JP2002187577A - Chassis frame for electric automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a chassis frame for an electric automobile that widens an effectively usable space of an automobile body, reduces the total weight of the automobile body, lowers the center of gravity of the automobile body, arranges a plurality of hollow frames forming a floor structure not only in the vehicle length direction but also in another direction, and adopts a means for improving a cooling effect. SOLUTION: The chassis frame for an electric automobile, which uses the hollow frame of a substantially rectangular section as a unit, juxtaposes a plurality of frames 2 and 2' longitudinally along the automobile body on an automobile body floor, and a plurality of frames 3A, 3B, 3A' and 3B" perpendicularly to the longitude outside the longitudinal frames. The hollow part of each frame serves as a housing space for a component necessary to travel.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle, and more particularly to a chassis frame of an electric vehicle of an in-wheel drive type and a battery built-in frame type.

As shown in FIG. 9, an electric vehicle is a vehicle that can run using only the driving force of an electric motor 201.
As a power source supplied to the electric motor 201, a device using a secondary battery (battery) is called an electric vehicle A in a narrow sense, a device using an engine generator is called a series hybrid vehicle B, and a device using a fuel cell is called a fuel cell vehicle C. I will. In FIG. 9, reference numeral 202 denotes wheels, 203 denotes a controller, 204 denotes a secondary battery, 301 denotes an engine,
02 is a generator, 401 is a hydrogen supply source, and 402 is a fuel cell.

[0003] As described above, an electric vehicle is a vehicle that can travel using only the driving force of a rotary electric motor, and as a power source to be supplied to the electric motor, a secondary battery, a fuel cell, and an internal combustion engine are used. Is defined as a vehicle using a generator, a solar cell, or the like using these, or a combination thereof. However, in the following description, an electric vehicle using only a secondary battery is considered, but a vehicle using a fuel cell, an internal combustion engine generator, or a solar battery as a power source is also included.

[0004]

2. Description of the Related Art A frame-shaped floor structure in which a floor of a vehicle body is constituted by a plurality of hollow frames having a substantially rectangular cross section and a battery is accommodated in these frames is a battery built-in type frame (BBF structure). ) Is disclosed, for example, in JP-A-10-278596. In the in-wheel system, a rotary electric motor for driving forms an integral structure with a reduction gear, a bearing brake and the like, and all or a part of the integral structure is housed in a wheel portion of a wheel.

[0005] In the above-mentioned conventional example, the floor structure of an automobile is composed of a plurality of hollow frames arranged in the longitudinal direction of the vehicle, thereby increasing the rigidity of the floor structure and the battery. Is stored inside the floor structure,
At least a part of the rotary electric motor is housed in a wheel portion of a wheel, and the rotary electric motor and the floor structure are configured to be connected via a suspension device.

The means for cooling the heat generated from the battery or the like includes, for example, means for forming a space serving as an air flow passage between the battery and the frame, as disclosed in Japanese Patent Application Laid-Open No. 8-58617. Means for arranging a pipe in the space and cooling it are shown.

[0007]

However, the above-mentioned conventional floor structure of an automobile is composed of a plurality of hollow frames arranged in the longitudinal direction of the vehicle. The storage direction of the vehicle was determined in the front-rear direction of the vehicle, and the storage space in the left-right direction of the vehicle which was relatively easy to store could not be used. Further, in other conventional examples, a cooling effect could not be expected.

SUMMARY OF THE INVENTION In view of the above situation, the present invention provides a plurality of hollow frames that form a floor structure with a wide effective use space of a vehicle body, a light weight of the whole vehicle body, a low center of gravity of the vehicle body, and a floor structure. An object of the present invention is to provide a chassis frame of an electric vehicle that can be arranged not only in other directions but also enhance the cooling effect.

[0009]

According to the present invention, in order to achieve the above object, when the electric motor is of an in-wheel drive type, the greatest effect can be obtained, and a so-called on-board type in which the electric motor is installed on the vehicle body. But it is effective.
The chassis has a combined structure of the vehicle length direction and each frame in a direction perpendicular to the vehicle length, and all or almost all of the components necessary for running the vehicle, such as the battery and other control devices, accessories, etc., are contained in the frame. Install ("CB
F ”structure). Further, a cooling means is provided on the frame.

The present invention has the following features to achieve the above object.

[1] In a chassis frame of an electric vehicle, a hollow frame having a substantially rectangular section is used as a unit.
A plurality of the frames are continuously provided on the floor of the vehicle body in the longitudinal direction of the vehicle body, and a plurality of frames are arranged outside the frames in the longitudinal direction in a direction perpendicular to the longitudinal direction. Is a storage space for components required for traveling.

[2] In the chassis frame of the electric vehicle according to the above [1], the respective frames are connected so as to form the same plane.

[3] In the chassis frame of the electric vehicle according to the above [1] or [2], the components housed in the hollow portion of the frame are a battery, an energy storage device, a fuel cell, an inverter, and an AC / DC. adapter,
It is selected from a DC / AC converter, a motor control unit, a brake control system including a master cylinder, an air conditioner, an audio device, a fuse unit, a contact unit, an air conditioner unit, a heater unit, a charge control device, and a microcomputer.

