KR102361741B1 - Individual motor control method of central control module system - Google Patents

Abstract

The present invention relates to a method for controlling an individual motor of a central control module system, and more particularly, to a motor driven by electricity for moving a vehicle and a controller configured to control the motor in a moving device including two or more controllers for controlling the motor. Equipped with an independent central control means that controls to be mutually organically driven according to rotational speed and load, etc., it is possible to have a balance maintaining function during efficient driving and acceleration, while changing the airflow under the vehicle to improve the stability of the vehicle body. It relates to a motor individual control method of a central control module system improved to increase the number of motors.

Description

Individual motor control method of central control module system

The present invention relates to a method for controlling an individual motor of a central control module system, and more particularly, to a motor driven by electricity for moving a vehicle and a controller configured to control the motor in a moving device including two or more controllers for controlling the motor. Equipped with an independent central control means that controls to be mutually organically driven according to rotational speed and load, etc., it is possible to have a balance maintaining function during efficient driving and acceleration, while changing the airflow under the vehicle to improve the stability of the vehicle body. It relates to a motor individual control method of a central control module system improved to increase the number of motors.

A vehicle is a device that moves a user in a desired direction. A typical example is a car.

Various sensors and electronic devices are being provided for the convenience of users using vehicles.

For example, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience, and further, development of an autonomous vehicle is being actively made.

Recently, electric vehicles have been commercialized and released. Electric vehicles use a motor as a power source.

Such an electric vehicle runs based on electric energy provided from a battery, and various studies are in progress to efficiently utilize electric energy.

On the other hand, the motor has different efficiency characteristics depending on the type, and one or more motors are mounted on an electric vehicle to be driven and controlled.

However, when two wheels are independently driven by their respective electric motors, if the synchronization of the electric motors becomes poor depending on the speed of the front wheel or the speed of the rear wheel, the load on the front wheel or the load on the rear wheel, the driving of the vehicle can be controlled stably A problem arises that cannot be

In particular, when accelerating, there may be an acceleration failure caused by different rotational speeds of the front wheel and the rear wheel.

Domestic Patent Registration No. 10-1976423 (2019.05.02.) Motor control system and vehicle for electric vehicles

The present invention was created to solve the problems in the prior art as described above, each in a mobile device including a motor driven electrically for movement of a vehicle and two or more controllers configured to control the same. Equipped with an independent central control means for controlling the motor to be driven organically according to the rotational speed and load of the motor, it is possible to have a balance maintaining function during efficient driving and acceleration, while transforming the airflow under the vehicle to control the body of the vehicle. Its main purpose is to provide a method for controlling individual motors of a central control module system improved to increase stability.

The present invention is a means for achieving the above object. The motor of the central control module system is individually controlled using the central control module 200 installed in the vehicle including the front wheel 110 driven by the and the rear wheel 120 driven by the second motor 140 . In a method for;

a first process in which the central control module 200 receives the output signals of the respective electric motors from the first and second controllers 150 and 160 and detects the operating states of the front wheels 110 and the rear wheels 120;

After the first process, the output of the motor, the temperature of the motor, the current, and the rotational speed information based on the front wheel 110 which is the main among the operating states of the front wheel 110 and the rear wheel 120 detected by the central control module 200 a second process of comparing;

A third process in which the central control module 200 adjusts the state of the rear wheel 120, which is a sub, compared to the front wheel 110, which is the main, and synchronizes it with the front wheel 110 after the second process; including;

When the rotation speed of the front wheel 110 is relatively faster than that of the rear wheel 120 during acceleration, when poor acceleration occurs, the rotation speed of the rear wheel 120 is reduced to control the front wheel 110 not to lose traction while controlling the front wheel 110 It provides a motor individual control method of the central control module system, characterized in that the control is maintained to maintain the rotation speed of the rear wheel (120) 1.1-1.4 times higher than that of the rear wheel (120).

According to the present invention, in a moving device including a motor driven electrically for movement of a vehicle and two or more controllers configured to control the same, control to be mutually organically driven according to the rotational speed and load of each motor It is possible to obtain an improved effect to increase the stability of the vehicle body by modifying the airflow under the vehicle while providing a separate independent central control means to have a balance maintaining function during efficient driving and acceleration.

1 is a schematic schematic diagram showing the basic configuration of a central control module system for implementing a method according to the present invention.
2 to 5 are exemplary views partially showing an example of installation of an accessory facility for enhancing the function of a vehicle according to the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described in more detail with reference to the accompanying drawings.

In a vehicle driven by an electric motor, when two wheels are independently driven by each electric motor, the synchronization of the electric motor is poor depending on the speed of the front wheel or the speed of the rear wheel, the load applied to the front wheel or the load applied to the rear wheel, etc. In response to this, a central control module is provided to stably control the driving of the vehicle.

In this case, the central control module is configured to receive control signals from the first controller for controlling the driving of the front wheels and the second controller for controlling the driving of the rear wheels to organically control them.

