JPS63101136A - Independent drive control device for driving wheels in automobile - Google Patents

Abstract

PURPOSE:To prevent the occurrence of a tight corner braking phenomenon by providing a driving motor for each of driving wheels and controlling the motor electrically in an independent way. CONSTITUTION:Each of wheels 5R, 5L, 5R' and 5L' is connected with driving motors 1R, 1L, 1R' and 1L' capable of normal and reverse turn. Also, output circuit 2R, 2L, 2R' and 2L' are connected to the driving motors 1R, 1L, 1R' and 1L' for suppling an electric current thereto and turning thereof in normal and reverse directions, and controlled with a control signal from a control circuit 3. A sensor 4 detects driving conditions such as a road surface condition, an automobile speed, a running condition and a steering wheel turning direction, and outputs a signal to the control circuit 3.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a drive control device for an automobile that is driven by a motor, and more specifically, a drive control device for an automobile that has a motor for each drive wheel and is driven by a plurality of motors. This invention relates to a wheel independent drive control device.

[Conventional technology]

In current automobiles, power is transmitted from the engine to the drive wheels by distributing it from a single power source using a drive shaft or the like. In other words, each drive wheel is mechanically coupled via a power transmission device such as a drive shaft, and cannot move independently.

However, each drive wheel can only rotate at the same number of revolutions,
If the wheels cannot move independently, it will be inconvenient when cutting a curve, so the current situation is to use differential gears, center differential gears, etc. to adjust and change the rotation speed of each drive wheel. .

[Problem that the invention seeks to solve]

However, since power is distributed from one power source to each drive wheel, devices such as differential gears and center differential gears are required, resulting in an increase in weight and the use of these devices. However, various problems cannot be avoided, such as idling of one wheel due to the difference in the coefficient of friction between the left and right driving wheels on snowy roads, sandy roads, etc., and tight corner braking during four-wheel drive. Furthermore, since these devices are interposed in the power transmission system, energy loss occurs and the power transmission rate is extremely poor.

The purpose of this invention is to solve the above-mentioned conventional problems related to driving the drive wheels of automobiles, and by providing a motor for each drive wheel and electrically controlling the rotation of this motor, The present invention aims to provide a novel vehicle drive wheel independent drive control device that can solve all of the various problems caused by distributing power from individual prime movers.

[Means for solving problems]

The present invention provides a motor capable of forward and reverse rotation directly connected to each driving wheel of an automobile, an output circuit provided for each of the forward and reverse rotatable motors and supplying a drive current to the motor, and an output circuit connected to the output circuit. A control circuit that sets the rotation speed and direction of the motor, selects the motor to be rotated, etc., and a sensor that detects the road surface condition and issues a detection signal to the control circuit. By configuring an apparatus, the above-mentioned problems are attempted to be solved.

[Effect]

The motor provided for each drive wheel is supplied with current from the output circuit and rotates independently, and the control circuit operates based on information about road conditions, vehicle speed, etc. input from sensors. , determines the rotational speed of each motor and sends a signal to the output circuit to adjust its rotational speed.

Therefore, for example, in the case of a left turn, the control circuit uses the signal from the sensor that detects the left rotation of the steering wheel to set the rotation speed of the left drive wheel to be lower than the rotation speed of the right drive wheel, depending on the vehicle speed at that time. Slow down so you can make a smooth left turn. Furthermore, depending on the road surface conditions detected by the sensor, a signal can be issued from the control circuit to change from two-wheel drive to four-wheel drive.

〔Example〕

FIG. 1 is a block diagram of an embodiment of the drive wheel independent drive control device according to the present invention, and FIG. 2 is a circuit diagram thereof.

In Figure 1, 5R is the right front drive wheel, 5L is the left front drive wheel,
5R' is the right rear drive wheel, 5L' is the left rear drive wheel,
These drive wheels 5R, 5L, 5R'.

Drive motors IR, LL, IR', and IL', which can rotate in forward and reverse directions, are connected to 5L', respectively.

Also, motors IR, LL, IR' for driving these.

Output circuits 2R, 2L, and 2R' supply current to LL' and rotate it forward or reverse, respectively.

2L' is connected, and is controlled by a control signal from the control circuit 3.

Further, numeral 4 in the figure is a sensor that detects driving conditions such as road surface conditions, vehicle speed, running conditions, and direction of rotation of the steering wheel, and outputs a signal to the control circuit 3.

'Next, based on the circuit diagram of this embodiment shown in FIG.
The configuration will be explained in more detail. The control circuit 3 includes a vehicle speed control section 6 and a sensor signal processing section 7.
The details are as follows.

