KR20120055243A - Vehicle capable of individual control for rotation means and control method therefor - Google Patents

Vehicle capable of individual control for rotation means and control method therefor Download PDF

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Publication number
KR20120055243A
KR20120055243A KR1020100116865A KR20100116865A KR20120055243A KR 20120055243 A KR20120055243 A KR 20120055243A KR 1020100116865 A KR1020100116865 A KR 1020100116865A KR 20100116865 A KR20100116865 A KR 20100116865A KR 20120055243 A KR20120055243 A KR 20120055243A
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KR
South Korea
Prior art keywords
vehicle
pair
rotation means
rotation
rotating means
Prior art date
Application number
KR1020100116865A
Other languages
Korean (ko)
Inventor
이옥재
Original Assignee
이옥재
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Filing date
Publication date
Application filed by 이옥재 filed Critical 이옥재
Priority to KR1020100116865A priority Critical patent/KR20120055243A/en
Publication of KR20120055243A publication Critical patent/KR20120055243A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1518—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles
    • B62D7/1545—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles provided with electrical assistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

PURPOSE: A vehicle which can individually control rotary unit and a control method are provided to optimize rotation speed of a rotary unit according to a steering angle. CONSTITUTION: A vehicle which can individually control rotary unit comprises a rotary unit(200), a driving source(100), and a driving control section(300). The driving source drives a plurality of rotary units. Each of a plurality of driving sources is corresponded to each of a plurality of rotary units. Each of the plurality of driving sources comprises one or more electric motors. The driving source is corresponded to a pair of rotary units which is steered among the plurality of rotary units. The drive electric signal is PWM signal. The driving control section applies at least one pair of drive electric signal among the plurality of driving sources.

Description

VEHICLE CAPABLE OF INDIVIDUAL CONTROL FOR ROTATION MEANS AND CONTROL METHOD THEREFOR}

The present invention relates to a vehicle capable of individually controlling the rotating means and a control method thereof. More specifically, the present invention relates to a vehicle and a control method for such a vehicle, in which individual control of each of the plurality of rotating means is possible, so as to optimize the rotational speed of each rotating means according to the steering angle.

In general, a vehicle rotates and rotates a plurality of rotating means (e.g., wheels) and changes direction during driving in accordance with a steering angle determined by a steering system.

By the way, in the conventional vehicle, since the pair of rotation means (for example, the front wheel and the rear wheel of a four-wheeled vehicle) is connected to one shaft, the rotation speed of the said rotation means becomes the same regardless of the steering angle. In the case of running, undesirable slip phenomenon, friction phenomenon, etc. occur frequently. In other words, there has been a problem that the running of the vehicle is somewhat unstable.

The present invention aims to solve all of the above-mentioned problems of the prior art.

Another object of the present invention is to provide a vehicle capable of individually controlling the rotating means and a control method thereof.

Another object of the present invention is to provide a vehicle capable of optimizing the rotational speed of the rotating means according to the steering angle and a control method thereof.

In order to accomplish the above object, a representative structure of the present invention is as follows.

According to an aspect of the present invention, there is provided a vehicle, which is capable of applying different drive electrical signals to a plurality of rotation means, a plurality of drive sources for driving the plurality of rotation means, and at least one pair of drive sources of the plurality of drive sources. A vehicle is provided that includes a drive control.

In addition to this, another configuration for implementing the technical idea of the present invention may be further provided.

According to the present invention, there is provided a vehicle capable of individually controlling the rotating means and a control method thereof.

According to the present invention, there is provided a vehicle and a control method thereof capable of optimizing the rotational speed of the rotating means in accordance with the steering angle.

According to this invention, the running stability of a vehicle can be improved.

According to the present invention, energy loss incurred in the case of changing the direction of the vehicle or the like can be reduced.

1 is a view conceptually showing the configuration of a vehicle capable of individually controlling the rotating means according to an embodiment of the present invention.
FIG. 2 is an exemplary diagram for contrasting and controlling control of a rotation means in a general vehicle and a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented with changes from one embodiment to another without departing from the spirit and scope of the invention. In addition, it is to be understood that the location or arrangement of individual components within each embodiment may be changed without departing from the spirit and scope of the invention. Accordingly, the following detailed description is not to be taken in a limiting sense, and the scope of the present invention should be taken as encompassing the scope of the claims of the claims and all equivalents thereto. In the drawings, like reference numbers designate the same or similar components throughout the several views.