[4] In the chassis frame of the electric vehicle according to the above [1], in the hollow frame having a substantially rectangular cross section, the hollow frame has a plurality of circular, elliptical, triangular, rectangular, etc. sectional shapes. It is possible to insert a battery that is separated and has a cross-sectional shape substantially matching these cross-sectional shapes.

[5] In the chassis frame for an electric vehicle according to the above [1], [2], [3] or [4],
A radiator provided on the frame is provided so as to be in direct contact with outside air below or on the side of the vehicle body.

[6] In the chassis frame of the electric vehicle according to the above [5], the radiator is provided so as to protrude into the inner fender of the body.

[7] The above [1], [2], [3],
[4] The chassis frame of the electric vehicle according to [5] or [6], wherein the frame provided in the longitudinal direction of the vehicle is configured such that the component can be inserted from the front, rear, or both front and rear of the vehicle. In addition, the frame provided in a direction perpendicular to the longitudinal direction of the vehicle is configured to be inserted from a direction perpendicular to the longitudinal direction of the vehicle.

[8] The above [1], [2], [3],
In the chassis frame for an electric vehicle according to [4], [5], [6], or [7], some of the frames are configured so that the components can be inserted from below the frame. .

[0019]

[9] The above [1], [2], [3],
[4] In the electric vehicle chassis frame according to [5], [6], [7] or [8], some of the frames are configured so that the components can be inserted from above the frame. It is characterized by.

[0020]

Embodiments of the present invention will be described below in detail.

(1) Floor structure: FIG. 1 is a schematic perspective view of a floor structure and storage parts of an electric vehicle showing an embodiment of the present invention. As shown in this figure, the floor structure 1 is configured such that the upper surface thereof is substantially flat from a plurality of hollow bodies having a substantially rectangular cross section.

That is, the hollow center frames 2, 2 'arranged in the longitudinal direction of the vehicle and the center frames 2, 2'
The vehicle is provided with hollow side frames 3A, 3B, 3A ', 3B' arranged at right angles to the vehicles arranged on both sides of 2 '. These frames 2, 2 ', 3A, 3
B, 3A ', 3B' are arranged in parallel to each other so as to have a predetermined width, and the side frames 3A, 3B, 3A ', 3B'
A door, which is not shown, and a seat, steering, accelerator or brake pedal, cowl, etc. which are not shown in the center frames 2, 2 'but are conventionally known.
A lever and the like for determining the traveling direction are attached, and thus constitute a basic part of the electric vehicle.

The floor structure 1 is composed of the center frames 2, 2 'and the side frames 3A, 3B, 3A', 3 as described above.
The frame 2, 2 ', 3A, 3B, 3A', 3B 'are formed so as to have a predetermined width from B'. However, for example, it is desirable to mold by aluminum extrusion molding technology. The center frames 2, 2 'and the side frames 3A, 3B, 3A',
3B 'can be divided into a plurality of parts in the front-rear direction in order to enhance the strength and the size of the stored items, but FIG. 1 does not show an example of the division.

As shown in FIG. 8, the cross-sectional shapes of the inserted battery and the hollow frame can be configured in various shapes. That is, as shown in FIG. 8A, a cylindrical battery 112 is mounted in a hollow frame 111, or as shown in FIG. The battery 114 may be attached, or the hollow frame 11 may be attached as shown in FIG.
5, the batteries 116 having a triangular prism shape may be alternately arranged in a reverse manner so that many batteries can be mounted in the hollow frame 115.

The center frames 2 and 2 'have a length substantially equal to the total length of the vehicle minus the front and rear collision buffer portions of the vehicle, and the height and width of the batteries 21 and 2 accommodated therein.
In consideration of the shape or size of 2, 23, etc., it is widely made to allow air to flow. The side frames 3A, 3B, 3A ', 3B' are
The height is shorter than the center frame 2, 2 '.

According to the present embodiment, the floor structure 1 has the hollow center section 2 having a substantially rectangular cross section as described above.
2 'and the side frames 3A, 3B, 3A', 3B ', each frame can accommodate components necessary for running the vehicle, such as a battery and a charger as required. In the embodiment shown in FIG. 1, an example is shown in which the frames are housed in the center frames 2, 2 'located at the center.

In this case, the batteries 21, 22, 23,... Can be stored from the front or the rear. However,
In the embodiment shown in FIG. 1, an example is shown in which the tray 20 is put on and taken out of the tray 20 from the front (in the direction of arrow A). Further, the side frames 3A and 3A 'include a control device 4 for controlling the speed, torque and the like of a rotary electric motor, which will be described later.
4 ', batteries 21, 22, 23,
, A cooling / heating device 6 for the vehicle and the like are accommodated from the side of the vehicle (in the direction of arrow D) as shown in FIG. In addition to the above, the storage direction of the above components in the frame may be a storage B type in which the components are inserted into the frame from above as shown in FIG. 3, or a storage C type in which the components are inserted into the frame from below as shown in FIG. it can.