That is, the vehicle speed control unit 6 controls the motors IR, IL, and IR' according to the amount of depression of the accelerator pedal in the driver's seat.

This is a circuit that duty-controls the rotation speed of LL', and 9 in the figure is a variable resistor 2 that slides in conjunction with depression of the accelerator pedal 10, one end of which is connected to the differential amplifier 11.
is connected to one input terminal of the

Further, this input terminal of the differential amplifier 11 is connected to a resistor 12 for voltage adjustment. It is also connected to the positive terminal of the battery via. On the other hand, 13 and 14 are voltage dividing resistors connected in series, one end of which is connected to the positive terminal of the battery, the other terminal of which is grounded, and the connection point is the other end of the differential amplifier 11. is connected to the input terminal of This differential amplifier 11 is an amplifier that outputs a voltage signal proportional to the amount of depression of the accelerator pedal 10, and its output signal is sent to a comparator circuit 14.
4, the voltage of the triangular wave generated by the waveform shaping circuit 15 and the voltage of its output signal are compared, and the duty ratio is changed.

On the other hand, the sensor signal processing section 7 has the following configuration. That is, a shift switch 16 is provided in the driver's seat and is used by the driver to select forward or reverse by performing a shift operation, and the shift switch 16 has a forward selection contact 20, a reverse selection contact 19, and The common contact 21 is connected to the output side of the comparison circuit 14 of the vehicle speed control section 6, and the pair of selection contacts 19.20 are connected to the switches 17.18, respectively. There is. The opening and closing of these switches 17 and 18 are controlled by a relay 42 to be described later, and when turned on, a signal from the vehicle speed control section 6 is also sent to the output circuits 2R' and 2L' for the rear wheels. There is.

On the other hand, the reverse selection contact 19 is a diode 22.2.
The forward selection contact 20 is connected to the backward input terminal 24 of the output circuits 2R, 2L through the diode 22.3.
23 to the output circuit 2R.

They are respectively connected to forward input terminals 25 of 2L. Further, one contact of the switch 17 is connected to a diode 22 .
23 to an output circuit 2R' for the rear wheels.

The contacts of the switch 18 are respectively connected to the forward input terminals 25 of the rear wheel output circuits 2R' and 2L' through diodes 22 and 23. ing.

Furthermore, 41 is a differential amplifier into which the signal from the sensor 4 is input, 42 is a relay whose operation is controlled by the output from the differential amplifier 41, and the relay 42 is connected to the switch 17.18. They are linked to open and close.

On the other hand, the output circuits 2R, 2L, 2R', and 2L' are constructed by combining a plurality of transistors, and the motor IR
, IL, IR', and LL' are duty-controlled.

That is, the reverse input terminal 24 is connected to the base of a transistor 27 via a resistor 26 and to the base of a transistor 29 via a resistor 28, respectively. The collector of the transistor 27 is connected to the base of a transistor 31 via a resistor 30, and the emitter of the transistor 27 is connected to the emitter of a transistor 32. The base of the transistor 32 is connected to the forward input terminal 25 via a resistor 33, and the collector is connected to the base of the transistor 35 via a resistor 34.

The emitter of the transistor 31 is connected to the positive side of the battery, and the collector is connected to the base of the transistor 36. The collector of the transistor 36 is connected to the positive side of the battery, and the emitter is connected to one input terminal of the motor IR. . Furthermore, the base of a transistor 37 is connected to the input terminal 25 on the forward side, the collector of the transistor 37 is connected to the emitter of the transistor 36, and the emitter is connected to the base of a transistor 38, respectively. The collector of the transistor 38 is connected to the collector of the transistor 37, and the emitter of the transistor 38 is connected to the emitter of the transistor 27. Further, the emitter of the transistor 29 is a transistor 39.
The base and collector of are connected to the collector of the transistor 39, respectively, and the transistor 39
The emitter of the transistor 38 is connected to the emitter of the transistor 38, and the connection point thereof is grounded.

Further, the emitter of the transistor 35 is connected to the positive side of the battery, and its collector is connected to the base of the transistor 40.

The collector of the transistor 40 is likewise connected to the positive side of the battery, and its emitter is connected to the other input terminal of the motor IR. The other output circuits 2L, 2R', and 2L' have exactly the same configuration.

It should be noted that the embodiment shown in FIG. 2 is only an example of the drive wheel independent drive control device according to the present invention, and the sensor signal processing section 7 may of course have a circuit configuration according to the signal sent from the sensor 4. Yes, and in fact, circuits are also installed to change the rotation speed of the left and right wheels when turning left and right.

Next, the operation of this embodiment will be explained.