That is, two independent electric motors are driven by controlling each inverter by each controller, and one side is set as Main so that the two electric motors are synchronized, and the other is set as Sub The electric motor is driven naturally by torque steer.

In other words, the torque value can be controlled by an inverter that naturally uses a physical torque steer. In this case, the central control module is required to finely control the two inverters, thereby ensuring driving stability.

Specifically, as illustrated in FIG. 1 , the central control module 200 for implementing the individual control method of the motor of the central control module system according to the present invention is mounted on the vehicle body 100 .

In addition, a front wheel 110 and a rear wheel 120 are mounted on both sides of the vehicle body 100 , and these are installed to be driven by the first and second electric motors 130 and 140 , respectively.

At this time, FIG. 1 is a schematic diagram for the purpose of explanation, and the detailed configuration of the steering system is omitted, and each of the first and second electric motors 130 and 140 has a biaxial rotation structure, so that one motor has two front wheels or two rear wheels. The shaft is fixed with a universal joint so that both can be rotated at the same time.

In addition, an inverter for control is mounted on the first and second electric motors 130 and 140 , and the inverter is configured to be controlled by the first and second controllers 150 and 160 , respectively.

In addition, a central control module 200 connected to and controlling the first and second controllers 150 and 160 is further installed in the central portion of the length of the vehicle body 100 .

The central control module 200 communicates with the first and second controllers 150 and 160 to control the output to match because the front wheel 110 and the rear wheel 120 must output the same output.

At this time, in the present invention, the front wheel 110 is set as the main, and the rear wheel 120 is set as the sub.

In addition, all acceleration signals, deceleration signals, and stop signals receive signals from the first controller 150 and the central control module 200 calculates the amount of power required for driving, and based on this, the front wheel 110 and the rear wheel 120 are the same The balance is controlled to be driven by torque and speed.

In particular, when accelerating, the rotation speed of the front wheel 110 is relatively faster than the rear wheel 120 by a certain level or more, resulting in poor acceleration.

In this case, in the present invention, by reducing the rotational speed of the rear wheel 120 to control the front wheel 110 so as not to lose traction, the rotational speed of the front wheel 110 is set at a certain rate compared to the rotational speed of the rear wheel 120, preferably 1.1- By maintaining it as high as 1.4 times, it can be controlled to achieve stable acceleration operation.

The motor control method according to the present invention having such a configuration can be operated as follows.

That is, the central control module 200 receives the output signals of the respective electric motors from the first and second controllers 150 and 160 , and first goes through a process of detecting the operating states of the front wheels 110 and the rear wheels 120 .

Then, the central control module 200 compares the motor output, motor temperature, current, and rotational speed information based on the front wheel 110 which is the main among the detected operating states of the front wheel 110 and the rear wheel 120 . go through the process

At this time, the temperature of the motor is collected by reading the information measured by the temperature sensor, the current by the current sensor, and the rotation speed by the speed sensor (Resolver).

Next, the central control module 200 adjusts the state of the rear wheel 120 that is a sub compared to the front wheel 110 that is the main, and synchronizes it with the front wheel 110 is performed.

In particular, when the rotation speed of the front wheel 110 is relatively faster than the rear wheel 120 at the time of acceleration, and thus poor acceleration occurs, the rotation speed of the rear wheel 120 is reduced to control the front wheel 110 not to lose traction. The rotation speed of the front wheel 110 is maintained at a certain ratio, preferably 1.1-1.4 times higher than the rotation speed of the rear wheel 120, so that the acceleration operation is stably performed.

By doing this, the front wheel 110 and the rear wheel 120 always depend on the state of the front wheel 110, which is the main, and the rear wheel 120 is synchronized to maintain a stable driving relationship.

In addition, as in the example of FIG. 2 , an air cooling guide cap 300 is further installed on the lower surface of the vehicle body 100 .

The air cooling guide cap 300 is attached to the lower surface of the vehicle body 100 to form an air passage 310 between the lower surface of the vehicle body 100 and through this air passage 310 when the vehicle is traveling at high speed. It is configured to allow air to pass through at high speed to suck air in the upper part of the vehicle body 100 , that is, in the space where the motor is installed, to cause air flow, so that equipment such as a motor can be air-cooled.

To this end, the lower surface of the vehicle body 100 includes a right-angled triangular protrusion 102 protruding toward the air flow path 310, and a vent hole 104 is formed on the right-angled surface of the right-angled protrusion 102. It is configured to communicate with the air flow path (310).

That is, the upper portion of the vehicle body 100 and the lower portion of the vehicle body 100 are configured to communicate with each other by the vent hole 104, and the inclined surface, that is, the inclined surface, of the right-angled triangular protrusion 102 is closed and only the vent hole 104 on the right-angled surface. It is designed so that the incoming air does not flow back through the vent hole 104 by causing this to be formed.

With this configuration, the air at the top of the vehicle body 100 is sucked out by the venturi effect through the vent 104 by the pressure that quickly exits the air flow path 310, so that ventilation is achieved.

In addition, as shown in the example of FIG. 3 , the flow velocity stabilization guide 400 protrudes from the lower side of the door on both sides of the vehicle body 100 .