In the storage B method, an adapter 40 having a rectangular cross section containing the above-described components is inserted from above (in the direction of arrow B in FIG. 1) into a U-shaped frame 44 whose upper side is deleted in cross section. Elastic locking portions 42 on both sides of adapter 40
Is fitted and locked to the frame side wall.

In the storage C method, an adapter 41 having a U-shaped cross section containing the above components is inserted from below (in the direction of arrow C in FIG. 1) into a U-shaped frame 45 whose lower side is deleted in cross section. Then, the elastic locking portions 43 on both sides of the adapter are fitted and locked to the frame side wall. The storage B method and the storage C method are the side frames 3A, 3B, 3
It is good to store in A 'and 3B'.

(2) Cooling means: An embodiment of the present invention is to employ a cooling means. A heat generating element such as a battery housed in the frame needs to be provided with a cooling means such as a heat sink. The radiator plate is plate-shaped and is formed of a material having a good thermal conductivity, but may be formed of the same material as the frame material if the thermal conductivity is good.

As shown in FIGS. 5 and 6, a plurality of radiating plates a are provided below each frame, and the side frames 3A,
A plurality of heat sinks c are provided in the inner fender of the body at the upper part of 3B, 3A ', 3B', and the frames 2, 2 ', 3
A plurality of heat radiating plates b are provided on the sides of A, 3B, 3A ', 3B', for example, on the sides of the center frames 2, 2 'as shown in FIG. These heat radiating plates can be appropriately selected and adopted. If necessary, tray 2 on which the above components are placed
A cooling device may be mounted on the battery pack together with a battery or the like. In addition, 30 is a body.

(3) In-wheel drive: The in-wheel drive devices 7, 7 'themselves are disclosed in JP-A-8-289501.
Although it is not described in detail because the device as shown in the above publication can be applied, a reduction gear mechanism for reducing the rotational speed of the rotary electric motor, a mechanical brake, a bearing for supporting the rotation, and the like have an integral structure. Is formed.
The outer frame, which is mounted inside the wheels 8, 8 'of the drive wheels and to which the armature of the rotary electric motor is fixed, is mounted on the suspension arm. Wheel 8,
Tires 9 and 9 'are attached to 8' to enable running. Arms, springs, dampers, and the like that form a suspension are attached to the in-wheel drive devices 7, 7 ', but are omitted in FIG. The front wheels are also mounted on the center frames 2, 2 'via arms, springs, dampers, etc. forming the subframe and suspension, but are also omitted in FIG.

In the present embodiment, the diameter of the wheel is made smaller than that of the conventional one, the effective use space is further secured, and the reduction of the load resistance per wheel caused by the reduction in the diameter of the wheel is set to two wheels. It is supplemented by replacement.

That is, the floor structure 1 comprises four relatively small-diameter rear wheels 13, 14, 13 ', 14' and similarly similarly relatively small-diameter four front wheels 15, 16, 15 ', 16'. ′. In the present embodiment, the in-wheel drive devices 7, 7 'are applied. The in-wheel drives 7, 7 'are symmetrically mounted on two or four rear wheels 13, 13, 14', 14 'or front wheels 15, 15', 1.
6, 16 'can likewise be mounted symmetrically on two or four wheels, or even on all eight of these wheels 13-16'.

However, FIG. 1 shows the rear rear wheels 13, 1
An example in which the in-wheel drive devices 7, 7 'are mounted only on 3' is shown. In addition, these wheels 13-1
Reference numeral 6 'denotes a center frame 2 and 2' similarly via arms, springs, dampers, etc. forming a suspension structure.
Attached to.

Although not shown, the suspension device of the floor structure 1 shown in FIG. 1 is suspended by one wheel by a double wishbone system or two suspension systems by a combination of a bogie structure and a double wishbone system. Are supported by the wheels 16 and 15. Alternatively, it is also possible to adopt a leading tray link system or a McFearson system.

Next, the operation of the above embodiment will be described. The electric vehicle according to the present embodiment can also be driven by the same driving method as a normal passenger car. That is, when the lever for determining the traveling direction is tilted to the side of the display of "forward" and the accelerator pedal is depressed, for example, the batteries 21, 22, 23, ... stored in the center frames 2, 2 'are stored. The power is also the same as the side frames 3A, 3B, 3A ', 3B'.
The motor is sent to the rotary motor in the in-wheel type drive device 7, 7 'through the control device 4, 4' for the speed, torque and the like stored therein, and the rotary motor starts to rotate.

This rotational force is transmitted through the reduction gears in the in-wheel type driving devices 7, 7 'to the wheels 8, 8 of the wheels.
The electric vehicle is started by being transmitted to 8 'and tires 9, 9'. When the brake pedal is depressed at the time of stop, first, the control devices 4 and 4 'for the speed, torque and the like contained in the side frames 3A and 3A' work, and the in-wheel type drive devices 7 and 7 ' The rotary electric motor acts as a generator to generate regenerative electric power with mechanical force for decelerating the vehicle, and the electric power obtained here passes through the control devices 4 and 4 'into the center frames 2 and 2'. The stored battery is charged. When the vehicle is stopped in an emergency or when the vehicle is stopped from a very low speed, an in-wheel drive device or a mechanical brake provided on another wheel is simultaneously operated to obtain a deceleration force.

