WO2019215250A1

WO2019215250A1 - Vehicle

Info

Publication number: WO2019215250A1
Application number: PCT/EP2019/061857
Authority: WO
Inventors: Michael Zirngibl
Original assignee: Anylink Electronic Gmbh
Priority date: 2018-05-09
Filing date: 2019-05-08
Publication date: 2019-11-14
Also published as: EP3791067A1; DE102018003753B3

Abstract

The invention relates to a vehicle having wheels (3) driveable by a vehicle drive (2). According to the invention, an auxiliary force device (5) which can be connected to the vehicle drive (2) is arranged on the vehicle (1) for applying, in particular as required and/or temporarily, an auxiliary force to the vehicle (1), in particular in unusual vehicle operating situations. The auxiliary force device (5) has a rotation axis (6) which extends transversely to the vehicle longitudinal axis and horizontally, is also fixedly connected to the vehicle (1) and about which a weight is rotatable as an imbalance (7) at a predefinable and variable speed (ω) by means of a controllable unbalance motor (8). For an auxiliary force in a certain force direction, an angle sector which is oriented in this force direction and in which the unbalance motor (8) is actuatable in order to increase the speed or alternatively to reduce the speed of the imbalance (7) is determined using a control unit (10).

Description

Description vehicle

The invention relates to a vehicle according to the preamble of claim 1 and a method according to the preamble of claim 9. A well-known, generic vehicle has a

Vehicle drive, in particular as an internal combustion engine and / or as an electric motor with a downstream transmission for driving vehicle wheels for a ferry on. Unwuchtzeuger, for example, a "HSDA force transducer" after

DE 10 2005 041 345 A1 for use in vehicles are already known, in which case an unbalance control is effected by a mechanical displacement of imbalance weights in the radial direction. For a normal, non-critical ferry operation of a vehicle, the usual vehicle drive is suitable and sufficient in a generally known manner. However, in vehicles also extraordinary, sometimes critical driving situations can occur, whereby the following situations are given as an example:

- The vehicle sunk in the soft ground and got stuck,

- vehicle with slipping drive wheels,

a vehicle hurling out of the direction of travel,

- Vehicle in an emergency braking situation, and

- Vehicles in a critical starting situation on the mountain The above driving situations may occur particularly in off-highway vehicles such as agricultural vehicles, hunting vehicles, tractors, etc., and / or construction site vehicle construction vehicles.

In order to get out of such exceptional driving situations again, elaborate measures are required regularly: for example, by a second, dragging or pushing vehicle an auxiliary power can be applied to a vehicle remained lying. Further, it is also known with a arranged on the vehicle, electrically driven cable drum a stuck remained

To make the off-road vehicle afloat. All these measures are external to the vehicle and usually time consuming to perform. The object of the invention is in contrast, by means of a device or a method directly on and in the vehicle as needed to provide auxiliary measures available.

This object is achieved with the features of the independent claims. Advantageous developments are the subject of the dependent claims.

According to claim 1 is arranged on the vehicle a switchable to the vehicle drive power-assist device, for, preferably on-demand and / or short-term application of an auxiliary power to the vehicle, especially in exceptional driving situations.

The auxiliary power device has a transverse to the vehicle longitudinal axis and horizontally extending, and fixed to the vehicle axis of rotation about which a weight is unbalanced with a controllable unbalance motor with a controlled specifiable and variable speed rotatable. Further, a control unit for controlling the unbalance motor is provided, which comprises a rotation angle sensor: With this rotation angle sensor on the one hand from the full circle of 360 °, the position of at least one angular sector with a sector of at most 110 °, preferably 90 °, determinable.

On the other hand, with the rotation angle sensor as a rotary position sensor for the imbalance, a trigger pulse when entering and passing through this predetermined sector range generated by the unbalance.

The control unit is set up so that is activated at a vehicle drive and activated auxiliary power device even without a request for a defined auxiliary force of the unbalance motor so that the imbalance with a constant base speed and thus over the full circle with in all rotational positions of the same centrifugal force is rotated. The centrifugal force generated by the imbalance acts in each case in the current angular direction of the unbalance, with the total effect on the vehicle virtually canceled out on each full round.

An assistant, in particular for controlling an exceptional driving situation, can be subjectively requested by a driver and / or possibly automatically by a driver assistance system, wherein not only the size of the assistant but also essentially dictate their direction of force. Accordingly, an angle sector is determined with the control unit, which is aligned in the requested direction of force or alternatively against this direction of force. When the imbalance enters and passes through such an angle sector, the imbalance motor is controlled by means of a generated trigger pulse such that starting from the basic speed, an accelerated speed increase, or an increase in the angular velocity takes place, whereby the centrifugal force is increased in this angle sector and takes place via the axis fixed to the vehicle axis of the imbalance force on the vehicle. Alternatively, in a counter to the desired direction of force angle sector driving the unbalance motor carried out so that a braked speed reduction is achieved, whereby the centrifugal force is reduced in this direction, thereby acting on the vehicle, a force in the desired direction of force.