The flow velocity stabilization guide 400 is formed in a streamlined shape such that the upper surface is flat and the lower surface is gradually narrowed toward the rear end in a state where the front end of the vehicle convexly protrudes downward.

When the vehicle is formed in this way, when the vehicle is traveling at high speed, a speed difference between the air flowing through the upper surface and the air flowing through the lower surface occurs.

According to Bernoulli's theorem, the lower air pressure is lowered and the upper air pressure is relatively high, thereby generating lift force in the downward direction. It allows you to drive in a stable state without shaking.

In addition, as in the example of FIG. 4 , a center of gravity adjustment unit may be further provided to keep the center of gravity of the vehicle body 100 in a balanced manner so that the vehicle can stably travel without lateral movement.

The center of gravity adjustment unit includes a front and rear weight controller 500 controlled by the central control module 200, and a left and right weight controller 600, and the front and rear weight controller 500 includes a front and rear weight control motor 510 and , It consists of a front and rear adjustment ball screw 520 installed on the motor shaft of this motor and a front and rear weight adjustment weight 530 in the form of a square block that is toothed to the front and rear adjustment ball screw 520 to adjust the weight while moving back and forth.

In addition, the left and right weight adjuster 600 is toothed to the left and right weight control motor 610 and the left and right control ball screws 620 and the left and right control ball screws 620 installed on the motor shaft of the motor to move left and right. It consists of a left and right weight adjustment weight 630 in the form of a square block for adjusting the weight.

Thus, the central control module 200 compares the loads detected on each axle to check the weight difference, and controls the front and rear weight adjusters 500 and left and right weight adjusters 600 so that the weight applied to each axle is within the error range. If it is maintained evenly within the , it is determined that the center of gravity has been adjusted and the weight adjustment operation is terminated.

In this way, since the center of gravity of the vehicle is always at the center of the vehicle, driving stability is remarkably improved and fuel efficiency is also improved.

In addition, in the present invention, as illustrated in FIG. 5 , a grounding member 700 may be further provided at the lower portion of the vehicle body 100 to suppress the generation of static electricity, particularly in winter.

That is, according to FIG. 5, the step motor 720 is fixed to the lower surface of the vehicle body 100, and one end of the metal grounding member 700 is fixed to the rotation shaft of the step motor 720, so that the step motor ( When the 720 is rotated within a certain angle, the other end of the grounding member 700 is configured to be in contact with the ground.

Then, the spring 710 fixed to the vehicle body 100 is bound to a part of the grounding member 700 to maintain the energized state, and the step motor 720 is automatically folded in case of failure so as not to interfere with driving. can do.

100: body
110: front wheel
120: rear wheel
130: first electric motor
140: second electric motor
150: first controller
160: second controller
200: central control module

Claims (1)

The vehicle body 100, the first and second electric motors 130 and 140 respectively installed on the front and rear sides of the vehicle body 100, the front wheel 110 driven by the first electric motor 130, and the second a central control module 200 installed in a vehicle including a rear wheel 120 driven by an electric motor 140; a first process in which the central control module 200 receives the output signals of the respective electric motors from the first and second controllers 150 and 160 and detects the operating states of the front wheels 110 and the rear wheels 120; After the first process, the output of the motor, the temperature of the motor, the current, and the rotational speed information based on the front wheel 110 which is the main among the operating states of the front wheel 110 and the rear wheel 120 detected by the central control module 200 a second process of comparing; After the second process, the central control module 200 compares the main front wheel 110 to the third process of adjusting the state of the rear wheel 120 that is a sub and synchronizing it with the front wheel 110; a central control module including a A method for individually controlling a motor of a system;
When the rotation speed of the front wheel 110 is relatively faster than that of the rear wheel 120 during acceleration, resulting in poor acceleration, the central control module 200 reduces the rotation speed of the rear wheel 120 so that the front wheel 110 provides traction. Controlling the rotation speed of the front wheel 110 to maintain 1.1-1.4 times higher than the rotation speed of the rear wheel 120 while controlling so as not to lose;
An air cooling guide cap 300 is further attached and installed on the lower surface of the vehicle body 100, and a right triangular protrusion protruding toward the air flow path 310 formed inside the air cooling guide cap 300 on the lower surface of the vehicle body 100 ( 102) is further formed, and a vent hole 104 is formed on the right angle surface of the right-angled protrusion 102, and is configured to communicate with the air flow path 310. 100) the upper air is sucked out by the venturi effect through the vent 104 and operates to be ventilated and cooled;
The flow velocity stabilizing guide 400 protrudes from the lower side of the door on both sides of the vehicle body 100, and the upper surface of the flow velocity stabilizing guide 400 is flat and the lower surface of the vehicle is convexly protruded downward toward the rear end. A method for controlling individual motors of a central control module system, characterized in that the upper and lower widths are formed in a streamlined shape to gradually narrow, thereby reducing the shaking of the vehicle body 100 by applying a force to press the vehicle body 100 toward the road during high-speed driving.

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