The present invention can be implemented in various forms without being limited to the above embodiments. For example, in the above-described embodiment, the number of the center frames 2 and 2 'is two, but a small battery that is reduced in weight by increasing the number of frames can also be applied. Also, the side frames 3A, 3
B, 3A ', 3B' include control devices 4, 4 'charger 5,
The in-vehicle air conditioner 6 and the like are stored, but when all of these devices cannot be stored, a part of them is stored.
Furthermore, although the present embodiment relates to a passenger electric vehicle, it is apparent that the present invention can be widely applied to trucks, buses, and the like.

(4) Details of Frame Storage Element: An embodiment of the frame storage element of the present invention will be described with reference to FIG.

FIG. 7 shows the entire control system. The central portion is a microcomputer 50, various sensors are connected to the input side, and the traveling control system, the energy system and other options are connected to the output side. . The microcomputer 50 has a general-purpose structure including a CPU 51, a memory 52, and input / output interfaces 53 and 54.

The wheel system supported by the tandem wheel type suspension includes a rotational position sensor RFF6 on the front right front wheel.
0, a rotation position sensor RFR61 on the right front rear wheel, a rotation position sensor LFF64 on the left front front wheel, a rotation position sensor LFR65 on the left front rear wheel, and a rotation position sensor RRF on the right rear front wheel.
62, a rotational position sensor RRR63 on the right rear rear wheel, a rotational position sensor LRF66 on the left rear front wheel, and a rotational position sensor LRR67 on the left rear rear wheel, and the electric motors are incorporated as in-wheel motor type driving devices 7, 7 ', respectively. I have.

The battery B99 has a plurality of batteries divided and arranged in a plurality of systems for fail-safe operation. The battery B99 is a drive power supply source for each motor. The output of the battery B99 is transmitted through speed controllers 88 to 95. Power is being supplied to the motor. When the motor is of an AC type, an inverter is used for the speed control devices 88 to 95, and when the motor is of a DC type, a converter is used. Hereinafter, an example using an inverter will be described. Under the control of the motor control units 80 to 87 controlled by the inverter and the microcomputer 50, the output of the battery B99 is converted into electric power for performing torque control or speed control on the motor and fed.

Each motor control unit may include a microcomputer. The microcomputer receives a control command from the vehicle control unit, performs necessary processing, and outputs the control command to the DC / AC converters 88 to 95. Is configured. The motor controllers RF80 and 81 respond to the torque command TRF, the motor controllers LF82 and 83 respond to the torque command TLF, the motor controllers RR84 and 85 respond to the torque command TRR, and the motor controllers LR86 and 87 In accordance with the torque command TLR, the motors are torque-controlled by controlling the speed controllers 88 to 95, respectively. Motor control units 80 to 87
Are all output from the microcomputer 50. The control of the inverter for each motor is performed based on the detected rotational position of the motor obtained from a rotational position sensor (not shown).

The microcomputer 50 receives detection information from various sensors, performs necessary processing, and outputs a control command to each motor control unit. It consists of an electronic control unit (ECU) that controls the output torque of each motor, monitors and controls the status of each component mounted on the vehicle, notifies the vehicle occupants of the vehicle status, and has other functions, and has dedicated software. The microcomputer 50 includes a rotation position sensor R
FF60, RFR61, RRF62, RRR63, LF
F64, LFR65, LRF66 and LRR67, brake amount sensor 57, mode sensor 59, steering angle sensor 68, yaw rate sensor 69, lateral G sensor 70, front and rear G
Sensor 71, temperature sensor 72, power supply voltage / current sensor 73
The detection output of the accelerator amount sensor 58 is input.

Rotational position sensors 60 to 67 (for example, resolvers) provided for the respective wheels provide rotational positions VRFF, VRFR, VLFF, VLFR, VR of the respective wheels.
RF, VRRR, VLRF, and a signal indicating VLRR (for example, a pulse signal for each minute angular position displacement) are generated,
It is supplied to the microcomputer 50.

The accelerator amount sensor 58 outputs a signal indicating the amount of depression of an accelerator pedal (not shown), the brake amount sensor 57 outputs a signal indicating the amount of depression of the brake pedal 55, and the mode sensor 59 uses a shift lever (not shown). ), And a signal indicating the shift position within the range (and shift lever position within the range in the case of an engine brake range, for example), is generated. Steering angle sensor 6
8 generates a signal indicating the result of steering angle detection of the steering wheel, for example, a signal indicating the steering angle δt. When the outputs of these sensors are input to the microcomputer 50, they are converted into data in a format that can be processed by the microcomputer 50. Microcomputer 50
Executes the determination of the torque command, switching of the control method, and the like using the converted data.

