KR20130024706A - Maned and unmaned steering motion control apparatus for electric car with in-wheel motor - Google Patents

Abstract

PURPOSE: An in-wheel motor driving motor car and a manual-automatic steering control algorithm of the in-wheel motor driving motor car are provided to swing the vehicle without separate steering system by using the independent driving control characteristic of each wheel of the in-wheel motor. CONSTITUTION: An in-wheel motor driving motor car comprises the left/right induced electromotive force sensors(EMF)(2, 3), the steering wheel(5), the vehicle controller(6), the left/right in-wheel motor drivers(7, 8), and the left/right in-wheel motors(9, 10). The left/right induced EMF sensors are located on one front side of the motor car, and detect the induced electromotive force along the immersed induction line. The steering wheel comprises the steering angle sensor to drive straight or turn of the motor car according to the detected signal of the induced EMF sensor. The vehicle controller decides the driving status of the steering wheel according to the detected signal of the induced EMF sensor. The left/right in-wheel motor driver is connected to the vehicle controller to determine the drive torque of the left/right in-wheel motor according to the drive torque signal of the vehicle controller. The left/right in-wheel motor is connected to each of the left/right in-wheel motor driver.

Description

Steering Control Algorithm with or without In-Wheel Motor Drive Electric Vehicle and In-Wheel Motor Drive Electric Motor Vehicle {{MANED AND UNMANED STEERING MOTION CONTROL APPARATUS FOR ELECTRIC CAR WITH IN-WHEEL MOTOR}

The present invention relates to an in-wheel motor driven electric vehicle and a steering control algorithm with or without an in-wheel motor driven electric vehicle, and more particularly, an in-wheel motor driven electric vehicle and an in-wheel motor driven electric vehicle for turning a vehicle through torque control of an in-wheel motor without a separate steering device. It relates to a steering control algorithm having or without.

Electric cars, such as golf cars, are driven by an electric drive motor, and a steering mechanism is generally provided for turning the vehicle. In particular, in the case of a golf car, a guide line is embedded in the road surface to enable unmanned driving, and a device for steering the vehicle along the guide line is provided.

1 is a view illustrating a configuration of a conventional electric vehicle capable of driving unattended, and the detailed configuration thereof is one side in front of the electric vehicle in driving the electric vehicle along a guide line 1 embedded in a road on which the electric vehicle moves. The left induction electromotive force sensor 2 and the right induction electromotive force sensor 3 are driven to detect the embedded induction line 1 to recognize the electromotive force and transmit the steering force to the steering gear and steering mechanism assembly 4.

That is, when the driver of the electric vehicle drives the steering wheel 7 according to the road on which the guide line 1 is installed, the steering column 6 connected to the steering assembly 4 operates while driving the electric vehicle. Operation in (5) is driven according to the turning radius of the driver steering wheel (7).

On the other hand, when driving the electric vehicle unattended, when the left and right induction electromotive force sensors (2, 3) detects the induction line (1) on the road and transmits to the steering mechanism assembly 4, the corresponding signal is transmitted to the vehicle controller (8), The steering wheel 7 is driven in accordance with the control signal of the vehicle controller 8 so that the steering wheel 7 is driven by the steering assist electric motor 5 in accordance with the guide line 1.

At this time, the motor driver 9 generates torque in accordance with the control signal of the vehicle controller 8 in the above operation, and the corresponding signal is transmitted to the electric drive motor and the reducer assembly 13 of the rear wheel according to the generated torque and steering. The signal transmitted to the reducer assembly 13 according to the straight or turning radius signal of the wheel 7 drives the left and right drive shafts 11 and 12 to drive the electric vehicle.

That is, the induction lines 1 embedded in the road surface of the road are sensed by the left and right induction electromotive force sensors 2 and 3 in front of the electric vehicle, and the induced electromotive force corresponding to the detected induction line is transferred to the vehicle controller 8. The transmission and driving of the electric vehicle are the same. A drive shaft is operated by a single motor driver 9 to drive a left or right wheel of a conventional electric vehicle, that is, go straight or rotate according to a signal transmitted from an induction electromotive force sensor to a motor driver 9 directly linked with the vehicle controller 8. Is transmitted from the vehicle controller 8 to the motor driver 9, and the motor driver 9 transmits the corresponding signal to the left or right drive shafts 11 and 12 according to the torque.