Hereinafter, various preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention.

 [Preferred Embodiments of the Invention]

The vehicle disclosed in Korean Patent Application Nos. 2009-1303 and 2009-1304 filed by the present applicant with respect to the basic configuration (particularly, a configuration that does not require a conventional wheel shaft) according to the present invention described below. It should be noted that reference can be made to the composition of The above specification of Korean patent applications should be regarded as being incorporated herein in its entirety.

1 is a view conceptually showing the configuration of a vehicle capable of individually controlling the rotating means according to an embodiment of the present invention.

Referring to Figure 1, according to an embodiment of the present invention, the vehicle 10 capable of individually controlling the rotation means is a plurality of driving / steering source 100, a plurality of rotation means 200, a plurality (or, At least one) drive control unit 300, steering means 400, acceleration and deceleration means 500, multiple (or at least one) steering unit 600, battery unit 700 and main control unit 800. It can be seen that it can be configured to include.

First, each of the plurality of driving / steering sources 100 according to an embodiment of the present invention is generated in the battery unit 700 to be described later and supplied through the driving control unit 300 or the steering unit 600 to be described later. A function of driving the vehicle 10 by converting electrical energy into mechanical energy (that is, energy for driving and / or steering, which will be described later), ie, driving and / or steering each rotating means 200. Can be performed. The drive / steer source 100 may include two or more known electric motors (eg, one electric motor for driving and another electric motor for steering), but the present invention is necessarily such a configuration. It is not limited to.

Next, each of the plurality of rotating means 200 according to an embodiment of the present invention may be driven and / or steered by the corresponding drive / steering source 100 to perform a function to drive the vehicle 10. have. The rotating means 200 may be one of four wheels, which is composed of a front wheel and a rear wheel, which is common in most vehicles.

Next, each of the plurality of drive control unit 300 according to an embodiment of the present invention is preferably provided for each drive / steering source 100, so that each rotating means 200 can be driven independently of each other. To perform the function.

In more detail, each drive control unit 300 is applied to the other drive / steering source 100 as needed, so that the corresponding rotating means 200 can be driven independently from the other rotating means 200. A drive electrical signal different from the drive electrical signal (ie, different in amplitude, pulse width, period, waveform, etc.) may be applied to the corresponding drive / steer source 100. For example, when the driving control unit 300 increases the pulse width of the driving electrical signal applied to the driving / steering source 100, the rotation speed of the rotating means 200 may be increased (of course, its weight is reversed). It is possible). For this configuration, those skilled in the art can employ the concept of a pulse width modulator (PWM) circuit. The control related to each of the above drive control unit 300 (for example, the control related to the application of the drive electrical signal in each drive control unit 300) is the acceleration and deceleration means 500 to be described later and / or the main control unit to be described later It can be done through (800).

Next, the steering means 400 according to an embodiment of the present invention is provided to the steering unit 600, which will be described later, through the main control unit 800, which describes information about the driving direction of the vehicle 10 desired by the driver. To perform the function. A well-known automobile handle module widely used as an example of such steering means 400 may be mentioned, but the present invention does not need to be limited to such a configuration.

Next, the acceleration and deceleration means 500 according to an embodiment of the present invention are linked to the accelerator pedal and the brake pedal of the vehicle 10, respectively, when the driver operates the accelerator pedal or the brake pedal, the vehicle desired by the driver. The function related to the acceleration / deceleration of (10) may be provided to the driving controller 300 through the main controller 800 described later.

Next, each of the plurality of steering units 600 according to an embodiment of the present invention is preferably at least one pair of rotating means 200 (eg, a four-wheeled vehicle) of the plurality of rotating means 200. Front wheels) corresponding to the driving / steering source 100, so that the corresponding rotating means 200 may be steered as desired by the driver. To this end, the steering unit 600 may adjust the steering electrical signal applied to the driving / steering source 100 as needed. For example, the steering unit 600 may apply the same steering electric signal to the corresponding driving / steering source 100 so that each steering angle of the pair of rotating means 200 is the same (of course, if necessary, It is also possible to temporarily apply different steering electrical signals to the drive / steer source 100). Of course, the concept of the PWM circuit can also be adopted for such a configuration.