In a particularly preferred embodiment, in the control unit from the outset, the full circle of 360 ° is divided into four adjoining angle sectors of 90 °, wherein the angular position of 0 ° is assigned in the usual way to the upwardly directed vertical axis. The Winkelsektoreinteilung is such that an angle sector I is specified by 45 ° to 135 ° for an auxiliary power in the direction of travel. For example, such a directed assistant may be used successfully with rotating wheels under certain circumstances. An angle sector II is in the angular range of 135 ° to 225 ° for a downward auxiliary force, which leads to a vehicle weight increase in use and can be used, for example, to increase traction. Another angle sector III is in the angular range of 225 ° to 315 ° for an auxiliary power counter to the direction of travel and an angle sector IV is in the angular range of 315 ° to 45 ° for an upward auxiliary force corresponding to a vehicle weight reduction and reduction of traction / rolling resistance. The force effects and directions are each described here for an accelerated speed increase. A appropriate effect can optionally be achieved by a speed deceleration and speed reduction in the respective opposite angular sectors.

During operation of the auxiliary power device with a constant basic speed, unbalanced, circulating forces occur on the vehicle, which may lead to undesirable forced movements. A reduction of these forces can optionally be achieved with a 180 ° offset, co-rotating same counter imbalance, then at a power request, the speed of one of the two imbalances compared to the base speed is increased or reduced to the effect of increasing or decreasing centrifugal force in to achieve a predetermined angle sector.

The control unit can be set up so that when a power request, the base speed is accelerated increases in an angle sector and then the increased speed in the opposite angle sector is again reduced to the same extent to the base speed. Thus, on the one hand in an angle sector, an auxiliary force is generated in a desired direction by increasing the centrifugal force and opposite by reducing the centrifugal force and the increased speed is reduced again to the base speed, thereby possibly a stuck vehicle is again movable from this situation. Alternatively, an increased by an auxiliary power demand speed can also be gradually slowed down to the basic speed again.

In order to exert an auxiliary power effect (reduction of traction) or downward (increasing traction) as possible on driven wheels, it is proposed to arrange the axis of rotation with the rotatable imbalance in the area above a vehicle axle with driven wheels. As an unbalance motor, a speed-controllable electric motor is used quickly and with a high accelerator.

The switchable auxiliary power device according to the invention can generally be used in all possible vehicles, but can be used particularly advantageously in vehicles that are intended for rough ferry operation, since just here can regularly occur on exceptional, possibly critical driving situations that by means of a vehicle-related addition Auxiliary power from the auxiliary power device can be controlled.

Furthermore, the object is achieved by the method. The resulting and thus resulting advantages and training opportunities are identical to those of the device and are not repeated.

Reference to a drawing, the invention will be further explained.

FIG. 1 shows a vehicle with an auxiliary power device in a highly schematic representation;

Figure 2 is a schematic representation of a circulating at the same speed unbalance;

Figures 3 to 6 representations corresponding to Figure 2, at Winkelsektor- associated speed increases / speed reductions; and Fig. 7 is a flowchart for an assist power generation. 1 shows a vehicle 1 with a vehicle drive 2 as an internal combustion engine and wheels 3, of which the wheels 3 of the rear wheel axle can be driven. Arrow 4 indicates the forward direction of travel.

The auxiliary power device has a transversely to the vehicle longitudinal axis and horizontally extending, as well as permanently connected to the vehicle 1 axis of rotation 6 to the one weight as imbalance on the vehicle 1 a switchable auxiliary power device 5 is arranged 7 is rotatable by a speed-controllable unbalance motor 8. The rotation is done here by way of example as well as in the further explanations to the figures 2 to 5 with a clockwise rotation (rotary arrow 9), however, can be carried out in accordance with the same effects by a left-hand rotation.

The control of the unbalance motor 8 takes place here by means of a control unit 10 in conjunction with a (not explicitly shown) rotation angle sensor, which can be arranged in the region of the axis of rotation 6.

The imbalance 7 is shown here in the form of a wedge-shaped enlarging plate in the radial direction. For the further explanations with reference to FIGS. 2 to 6 for the effect and function, the weight or the mass of the imbalance 7 in its center of gravity 11 is assumed to be concentrated.