The driving of the wheel by the electric drive motor is to install the electric drive motor inside the vehicle and to connect the left and right wheels by the drive shaft.

Recently, however, in-wheel motor electric vehicles that directly install electric drive motors on wheels have been developed.

In-wheel motor electric drive vehicle is characterized by the ability to independently control the torque and speed of each wheel, it is possible to turn the vehicle without the steering mechanism.

The present invention aims to provide a control technique for turning a vehicle without using a separate steering system during manned or unmanned driving by using the independent driving characteristics of the in-wheel motor in a golf car.

[Related Technical Literature]

1. Control device of a vehicle (Patent Application No. 10-2007-7027343)

2. Train exact stop guidance system and method (Patent Application No. 10-2009-0000061)

The present invention has been made to solve the above conventional problems, the present invention provides an in-wheel steering control algorithm of the in-wheel motor drive electric vehicle to turn the vehicle through the torque control of the in-wheel motor without a separate steering device It is to provide a steering control algorithm with or without an in-wheel motor driving electric vehicle and an in-wheel motor driving electric vehicle capable of turning an unmanned electric vehicle without using a separate steering system by using independent driving control characteristics of each wheel of the motor.

According to a feature of the present invention for achieving the above object, an in-wheel motor is mounted on the left and right wheels of the front wheel or the rear wheel, and the vehicle is mounted without an additional steering device through independent driving force control of the in-wheel motor. An electric vehicle that controls driving and turning, comprising: a left / right induction electromotive force sensor positioned on one side of the front of the electric vehicle and detecting induction electromotive force according to an induction line embedded in a road surface, and according to a detection signal of the induction electromotive force sensor A steering wheel equipped with a steering angle sensor for driving straight or rotation, a vehicle controller for controlling the overall operation of the electric vehicle and determining whether the steering wheel is driven according to a detection signal of an induction electromotive force sensor, and connected to the vehicle controller Left and right in-wheel motor driver for determining the drive torque of the left and right in-wheel motor according to the drive torque signal of the controller and the It is connected to the left and right in-wheel motor driver, respectively, to provide an in-wheel motor driving electric vehicle composed of left and right in-wheel motors respectively configured inside the wheels to drive the left or the wheels according to the drive signal of the driver according to the drive torque signal of the vehicle controller. It is characterized by.

Steering control algorithm with or without in-wheel motor-driven electric vehicle and in-wheel motor-driven electric vehicle according to the present invention is based on the independent driving force control characteristics of the in-wheel motor, the steering system of the electric vehicle, that is, the steering gear and steering mechanism, steering motor and steering column It can be applied to both manned and unmanned driving of the electric vehicle without being able to turn, thereby simplifying the structure of the vehicle and thus reducing the cost.

1 is a configuration diagram of a golf vehicle that can drive conventionally.
2 is a block diagram of an electric vehicle capable of driving with or without a vehicle according to an embodiment of the present invention.
3 is a block diagram of a control algorithm of an unmanned electric vehicle according to an exemplary embodiment of the present invention.
4 is a configuration diagram of a control algorithm of a manned electric vehicle according to an exemplary embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Steering control with or without an in-wheel motor driving golf vehicle of the present invention is a vehicle in which an in-wheel motor is mounted on each of the left and right wheels of a front wheel or an in-wheel motor is mounted on each of the left and right wheels of a rear wheel. The apparatus is not included.