Next, the battery unit 700 according to an embodiment of the present invention may include electrical storage means (not shown) capable of supplying electrical energy to the driving / steering source 100 and charging / discharging. In order to implement such a battery unit 700, conventionally known electrical storage means can be used without limitation, and examples thereof include lead storage batteries, nickel-cadmium (Ni-Cd) batteries, and nickel-hydrogen (Ni-MH) batteries. And secondary batteries such as lithium ion (Li-ion) cells, lithium ion polymer (Li-ion polymer) cells, and the like. In addition, the battery unit 700 may be composed of a plurality of divided batteries (not shown) instead of one. The plurality of divided batteries may be electrically connected to each other, but may also be independent of each other.

Finally, the main control unit 800 according to an embodiment of the present invention is the drive / steering source 100, the rotation means 200, the drive control unit 300, the steering means 400, acceleration and deceleration means 500 In addition, the steering unit 600 and / or the battery unit 700 may be controlled. That is, the main controller 800 controls a signal exchanged or flowed between the above components and other non-shown components (eg, a load) of the vehicle 10 so that each component has a unique function. Can be done. For example, the main controller 800 may include a function of a known ECU (Electronic Control Unit).

In particular, the main control unit 800 according to an embodiment of the present invention corresponds to a steering angle sensor (not shown) which may be disposed with respect to a part of the plurality of rotating means 200 (for example, a front wheel of a four-wheeled vehicle). Information about the steering angle of the rotating means 200 may be received, and if necessary, a decision may be made to increase or decrease the rotational speed of the some rotating means 200 based on the steering angle. Such determinations will be further explained by way of example below.

Individual control method for rotating means

Hereinafter, referring to FIG. 2, an individual control method for the rotating means 200 of the vehicle 10 according to an exemplary embodiment of the present invention will be described. Here, the control method will be described mainly by taking a case in which the vehicle 10 turns left as an example. However, the control method is used when the vehicle 10 switches different directions (for example, when the vehicle 10 has a different direction). It is apparent that the present invention can be applied to the case of rotating in the case of the vehicle 10 or an abnormal driving such as slippage).

FIG. 2 is an exemplary diagram for contrasting and controlling control of a rotation means in a general vehicle and a vehicle according to an embodiment of the present invention.

In FIG. 2, first, (a) shows a case in which the general front wheel steering type vehicle 10 'is turned left. At this time, it can be seen that the pair of rotating means 200, which are the front wheels, have the same steering angle A and the same rotational speed v.

On the other hand, (b) shows a case in which the vehicle 10 according to an embodiment of the present invention rotates left. Once again, even in this case, the vehicle 10 may have the same steering angle A in which the pair of rotating means 200, which are its front wheels, similarly to the vehicle 10 '. However, in the vehicle 10, as shown, even if the rotational speed of the left rotating means 200, which is the rotating means 200 on the side where the vehicle 10 changes direction, the right rotating means 200 is maintained at v. The control to make the rotational speed of v 'be v' can be done. Of course, such control can be performed repeatedly according to the change of the steering angle.

The process of the above control is described in detail as follows.

1. Detect the change of direction of the vehicle 10

The main controller 800 of the vehicle 10 may receive a signal from the steering means 400 to detect that the vehicle 10 turns left. Accordingly, the main control unit 800 can activate the following control.

2. Steering angle detection

The main controller 800 may determine the steering angle A of the vehicle 10 based on the signal from the steering angle sensor. Then, the main controller 800 may determine the ratio of the optimized rotational speed (v '/ v) required in the case of the steering angle by referring to a rotational speed optimization database (not shown) which is preset through experiments. have. In this regard, the main controller 800 may receive a signal from the driving controller 300 to determine the rotation speed v.

3. Control of the rotation speed of the rotation means 200

The main controller 800 may determine the rotation speed v 'with reference to the ratio of the optimized rotation speed and the rotation speed v. For example, the main controller 800 may perform a control for the driving controller 300 to accelerate the rotation speed of the right rotating means 200 until the determined rotation speed v 'is reached. In this case, the drive control unit 300 may increase the rotational speed of the right rotating means 200 by increasing the pulse width of the drive electrical signal. Of course, less preferably, control for reducing the rotational speed of the left rotating means 200 or changing the respective rotational speeds of the left rotating means 200 and the right rotating means 200 in accordance with the rotational speed ratio. May be performed.