When you step on the accelerator pedal 10, this accelerator pedal 1
0, the slide contact of the variable resistor 9 slides, and a voltage corresponding to the amount of depression of the accelerator pedal 10 is generated, which is manually applied to the differential amplifier 11. This differential amplifier 11
As shown in FIG. 3, a voltage proportional to the depression amount λ of the accelerator pedal 10 is generated on the output side of the accelerator pedal 10, and this voltage signal is sent to the comparison circuit 14. In this comparison circuit 14, the triangular wave voltage generated by the waveform shaping circuit 15 and the voltage generated by the differential amplifier 11 are compared, and the duty ratio is changed as shown in FIG. The signal is output to the sensor signal processing section 7.

A signal that changes the duty ratio is sent from the vehicle speed control section 6 to the common contact point 21 of the shift switch 16 of the sensor signal processing section 7, and now when the shift switch 16 is shifted to the forward side, The common contact 21 and the selection contact 20 are connected, and the signal is passed through the diode 22 or 2.
3 and is sent to the forward input terminal 25 of the output circuit 2.

On the other hand, due to the input of the signal from the sensor 4, the differential
1 is activated and when there is an output signal, the relay 42 is energized, switches 17 and 18 linked to this are both turned on, and the signal from the vehicle speed control section 6 is sent to the output circuits 2R' and 2L for rear wheel drive. It will also be sent to '.

In this way, signals are sent from the vehicle speed control section 6 to the output circuits 2R, 2L, 2R', and 2L via the sensor signal processing section 7. Output circuits 2R, 2L, 2R2L' are motor IR
, IL, IR', and IL' at a desired rotation speed, and when a signal is input from the input terminal 25 for forward movement, the motors IR, LL, and IR rotate by the switching action of each transistor. ', IL' are rotated forward, and reversed when a signal is input from the input terminal 24 for reverse rotation.

As described above (depending on the amount of depression of the accelerator pedal 10, each motor IR, IL, IR', IL' rotates at a desired rotation speed, and by shifting the shift switch 16, the motors rotate in the forward or reverse direction. Furthermore, depending on the signal from the sensor 4 depending on the road surface condition, driving of only the front wheels or driving of the front and rear wheels is selected, the driving wheels rotate, and the vehicle moves forward or backward.

〔Effect of the invention〕

As mentioned above, the drive wheel independent drive control device according to the present invention has a drive motor for each drive wheel, and each of the motors is independently and electrically controlled. There is no need for differential gears such as differential gears or center differential gears, and the inconveniences caused by these devices, such as tight corner braking and one-wheel spin, are eliminated, allowing smooth driving. Cultivate effectiveness.

In addition, since it is electrically controlled, it is possible to easily switch between 2-wheel drive and 4-wheel drive, based on signals from sensors.
It is also possible to automatically select the optimal drive method,
This has a great effect on promoting automation of driving operations. In addition, since it is driven by a motor, the motor can also act as an electromagnetic brake, making sudden braking possible.
The range of applications is extremely wide, as anti-lock brake systems can be easily realized and mechanical brakes can be simplified.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the drive wheel independent drive control device for an automobile according to the present invention, FIG. 2 is its circuit diagram, and FIG. 3 is a waveform diagram for explaining its operation.
Similarly, FIG. 4 is a waveform diagram for explaining the operation. IR, IL, IR', LL'...Motor, 2R. 2L, 2R', 2L'... Output circuit, 3... Control circuit, 4... Sensor, 5... Drive wheel, 6... Vehicle speed control section, 7... Sensor signal processing section, 9... Variable resistor, 10... Accelerator pedal, 11... Differential amplifier, 12... Resistor, 13... Resistor, 14... Comparison circuit, 15... Waveform shaping circuit, 16... shift switch, 17... switch, 18... switch, 19
... selection contact, 20 ... selection contact, 21 ... common contact, 22 ... diode, 23 ... diode,
24... Input terminal for backward movement, 25... Input terminal for forward movement, 26... Resistor, 27... Transistor, 2
8...Resistor, 29...Transistor, 30...
Resistor, 31... Transistor, 32... Transistor, 33... Resistor, 34... Resistor, 35...
Transistor, 36...Transistor, 37...
・Transistor, 38...Transistor, 39・
...Transistor, 40...Transistor, 41
...Differential amplifier, 42...Relay.

Claims (1)

[Claims] A motor capable of forward and reverse rotation directly connected to each drive wheel of the automobile, and a motor provided for each of the motors capable of forward and reverse rotation,
an output circuit that supplies a driving current to the motor; a control circuit that is connected to the output circuit and that sets the rotational speed and direction of the motor; selects the motor to be rotated; and a control circuit that detects operating conditions and A drive wheel independent drive control device for an automobile, characterized by comprising: a sensor that issues a detection signal to the vehicle;