In the present invention, as shown in FIG. 2, the induction line 1 embedded in the road surface of the road is connected to the induction line detected by the left and right induction electromotive force sensors 2 and 3 in front of the electric vehicle. The driving of the electric vehicle by transmitting the induced electromotive force according to the vehicle controller 6 is the same. In the electric vehicle according to the present invention, the vehicle controller 6, the left wheel in-wheel motor driver 7, and the right wheel in-wheel motor driver 8 are connected to each other, and the in-wheel motors 9 and 10 are located inside the wheel in the left and right wheels, respectively. It is configured to drive the in-wheel motors 9 and 10 in accordance with the signals of the motor drivers 7 and 8.

That is, the left in wheel motor 9 or the right wheel in wheel motor 10 has the in wheel motors 9 and 10 respectively according to the torque (force) transmitted by the left wheel in wheel motor driver 7 and the right wheel in wheel motor driver 8, respectively. It is configured to be driven, the steering wheel (5) in accordance with the control signal of the vehicle controller (6) in accordance with the signal of the left right induction electromotive force sensor (2,3) detecting the guide line (1) According to the rotation radius, the control signal of the vehicle controller 6 is transmitted to the left wheel or in-wheel motor drivers 7 and 8, and the left or right in-wheel motors 9 and 10 are operated according to the torque (force). It is configured to operate.

As described above, by mounting the in-wheel motors on the left and right wheels according to the driving of the electric vehicle, the left and right wheels can be driven independently of each other. Such independent driving force control enables the vehicle to turn without a separate steering device.

)의 좌우륜 편차는 차량을 선회시키려는 요 모멘트 (Yaw Moment)로 작용하기 때문이다. 이것은 소위 DYC (Direct Yaw Moment Control) 이 되며 다음식과 같이 된다.That is, the driving force generated from the in-wheel motor of each wheel as shown in FIG.

This is because the left and right wheel deviations of the wheels act as a yaw moment to turn the vehicle. This becomes the so-called DYC (Direct Yaw Moment Control), and becomes

는 Direct Yaw Moment,

은 각각 좌륜의 구동토크 및 우륜의 구동토크, r 은 타이어 반경, t 은 좌우륜의 축거 (Tread)이다.here,

Direct yaw moment,

Are the driving torque of the left wheel, the driving torque of the right wheel, r is the tire radius, and t is the wheel read of the left and right wheels.

)를 발생시키는 것으로 차량의 선회제어를 달성할 수 있다. 한편으로 무인운전에 있어서 골프차량에 요구되는 목표 주행속도 입력(

)를 달성하기 위한 각 인휠모터의 주행 토크의 크기(

)는 차량의 속도(

)를 검출하여 이를 피드백제어(PI Controller) 함으로서 구할 수 있다.If this is applied to the unmanned guided golf car (Fig. 2) and the control algorithm (Fig. 3) of the present invention is as follows. The unmanned driving of a golf car is based on the magnetic field generated from the induction line 1 embedded in the road surface, and the inductive electromotive force sensors 2 and 3 mounted on the vehicle are separated from the center of the vehicle at equal intervals, and thus the voltage difference sensed. From (Δ), the degree of deviation of the vehicle from the induction line can be seen, and the direct yaw moment (PI) can be obtained from the feedback controller (PI controller) for setting this deviation to the target deviation (Δ ^' ) zero.

Can be achieved to achieve turning control of the vehicle. On the other hand, input the target traveling speed required for the golf vehicle in unmanned driving (

Of driving torque of each in-wheel motor to achieve

) Is your vehicle's speed (

) Can be obtained by detecting and feedback control (PI Controller).

)와 주행토크(

)로부터 다음 식과 같이 된다.As a result, the driving torque distribution law of each in-wheel motor for tracking the steering and driving speed of the vehicle is determined by Direct Yaw Moment (

) And running torque (

) Becomes the following equation.

)를 만족하기 위하여 좌우륜의 목표 구동토크 은 차량 진행 방향의 토크 평형 방정식으로부터 다음식을 만족해야 한다.That is, driving torque (

The target drive torque of the left and right wheels must satisfy the following equation from the torque balance equation in the direction of vehicle travel.

In addition, in order to satisfy the direct yaw moment, the following equation must be satisfied from the yaw moment equilibrium equation of the vehicle.