In the schematic representation according to FIG. 2, the imbalance 7 (or its mass m in the center of gravity 11) rotates at a distance as radius r about the center of the axis of rotation 6. The rotation here takes place uniformly with a basic rotational speed corresponding to a same angular velocity w. This results in all angular positions of the rotating imbalance 7 in the same angular velocity w corresponding to the constant basic speed in each case a centrifugal force F _z = mco ² r.

In Figure 2, this same centrifugal force F _{z is} exemplified in the positions 90 °, 180 °, 270 ° and 360 °.

The full 360 ° circle is split into four angular sectors for control engagement with the control unit 10 and evaluation of the rotation angle sensor signals, namely, the angle sector I from 45 ° to 135 °, and the angle sector II from 135 ° to 225 ° the angle sector III of 225 ° to 315 ° and in the angle sector IV of 315 ° to 45 °, so that the angle sector I in the direction of travel, the angle sector II down, the angle sector III against the direction of travel and the angle sector IV are directed upward. In Figure 3, the case is shown that an auxiliary power is to be generated by means of the imbalance 7, which is directed to the right here in the direction of travel, in the angle sector I, starting from the base speed, the speed, or the angular velocity is to be increased accelerated , When the imbalance 7 occurs at the beginning of the angular sector I at 45 °, the centrifugal force F _z still occurs according to FIG. From there, the speed or the angular velocity w is to be accelerated increased (shown with + w), which already at the point 90 °, the centrifugal force F _{z was} increased by the amount + AF _Z. At a further acceleration then at the end of the angular sector I at 135 °, the centrifugal force F _z still further increased by the amount + AF _Z shown there. The directed substantially in the direction of travel increased centrifugal force acts on the fixed axis of rotation 6 as auxiliary auxiliary power to the vehicle. 1

The illustrated increase in the centrifugal force F _z is exclusively by the controlled accelerated increase in the angular velocity w, since the Radius r and the mass m remain the same. The magnitude of the force effect can thus be specified by the controlled size of the angular velocity increase. In Figure 3 is further based on the angle sector I opposite angle sector III auxiliary power generation (also in the direction of travel) at a controlled reduction of the angular velocity w (shown by -w) located: Without the illustrated angular velocity increase in the angle sector I occurs at 225 ° at the beginning of the angle sector III the centrifugal force F _z according to Figure 2 on. In a controlled reduction of the angular velocity, for example, at the position 270 °, the angular velocity decreases by the indicated amount -AF _Z , resulting in an overall force effect to the right. If necessary, with an increase in the angular velocity w in the angle sector I, this increase could again be reduced in the angle sector III, in particular if the additional force effect is no longer required.

FIG. 4 schematically shows, according to FIG. 3, an auxiliary force generation upwards, wherein the explanations concerning the angle sector I according to FIG. 3 in FIG. 4 apply to the angle sector IV.

In Figure 5, a corresponding auxiliary power generation is shown opposite to the direction of travel schematically, in which case the angle sector III corresponds to the angle sector I of Figure 3.

In Figure 6, an auxiliary power generation is shown schematically down, in which case the angle sector II in effect corresponds to the angle sector I of Figure 3. FIG. 7 shows a flowchart for the control for an auxiliary power generation:

According to rectangle 12, the auxiliary power device is active and the imbalance 7 rotates at a constant basic speed w.

In the decision diamond 13 it is determined whether an auxiliary force request is present and, if appropriate, in which of the four force directions predetermined by the angle sectors I to IV. If this is determined, it is detected in the decision diamond 14 with the rotation angle sensor, when the unbalance at the beginning of rotation occurs in the angular sector associated with the required direction of force.

For this case, according to rectangle 15 of the unbalance motor is driven to speed acceleration in this angle sector.

In the decision diamond 16 is then determined whether, if necessary, the auxiliary power request is completed and according to rectangle 17 is then returned by braking the speed back to the basic speed.

Claims

claims

1st vehicle,

with wheels (3) drivable by a vehicle drive (2),

characterized,

in that an auxiliary power device (5) which can be engaged with the vehicle drive (2) is arranged on the vehicle (1) for application of an auxiliary power to the vehicle (1) in particular on demand and / or for a short time, in particular in exceptional driving operating situations,

in that the auxiliary power device (5) has a transverse to the vehicle longitudinal axis and horizontally extending and fixed to the vehicle (1)

Having an axis of rotation (6),

in that the auxiliary power device (5) has an imbalance weight (7) which can be rotated by a controllable unbalance motor (8) about the axis of rotation (6) at a controllably predefinable and variable speed (w),

in that a control unit (10) is provided for controlling the unbalance motor (8), with a rotation angle sensor with which at least one angular sector with a sector range of a maximum of 110 °, preferably 90 °, can be determined from the full 360 ° rotation circle and by means of on the other hand as a rotary encoder for the imbalance

