Being: described independent suspension is double cross arm independent suspension, described steer motor is connected with steering spindle after decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620613112.9U CN205679400U (en) | 2016-06-21 | 2016-06-21 | For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620613112.9U CN205679400U (en) | 2016-06-21 | 2016-06-21 | For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205679400U true CN205679400U (en) | 2016-11-09 |
Family
ID=57431662
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620613112.9U Expired - Fee Related CN205679400U (en) | 2016-06-21 | 2016-06-21 | For verifying the instruction carriage of In-wheel motor driving Control of Electric Vehicles method |
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| Country | Link |
|---|---|
| CN (1) | CN205679400U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963148A (en) * | 2017-12-13 | 2018-04-27 | 上海测迅汽车科技有限公司 | Unmanned bearing system |
| CN108036953A (en) * | 2017-12-14 | 2018-05-15 | 燕山大学 | In-wheel motor driving automobile Integrated design and Collaborative Control test platform and implementation method |
| CN108169673A (en) * | 2017-12-13 | 2018-06-15 | 厦门大学 | In-wheel motor driving electric vehicle experimental provision |
| CN111775687A (en) * | 2020-07-08 | 2020-10-16 | 清华大学 | Integrated multifunctional electric wheel assembly and electric driving walking device and control method thereof |
-
2016
- 2016-06-21 CN CN201620613112.9U patent/CN205679400U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107963148A (en) * | 2017-12-13 | 2018-04-27 | 上海测迅汽车科技有限公司 | Unmanned bearing system |
| CN108169673A (en) * | 2017-12-13 | 2018-06-15 | 厦门大学 | In-wheel motor driving electric vehicle experimental provision |
| CN108036953A (en) * | 2017-12-14 | 2018-05-15 | 燕山大学 | In-wheel motor driving automobile Integrated design and Collaborative Control test platform and implementation method |
| CN108036953B (en) * | 2017-12-14 | 2019-08-23 | 燕山大学 | In-wheel motor driving automobile Integrated design and Collaborative Control test platform and implementation method |
| CN111775687A (en) * | 2020-07-08 | 2020-10-16 | 清华大学 | Integrated multifunctional electric wheel assembly and electric driving walking device and control method thereof |
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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: 20161109 Termination date: 20170621 |