On the other hand, the above description has been mainly described with respect to the fact that the individual control (that is, controlling the rotational speed of the rotational means 200 in accordance with the ratio of the optimized rotational speeds) is performed with respect to the pair of rotating means 200 which are the front wheels. It is apparent that the same control can also be performed for the pair of rotating means 200 which are the rear wheels. Such control can be done subsequent to, or simultaneously with, the control for the front wheels. To this end, the main controller 800 may perform the same control as described above with respect to the driving controller 300 corresponding to the pair of rotating means 200 which are the rear wheels.

In the present specification, the individual control of the rotating means 200 is mainly described assuming that a pair of rotating means 200, which are front wheels, of the rotating means 200 of the vehicle 10 is steered. It will be apparent that the rotating means 200 steered according to the selection may be rear wheels or both front and rear wheels. In addition, in view of the technical spirit of the present invention, it will also be apparent that individual control of the rotation means 200 as described above may be performed even when such alternative steering is performed.

Although the present invention has been described by specific matters such as specific components and limited embodiments and drawings, it is provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. Those skilled in the art may make various modifications and changes from this description.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

10: vehicle
100: drive / steer source
200: rotation means
300: drive control unit
400: steering means
500: acceleration and deceleration means
600: steering
700: battery unit
800: main control unit

Claims (13)

As a vehicle,
Multiple rotating means,
A plurality of drive sources for driving the plurality of rotation means, and
A driving control unit capable of applying different driving electrical signals to at least one pair of the driving sources;
Vehicle comprising a. The method of claim 1,
Each of the plurality of drive sources corresponds to each of the plurality of rotation means. The method of claim 1,
Each of the plurality of drive sources comprises at least one electric motor. The method of claim 1,
And said at least one pair of drive sources corresponds to at least one pair of rotating means steered among said plurality of rotating means. The method of claim 1,
And said drive electrical signal is a PWM signal. The method of claim 1,
And a steering angle sensor for steering angle detection, the steering angle sensor being arranged with respect to at least some of the at least one pair of rotating means steered among the plurality of rotating means. The method of claim 6,
The driving control unit is capable of adjusting the rotational speed of at least one of the at least one pair of rotation means based on the detected steering angle. The method of claim 7, wherein
And said adjustment is for optimizing the ratio of the rotational speeds of said rotating means and paired rotating means. The method of claim 8,
Said optimization being based on a database that can be preset and referenced. A method of controlling the vehicle according to any one of claims 1 to 9,
The plurality of rotating means comprises a pair of front wheels and a pair of rear wheels,
Rotation of at least one of the first rotation means and the second rotation means such that the ratio of the rotational speeds of the first rotation means and the second rotation means belonging to the pair of front wheels corresponds to a value determined based on the steering angle of the vehicle Controlling the speed
Way. The method of claim 10,
Rotation speed of at least one of the third rotation means and the fourth rotation means such that the ratio of the rotation speeds of the third rotation means and the fourth rotation means belonging to the pair of rear wheels corresponds to the value determined based on the steering angle. The method further comprises the step of controlling. The method of claim 11,
The first rotation means and the third rotation means are rotation means on the first side of the vehicle,
The second rotation means and the fourth rotation means are rotation means on the second side of the vehicle,
Controlling the rotational speeds of the first and third rotational means to be substantially the same and the rotational speeds of the second and fourth rotational means to be substantially the same. A method of controlling the vehicle according to any one of claims 1 to 9,
The plurality of rotating means comprises a pair of front wheels and a pair of rear wheels,
Rotation of at least one of the first and second rotation means such that the ratio of the rotational speeds of the first and second rotation means belonging to the pair of rear wheels corresponds to a value determined based on the steering angle of the vehicle Controlling the speed
Way.
KR1020100116865A 2010-11-23 2010-11-23 Vehicle capable of individual control for rotation means and control method therefor KR20120055243A (en)

Priority Applications (1)

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KR1020100116865A KR20120055243A (en) 2010-11-23 2010-11-23 Vehicle capable of individual control for rotation means and control method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100116865A KR20120055243A (en) 2010-11-23 2010-11-23 Vehicle capable of individual control for rotation means and control method therefor

Publications (1)

Publication Number Publication Date
KR20120055243A true KR20120055243A (en) 2012-05-31

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