(7) a trigger pulse on entering and passing through this predetermined sector range by the imbalance (7) is generated, that the control unit (10) is further arranged so that without an auxiliary power request of the unbalance motor (8) is controlled so that the imbalance (7) with a constant basic speed (w) and thus over the full rotation circle is rotated in all rotational positions of the same centrifugal force (F _z ), and

in the case of an assistant request by a driver and / or by a driver assistance system for an auxiliary force in a certain direction of force with the control unit (10), an angle sector is determined which is oriented in this direction of force or alternatively against this direction of force and by an angle sector upon occurrence of the imbalance (7) associated trigger pulse of

Unbalance motor (8) for accelerated speed increase of the imbalance (7) or alternatively to the braked speed reduction of the unbalance (7) is driven in the associated angle sector.

2. Vehicle according to claim 1, characterized in that in the

Control unit (10) the full circle of 360 ° is divided into four contiguous angular sectors of 90 °, namely in an angle sector I from 45 ° to 135 ° for an auxiliary power in the direction of travel (arrow 4), in an angle sector II of 135 ° to 225 ° for a downwardly directed auxiliary force correspond to a vehicle weight increase and an increase in traction, in an angular sector III of 225 ° to 315 ° for an auxiliary power opposite to

Direction of travel and in an angular sector IV of 315 ° to 45 ° for an upward auxiliary force corresponding to a vehicle weight reduction and reduction of traction / rolling resistance.

3. Vehicle according to claim 1 or claim 2, characterized in that during operation of the auxiliary power device (5) at constant base speed (w) to reduce unbalanced forces on the vehicle (1) offset by 180 °, coupled Gegenunwucht is co-rotated , and at a power request, the speed of a Imbalance (7) relative to the basic speed (w) is increased or reduced.

4. Vehicle according to claim 2 or claim 3, characterized in that at a power request, the base speed (w) in one

Angular sector accelerated increases and the increased speed in the opposite angle sector is again reduced to the same extent to the base speed.

5. Vehicle according to one of claims 1 to 4, characterized in that the axis of rotation (6) with the rotatable imbalance (7) in the region above a vehicle axle with driven wheels (3) is arranged.

6. Vehicle according to one of claims 1 to 5, characterized in that the unbalance motor (8) is a speed-controllable electric motor.

7. Vehicle according to one of claims 1 to 6, characterized in that the vehicle (1) is a vehicle for an off-road driving or a construction vehicle for a construction site driving operation.

8. Vehicle according to one of claims 1 to 7, characterized in that exceptional Fahrbetriebssituationen for a need for auxiliary power requirement, in particular a sunken and stuck in the ground vehicle (1) and / or a vehicle (1) with slipping drive wheels (3) and / or a vehicle (1) skidding out of the direction of travel and / or a vehicle (1) in an emergency braking situation and / or a vehicle (1) in a critical starting situation on the mountain.

9. A method for operating a vehicle, in particular a vehicle according to one of the preceding claims, which by a vehicle drive (2) drivable wheels (3),

characterized,

on the vehicle (1) a switchable to the vehicle drive (2)

Auxiliary power device (5) is arranged for, in particular on-demand and / or short-term, application of an auxiliary power to the vehicle (1), in particular in exceptional driving situations,

the auxiliary power device (5) has an axis of rotation (6) which is transverse to the vehicle longitudinal axis and extends horizontally and firmly connected to the vehicle (1),

in that a control unit (10) is provided for controlling the unbalance motor (8), with a rotation angle sensor with which at least one angular sector with a sector range of a maximum of 110 °, preferably 90 °, can be determined from the full 360 ° rotation circle and by means of on the other hand, as a rotary position sensor for the imbalance (7) a trigger pulse when entering and passing through this predetermined sector range by the imbalance (7) can be generated, that the control unit (10) is further configured so that without an auxiliary power request of the unbalance motor (8) is controlled so that the

Unbalance (7) with a constant base speed (w) and thus over the full circle of rotation in all rotational positions of the same centrifugal force (F _z ) is rotated, and

that in an assistant request by a driver and / or by a driver assistance system for a helper in a certain Force direction with the control unit (10) an angle sector is determined, which is aligned in this direction of force or alternatively counter to this direction of force and that by an angle sector when the imbalance (7) associated trigger pulse of the unbalance motor (8) for accelerated speed increase of the imbalance (7 ) or alternatively to the braked speed reduction of the imbalance (7) is controlled in the associated angle selector.