In FIG. 7, a tandem braking system for braking the front, rear, left and right wheels by both hydraulic and regenerative braking is used in accordance with a design policy for ensuring safety. That is, when the brake pedal 55 is depressed, the hydraulic pressure generated by the master cylinder 56 acts on the brake wheels via the wheel cylinders provided on the respective wheels, and braking torque is applied to the wheels. You. On the other hand, according to the braking force (oil pressure of the master cylinder 56) detected using the brake amount sensor 57, the microcomputer 5
0 generates a torque command for regeneration.

Therefore, the braking force distribution in the vehicle shown in FIG. 7 is such that both the hydraulic regeneration increases as the braking force increases. As described above, since the hydraulic system and the regenerative system are separated from each other after the brake amount sensor 57, even if one of the hydraulic pressure and the regenerative operation malfunctions, the vehicle can be evacuated by the other.

Further, since the hydraulic system is not provided with a pump and the valve is merely provided with a proportioning valve for distributing the hydraulic braking force back and forth, the system configuration is simplified. One of the reasons why there is no need to provide a pump in the hydraulic system and the number of valves on the hydraulic system can be kept to a minimum is that, as will be described later, the driving stability is controlled by controlling the output torque of the motor. This is a characteristic configuration of the present embodiment in which sex control is performed.

Next, basic control of the vehicle will be described.

The microcomputer 50 first reads the detection value V of the rotational position sensor SM as one set for each of the two wheels having the tandem structure, and obtains the wheel angular acceleration dω.
/ Dt is calculated. When the calculated absolute value of the wheel angular acceleration dω / dt does not exceed a predetermined threshold, it is determined that no slip occurs, and the rotational position is held as the rotational position of the set.

The microcomputer 50 searches for the last driving wheel that has started to slip. The microcomputer 50 uses, as the vehicle speed VS, the value of the wheel speed V that the drive wheel found as a result of this search, that is, the wheel that started to slip last had just before the start of slip.

After detecting the vehicle speed VS, first, in order to determine the steering state, it is determined whether the absolute value of the steering angle δt is equal to or greater than a predetermined threshold value. When the steering angle is larger than the threshold value and there is no slip, the vehicle control unit 1
Executes target yaw rate adaptation control and target slip angle adaptation control (for example, slip angle 0 control). For example, when the absolute value of the steering angle δt detected by the steering angle sensor 68 is equal to or larger than a predetermined threshold, that is, when it is determined that the vehicle operator is performing steering, the traveling uneasiness of the vehicle body accompanying the steering is determined. Target yaw rate adaptation control or target slip angle adaptation control is executed in order to prevent or suppress the occurrence of qualitative characteristics.

The microcomputer 50 first calculates the accelerator on / off state which can be determined based on the output of the accelerator amount sensor 58, the shift position given by the mode sensor 59, the steering angle δt given from the steering angle sensor 68, and the calculation based on this. A coupling coefficient group (an empirical formula) is selected based on dδt / dt and the like. The microcomputer 50 further calculates a wheel acceleration dV / dt for each wheel of the tandem suspension structure and calculates a road surface friction coefficient μ (an empirical formula) based on the wheel acceleration dV / dt.

The microcomputer 50 determines a correction coefficient k for each wheel using a coupling coefficient group selected based on the road surface friction coefficient μ and the steering angle δt. When the accelerator is on, the microcomputer 50 is based on the wheel speed V, the accelerator opening VA and the shift position based on the powering torque map, and when the accelerator is off, the microcomputer 50 is based on the wheel speed V, the brake force FB and the shift position. A torque command is provisionally determined for each wheel from the regenerative torque map. The powering torque map is a map showing the rotational speed torque characteristics of the motor in a region where both the rotational speed and the torque are positive, and the regenerative torque map is a map showing the rotational speed torque characteristics of the motor in a region where the rotational speed is positive and the torque is negative. It is required by experience.

The microcomputer 50 determines the torque command by multiplying the torque command by the correction coefficient, and outputs the determined torque command to the corresponding motor control unit.
Therefore, depending on the value of the coupling coefficient group and the setting method of the correction coefficient k, the range in which the torque command can be taken when executing the target yaw rate adaptation control or the target slip angle adaptation control is in the regeneration region even when the accelerator is on. It may be a value belonging to the powering region even when the accelerator is off. By performing such control, in the present embodiment, the running stability of the vehicle body during steering is improved.

For the target yaw rate adaptation control and the target slip angle adaptation control, refer to the disclosure of Japanese Patent Application No. 9-8693. Also, in place of the target yaw rate adaptation control and the target slip angle adaptation control, a method of performing traveling stability control using a plurality of state quantities indicating the motion state of the vehicle including the yaw rate acting on the vehicle body may be adopted. Good. For this technique, refer to Japanese Patent Application No. 9-68571.

When it is recognized that there is no need to execute the target yaw rate adaptation control or the target slip angle adaptation control, that is, when the absolute value of the steering angle is smaller than the threshold value, the vehicle control section executes the procedure related to the 8WD control in principle. I do. When starting the 8WD control, the microcomputer 50 first executes a determination / classification process regarding the number NS of slip wheels corresponding to one set of wheels in the tandem suspension structure detected in the procedure of detecting the vehicle speed VS. .