은 상기 2개의 식을 동시에 만족하여야 하므로 상기 2개의 식을 연립하여 풀면, 목표 구동 토크는 다음식이 된다.Therefore, target drive torque of left and right wheels

Since the two equations must be satisfied at the same time, solving the two equations in a row, the target driving torque becomes the following equation.

이 된다.here, Is the target driving torque of each wheel according to the torque distribution law, which is the torque applied to the vehicle according to the motor drive (7,8) and in-wheel motor (9,10) of each wheel and the road surface friction coefficient of each tire.

.

In addition, in the case of the manned driving in the section without the guide line of the present invention (Figs. 2 and 4) is as follows.

)은 조향각 센서(4)에 의해 감지되고, 차량의 속도 (

)에 따라 미리 정해진 3차원 Look-up Table에 따라 Direct Yaw Moment (

)가 결정된다. 또한 운전자의 페달입력 (

)에 따라 미리 정해진 2차원 Look-up Table에 따라 주행 토크 (

)가 결정된다. 이들 요구 토크를 만족시키기 위한 각 인휠모터의 토크 분배 법칙은 상기 무인 운전에서의 토크 분배법칙과 동일하다.Driver's steering input value (

) Is detected by the steering angle sensor 4, and the vehicle speed (

Direct Yaw Moment (3D Look-up Table)

) Is determined. Also, the driver's pedal input (

Driving torque according to the two-dimensional look-up table

) Is determined. The torque distribution law of each in-wheel motor for satisfying these required torques is the same as the torque distribution law in the unattended operation.

1: road-filled induction wire 2: left induction electromotive force sensor
3: right induction electromotive force sensor 4: steering wheel steering angle sensor
5: steering wheel 6: vehicle controller
7: Left wheel inwheel motor driver 8: Right wheel inwheel motor driver
9: Left inwheel motor 10.: Right wheel inwheel motor

Claims (3)

In an electric vehicle having an in-wheel motor mounted on the left and right wheels of the front wheel or the rear wheel and controlling the driving and turning of the vehicle without mounting a steering device through the independent driving force control of the in-wheel motor,
Left and right induction electromotive force sensors (2, 3) located on one side of the front of the electric vehicle and detecting induction electromotive force according to the induction line embedded in the road surface;
A steering wheel 5 equipped with a steering angle sensor for driving the straight or the rotation of the electric vehicle according to the detection signal of the induction electromotive force sensors 2 and 3;
A vehicle controller 6 for controlling overall operation of the electric vehicle and determining whether the steering wheel 5 is driven according to the detection signals of the induction electromotive force sensors 2 and 3;
Left and right in-wheel motor drivers 7 and 8 connected to the vehicle controller to determine driving torque of the left and right in-wheel motors according to the drive torque signal of the vehicle controller.
Left and right in-wheel motors respectively connected to the left and right in-wheel motor drivers 7 and 8 and respectively configured to drive the left or the wheels according to the drive signal of the driver according to the drive torque signal of the vehicle controller 6. In-wheel motor-driven electric vehicle consisting of (9,10). The method of claim 1,
Torque for turning the vehicle in unwheeled operation on in-wheel motor-driven electric vehicles (

) Is determined by the output of feedback control to minimize this deviation according to the deviation of the induction electromotive force sensor of the induction line, and the driving torque (

) Is determined by output of feedback control to minimize target speed and current vehicle speed deviation, and torque of each in-wheel motor () to satisfy the determined output.

The distribution law is a steering control algorithm with or without an in-wheel motor-driven electric vehicle determined by the following equation.

The method of claim 1,
Torque for turning the vehicle in manned driving on in-wheel motor-driven electric vehicles (

Determination determines the steering angle sensor that detects the driver's steering input and the current speed of the vehicle.

) Is determined according to the driver's pedal input, and the torque () of each inwheel motor to satisfy the determined output.

The distribution law is a steering control algorithm with or without in-wheel motor-driven and in-wheel motor-driven electric vehicles determined by the following equation.

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