That is, the number N of detected slip wheels
When S is equal to 4, that is, when all the drive wheels are slipping, or when the number NS of the slip wheels is equal to 3, that is, when one of the drive wheels of the tandem suspension structure does not show the slip or the tendency thereof ( If there is only one (1 set), the operation of the vehicle control unit shifts to TRC / ABS equivalent control instead of 8WD control.

Even when the number NS of the slip wheels is equal to two, that is, when there are two drive wheels of the tandem suspension structure that do not show the slip or the tendency, the detected slip wheel is If they are both left wheels or both right wheels, TRC
The control shifts to / ABS equivalent control.

Further, even when it is determined that the target yaw rate adaptation control or the target slip angle adaptation control is considered to be necessary, if the number NS of the slip wheels is non-zero, that is, if any one of the tandem suspensions is used. When it is recognized that the drive wheels of the structure are slipping or exhibit the tendency, the control also shifts to TRC / ABS equivalent control.

When executing the TRC / ABS equivalent control, the microcomputer 50 first selects a coupling coefficient group, a control constant group, and the like according to the level of the wheel speed V of each wheel, accelerator on / off, and the like. I do. The coupling coefficient group referred to here is a set of coefficients used for determining a threshold group used for angular acceleration determination described later, and the control constant group is a set of constants used for determining the feedback torque. .

The microcomputer 50 obtains a wheel speed V, a braking force FB and a shift position from the power running torque map according to the wheel speed V, the accelerator opening VA and the shift position when the accelerator is on. The torque command is provisionally determined from the regenerative torque map according to. The vehicle control unit further determines a threshold group based on the accelerator opening VA and the coupling coefficient group when the accelerator is on, and based on the braking force FB and the coupling coefficient group when the accelerator is off. .

The microcomputer 50 classifies the angular acceleration dω / dt of each wheel on the basis of the threshold group. The microcomputer 50 determines the feedback torque using a different arithmetic expression or the like according to the result of the classification.
The feedback torque is determined for each wheel by an arithmetic expression according to the range to which the rotational angular acceleration dω / dt belongs. The microcomputer 50 determines the torque command value by subtracting the feedback torque determined in this way from the temporarily determined torque command value, and outputs the determined torque command value to the corresponding motor control unit.

By adopting such a procedure,
The torque acting on each drive wheel can be changed as appropriate, and a function corresponding to TRC / ABS control in a conventional engine vehicle can be realized. In addition, TRC / A
For the BS equivalent control, refer to the disclosures of JP-A-8-182119 and JP-A-9-8693.

The microcomputer 50 determines whether the condition for shifting to the target yaw rate adaptation control or the target slip angle adaptation control or the condition for shifting to the TRC / ABS equivalent control is not satisfied, that is, when the absolute value of the steering angle δt is equal to or larger than the threshold value. When the number NS (the number of sets) of the slip wheels of the tandem suspension structure is 2 or less, and none of the two left wheels or the two right wheels are slip wheels, , 8WD control.

At this time, the microcomputer 50
First, it is determined whether or not the number NS of the slip wheels is one. Since NS = 0 on a normal traveling road, the microcomputer 50 determines all drive wheels of the tandem suspension structure as distribution wheels. Here, the distribution wheels are drive wheels to which torque output is actually distributed.
The microcomputer 50 sets the specific gravity of the distribution of the torque output to each distribution wheel to a normal value. For example, the specific gravity of distribution = 1 is set for all drive wheels. However, the specific gravity of this distribution may be changed according to the vehicle loading weight, or may be a predetermined specific gravity that differs between the front and rear wheels according to the structure of the vehicle body.

Conversely, when it is determined that NS = 1,
When it is determined that the condition for shifting to the TRC / ABS equivalent control is not satisfied, the microcomputer 50 determines wheels other than the slip wheels as distribution wheels. Furthermore, the distribution specific gravity of each vehicle is adjusted so that a moment in the yaw direction centering on the center of gravity of the vehicle does not newly act on the vehicle body when the torque is actually output, that is, the left-right balance is improved. . For example, a drive wheel not selected as a distribution wheel, that is, a distribution specific gravity is set to 0 so that a torque command is not given to a slip wheel, and a distribution specific gravity of a non-slip wheel to which the slip wheel belongs among the left side and the right side includes: If the vehicle is not slipping, the distribution specific gravity corresponding to the torque output that should have been distributed to the slip wheels is added.

After executing the above, the microcomputer 50 determines from the powering torque map according to the vehicle speed VS if the accelerator is on, the accelerator opening VA and the shift position, and if the accelerator is off, the vehicle speed VS. A torque command is provisionally determined from the regenerative torque map according to the braking force FB and the shift position. Microcomputer 5
In the case of 0, the temporarily determined torque command value is adjusted (for example, multiplied by the distribution specific gravity) in accordance with the preset or adjusted distribution specific gravity, thereby determining the torque command value for each wheel. The microcomputer 50 outputs the determined torque command values to the corresponding motor control units.

Accordingly, in this embodiment, the control state is switched according to the slip state of each wheel of the tandem suspension structure. First, assuming that two wheels of the tandem suspension structure are one unit, when only one of the four wheels is slipping, that is, when NS = 1, if the wheel is not slipping, the slip wheel is used. The torque command that was supposed to be output is output by another drive wheel on the same side as the slip wheel. Similarly, when NS = 2, when one slip wheel exists on each of the left and right sides, the torque command is realized by the non-slip wheels remaining one by one on the left and right sides. In addition, NS
= 2 and all the slip wheels are on the left side (or right side), TRC / ABS equivalent control is executed. Further, when NS = 3 or NS = 4, TRC / ABS equivalent control is executed again.

As described above, according to the present embodiment, the control mode of each motor output by the vehicle control unit 1 and each wheel 8WD suitable for an in-wheel motor type eight-wheel drive electric vehicle because the torque distribution specific gravity for
Control and TRC / ABS equivalent control can be realized to maintain and improve running stability.

The microcomputer 50 controls the power supply from the battery B99 to the audio device 74 and the lighting device 75 via the fuse unit 103 and the contact unit 104, controls the function of each device, and detects the detected value of the temperature sensor 72. It controls power supply to an air conditioner 76 including a heater 77 and a cooler 78 and controls functions of each device. The microcomputer 50 controls the steering angles of the left and right wheel sets under the control of the electric steering means 96, controls the power steering control device 105, and outputs data from the lateral G sensor 70, the front and rear G sensor 71, and the like. Based on this, the suspension pressure adjusting pump 97 is adjusted for vehicle balance control and the like. Power is always supplied from the battery B99 via the fuse unit 103 and the contact unit 104.

The microcomputer 50 controls the motor control units RFF80 and RFR8 according to the above various control modes.
1, LFF82, LFR83, RRF84, RRR8
5, the LRF 86 and the LRR 87 are controlled to drive the auxiliary power generator 102 and the in-wheel motors 7, 7 'by controlling the DC / AC converters 88 to 95.

Battery backup system is AC / DC
It comprises an adapter 98, an energy storage device 100 composed of an electric double layer, and a fuel cell 101. The charge control device 79 is controlled by the microcomputer 50 based on the data of the power supply voltage / current sensor 73 to control the battery B9.
9 is controlled.

In the above embodiment, an AC motor is used as a motor. However, when a DC motor is used, a DC motor may be used by converting to DC (conversion by a converter). .

Further, the present invention is not limited to the above-described embodiment, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[0078]

As described in detail above, according to the present invention, a floor structure of an automobile is constructed by forming a plurality of hollow frames in two directions: a vehicle length direction and a direction perpendicular to the length direction. And the rigidity of the floor structure is increased thereby, batteries and the like are housed in the floor structure, and at least a part of the rotary electric motor is housed in a wheel portion of wheels. Since the rotary electric motor and the floor structure are connected via the suspension device, batteries and the like can be incorporated from the side of the vehicle, so that the assembling work is facilitated.

Further, since batteries and the like can be stored in the floor structure, a wide space in the vehicle compartment can be effectively used. Moreover, since the batteries and the like are stored in the hollow body constituting the floor structure, the position of the center of gravity of the electric vehicle can be lowered.

Therefore, the riding comfort of the vehicle can be improved.
Since all or almost all of the essential components required for traveling can be stored in the frame under the floor, the effective use space on the floor is widened, the center of gravity is lowered, and
Cooling of the component parts becomes easy.

As described above, a control device for controlling the speed and torque of a rotary electric motor, a vehicle-mounted charger, a cooling / heating device, and the like are mounted in a frame having a CBF structure in addition to a battery and a driving device. This makes it possible to increase the effective volume inside the vehicle body. Further, by providing the frame with the cooling means, the elements in the frame can be effectively cooled. Further, the cooling means does not compete with other components.

Since the direction in which the components are stored in the frame can be arbitrarily set, the storing operation can be easily performed according to the relationship between the chassis and the body.

Further, since at least a part of the control device, the charger, and the cooling / heating device are housed in the floor structure, the effectively usable space in the vehicle compartment is further expanded. Since two wheels are continuously attached in the front-rear direction, the diameter of the wheels can be reduced. Therefore, it is possible to minimize the reduction of the effective space due to the protrusion of the wheel house for the wheels into the vehicle interior, and it is possible to further increase the available space in the vehicle interior.

Further, since the interference between the door mounted on the side of the car and the tire house can be significantly suppressed, the degree of freedom in the position where the door is mounted is increased, and as a result, the occupant's ease of getting on and off is increased. As a result, the effect that the space in the vehicle interior can be more effectively used can be expected.

[Brief description of the drawings]

FIG. 1 is a perspective view of a floor structure and a storage component of an electric vehicle according to an embodiment of the present invention.

FIG. 2 is a diagram schematically illustrating a storage direction D of a battery or the like in a floor structure according to an embodiment of the present invention.

FIG. 3 is a diagram schematically illustrating a storage state (part 1) of batteries and the like in a floor structure according to an embodiment of the present invention.

FIG. 4 is a diagram schematically illustrating a storage state (part 2) of batteries and the like in a floor structure according to an embodiment of the present invention.

FIG. 5 is a sectional view showing a cooling unit according to the embodiment of the present invention.

FIG. 6 is a sectional view taken along line DD of FIG. 5;

FIG. 7 is a perspective view showing a control system of the electric vehicle according to the embodiment of the present invention.

FIG. 8 is a view showing a shape of a battery and a hollow frame according to an embodiment of the present invention.

FIG. 9 is a diagram showing a basic configuration of an electric powered vehicle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Floor structure 2, 2 'Center frame 3A, 3B, 3A', 3B 'Side frame 4, 4' Control device 5 Charger 6 Air-conditioning device 7, 7 'In-wheel (motor) type drive device (drive) 8, 8 'Wheel 9, 9' Tire 13, 13 'Rear Rear Wheel 14, 14' Rear Front Wheel 15, 15 'Front Rear Wheel 16, 16' Front Front Wheel 20 Tray 21, 22, 23 Battery 30 Body a, b, c Heat sinks having different mounting locations and structures A, B, C, D Storage directions 40, 41 Adapters 42, 43 Elastic locking portions 44 U-shaped frame with upper side removed 45 U-shaped frame with lower side removed Mold frame 50 microcomputer 51 CPU 52 memory 53 input interface 54 output interface 55 brake pedal 56 master cylinder 57 brake Amount sensor 58 Accelerator amount sensor 59 Mode sensor 60 Rotation position sensor RFF 61 Rotation position sensor RFR 62 Rotation position sensor RRF 63 Rotation position sensor RRR 64 Rotation position sensor LFF 65 Rotation position sensor LFR 66 Rotation position sensor LRF 67 Rotation position sensor LRR 68 Steering angle sensor 69 Yaw rate sensor 70 Lateral G sensor 71 Front and rear G sensor 72 Temperature sensor 73 Power supply voltage / current sensor 74 Audio equipment 75 Lighting device 76 Air conditioner 77 Heater 78 Cooler 79 Charge control device 80 Motor control unit RFF 81 Motor control unit RFR 82 Motor Control unit LFF 83 Motor control unit LFR 84 Motor control unit RRF 85 Motor control unit RRR 86 Motor control unit LRF 87 Motor control unit LRR 88 to 95 DC / AC converter 96 Dynamic steering means 97 Suspension pressure adjusting pump 98 AC / DC adapter 99 Battery B 100 Energy storage device 101 Fuel cell 102 Auxiliary power generation device 103 Fuse unit 104 Contact unit 105 Power steering control device 110, 113, 115 Hollow frame 112 Column shape Battery 114 elliptical battery 116 triangular battery

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 21/17 B60K 9/00 ZHVC

Claims (9)

[Claims] 1. A frame having a substantially rectangular cross section as a unit, a plurality of the frames are provided on the floor of the vehicle body in the longitudinal direction of the vehicle body, and the frames are arranged outside the frame in the longitudinal direction. A chassis frame for an electric vehicle, wherein a plurality of frames are arranged in a row at right angles to each other, and a hollow portion of each frame is used as a storage space for components required for traveling. 2. The chassis frame for an electric vehicle according to claim 1, wherein said frames are connected to each other so as to form the same plane. 3. The chassis of an electric vehicle according to claim 1, wherein the components housed in the hollow portion of the frame are a battery, an energy storage device, a fuel cell, an inverter, an AC / DC adapter, and a DC / DC adapter. AC
It is selected from a converter, a motor control unit, a brake control system including a master cylinder, an air conditioner, an audio device, a fuse unit, a contact unit, an air conditioner unit, a heater unit, a charge control device, and a microcomputer. Chassis frame for electric vehicles. 4. The chassis frame for an electric vehicle according to claim 1, wherein the hollow frame has a substantially rectangular cross section, and the cross section of the hollow frame has a plurality of circular, elliptical, triangular, and rectangular shapes. A chassis frame for an electric vehicle, wherein a battery having a sectional shape substantially corresponding to these sectional shapes can be inserted. 5. The electric vehicle chassis frame according to claim 1, wherein the radiator provided on the frame is disposed directly below the vehicle body or on the side of the vehicle body so as to be in contact with the outside air. And the chassis frame of an electric vehicle. 6. The chassis frame for an electric vehicle according to claim 5, wherein the radiator is disposed so as to protrude into an inner fender of the body. 7. The chassis frame for an electric vehicle according to claim 1, 2, 3, 4, 5, or 6, wherein the frame provided in a longitudinal direction of the vehicle includes the components in front, rear, front and rear of the vehicle. And a frame provided in a direction perpendicular to the longitudinal direction of the vehicle and configured to be inserted from a direction perpendicular to the longitudinal direction of the vehicle. flame. 8. The chassis frame of an electric vehicle according to claim 1, wherein some of the frames are configured to allow the components to be inserted from below the frame. An electric vehicle chassis frame, characterized in that: 9. The chassis frame of an electric vehicle according to claim 1, wherein some of the frames allow the components to be inserted from above the frame. A chassis frame for an electric vehicle, comprising: