WO2020103451A1 - Dispositif d'entraînement électrique à double moteur et procédé associé de commande de distribution de couple - Google Patents

Dispositif d'entraînement électrique à double moteur et procédé associé de commande de distribution de couple

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Publication number
WO2020103451A1
WO2020103451A1 PCT/CN2019/093151 CN2019093151W WO2020103451A1 WO 2020103451 A1 WO2020103451 A1 WO 2020103451A1 CN 2019093151 W CN2019093151 W CN 2019093151W WO 2020103451 A1 WO2020103451 A1 WO 2020103451A1
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WO
WIPO (PCT)
Prior art keywords
motor
speed
torque
auxiliary
clutch
Prior art date
Application number
PCT/CN2019/093151
Other languages
English (en)
Chinese (zh)
Inventor
李占江
高超
蒋元广
李麟
郝晓阳
Original Assignee
南京越博电驱动系统有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京越博电驱动系统有限公司 filed Critical 南京越博电驱动系统有限公司
Publication of WO2020103451A1 publication Critical patent/WO2020103451A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to the technical field of electric vehicles, in particular to a dual-motor power drive device and a torque distribution control method thereof.
  • the present invention adopts a dual-motor single-shaft drive system.
  • the main motor can be independently driven
  • the auxiliary motor can be independently driven
  • the dual-motor speed coupled drive and the dual-motor torque coupled drive can be selected to achieve vehicle efficiency Quick start and accelerated performance.
  • the Chinese invention patent application with application number 201711024843.5 discloses a dual-motor single planetary gear train electric drive device, including a first drive motor (16), a planetary gear train (100), a second drive motor (13) and Wet clutch (104), planetary gear train (100) includes sun gear (101), ring gear (102), planet carrier (103) and planetary gear train shell, first drive motor (16) and sun gear (101) Connected, the ring gear (102) is fixedly connected to the planetary gear housing, the second drive motor (13) is connected to the planet carrier (103), and one end of the wet clutch (104) is connected to the sun gear (101) The other end is connected to the planet carrier (103).
  • the Chinese utility model patent with application number 201720457851.8 discloses a dual-motor drive device, including a support plate, a reinforcement plate, a motor fixing plate, a drive spindle, a lift support plate, a sun gear, a planet gear, a bearing seat, and a fixture
  • the fixing plate, the bearing, the working shaft, and the intermediate sleeve are arranged on the motor fixing plate, a spindle bearing is arranged between the intermediate sleeve and the driving spindle, and a bearing flange is arranged on the spindle bearing, between the intermediate sleeve and the sun gear
  • a rotating bearing is also provided; one of the planet wheels is provided with an additional motor drive gear.
  • the present invention provides a new dual-motor power drive device and its torque distribution control method, which can adjust the working point of the motor according to the vehicle's demand power and perform reasonable energy management, and at the same time can achieve a single under different braking forces Motor braking energy recovery and dual motor braking energy recovery improve the vehicle's economy.
  • the minimum power evaluation index is proposed as the evaluation standard for vehicle mode switching, and the working mode is adjusted according to the vehicle demand power to make the two motors work at the optimal working point, taking into account the power and economy of the vehicle.
  • the technical solution of the present invention is: a dual-motor power drive device, the drive device includes a double planetary row, a main motor, an auxiliary motor, a main input shaft, an auxiliary input shaft, an output shaft and a number of clutches, wherein the main motor The main input shaft is connected to the double planetary row, and the auxiliary motor is connected to the double planetary row through the auxiliary input shaft.
  • the double planetary row adopts a Simpson structure
  • the seventh clutch is connected to the planetary carrier of the double planetary row
  • the eighth clutch is connected to the double planetary row
  • the first locker and the second locker are arranged on the ring gear of the double planetary row
  • the first clutch, the second clutch, and the third clutch are arranged on the left side of the output shaft in sequence through a spline Connected to the output shaft
  • the first clutch, the second clutch, and the third clutch are respectively connected to the main input shaft through gear engagement
  • the fourth clutch, the fifth clutch, and the sixth clutch are sequentially arranged on the left side of the output shaft and are splined with
  • the output shaft is connected
  • the fourth clutch, the fifth clutch, and the sixth clutch are respectively meshed with the auxiliary input shaft through gears.
  • a torque distribution control method based on the driving device of the present invention specifically includes the following steps:
  • Step 1 when the demand for power when the main motor work separately for P mod1, demand for power when the auxiliary motor operation separately for P mod2, power requirements when using the torque coupling output of the main motor and the auxiliary motor is a P mod3, the main motor and the auxiliary motor When the speed coupling is used, the required power is P mod4 .
  • the mode with the minimum required power is selected as the driving mode of the main motor and the auxiliary motor.
  • Working demand power P Out is calculated as formula (1):
  • Step 2 The required power P req of the main motor or auxiliary motor is obtained from the required torque T, the required angular speed ⁇ and the transmission efficiency ⁇ .
  • the motor torque and speed are obtained from the vehicle speed and the required torque
  • the torque and speed of the motor and auxiliary motor are used to obtain the required power when the main motor and auxiliary motor are driven separately.
  • the required power is as follows according to formula (2):
  • Step 3 When the main motor or auxiliary motor is driven by torque coupling, the lock is locked.
  • the planetary row is used as the power coupling device.
  • the input power of the motor is transmitted to the sun gear through the gear and ring gear and then output by the planet carrier.
  • the relationship is decoupling, and the torque is the coupling relationship.
  • the relationship between motor speed and motor torque is shown in formula (3) and formula (4):
  • n MG1 and n MG2 are the speeds of the main and auxiliary motors respectively, T MG1 and T MG2 are the torques of the main and auxiliary motors respectively, and n s is the speed of the planetary gear sun gear , N c is the rotation speed of the planetary carrier, n r is the rotation speed of the planetary ring gear, T r , T c are the torque of the planetary ring gear and the planetary carrier, k is the characteristic constant of the planetary carrier, according to the planetary carrier Structural parameters are determined.
  • Step 4 When the main motor or the auxiliary motor is driven by the speed coupling, the lock is separated, the planetary row is used as the power coupling device, and the input power of the motor is output by the planetary gear wheel after coupling the sun gear and the ring gear. At this time, the speed relationship is the coupling relationship.
  • Torque is a decoupling relationship, and the relationship between motor speed and torque satisfies formula (5) and formula (6):
  • i g is the speed ratio of the planetary row sun gear and the ring gear, and the meanings of other symbols are the same as those in formula (3) and formula (4).
  • Step 5 When the main motor and the auxiliary motor are used in the working mode at the same time, the main motor and the auxiliary motor are both working at the optimal working point while meeting the vehicle's power requirements, and the torque is calculated according to the different combinations of power coupling devices.
  • the torque coupling mode is used, the motor speed relationship is decoupled. The required speed is obtained according to the vehicle speed, and whether the maximum speed of the auxiliary motor is exceeded is determined according to the obtained speed. When the speed is greater than the maximum speed of the auxiliary motor, it is further determined whether the speed exceeds The maximum speed of the main motor. When the speed is greater than the maximum speed of the main motor, the torque coupling mode cannot meet the vehicle power requirements.
  • the corresponding clutch is controlled to adjust the main motor in the load characteristic field of the motor.
  • the output torque of the motor and the auxiliary motor traverses the working position of each motor that meets the relationship in the calculated characteristic field to ensure that the total required power is minimum.
  • the output torque of the two motors is shown in formula (7):
  • Treqt is the vehicle demand torque
  • T 1 is the main motor torque
  • T 2 is the auxiliary motor torque.
  • the beneficial effects of the dual-motor power drive device and the torque distribution control method of the present invention are: in order to speed up the corresponding process in the vehicle control process, the corresponding power and motor speed in each mode are calculated according to the characteristics of the main motor and the auxiliary motor , Torque, and store the data in the storage unit in the form of a table. In the actual operation of the vehicle, the corresponding working mode can be quickly identified by looking up the table to improve the response speed of the vehicle.
  • FIG. 1 is a schematic structural view of the power drive system of the present invention.
  • the marks in the figure show: 1- main motor, 2- auxiliary motor, 3- main input shaft, 4- auxiliary input shaft, 5- output shaft, 6-double planetary row, 7- first clutch, 8- second clutch , 9-third clutch, 10-fourth clutch, 11-fifth clutch, 12-sixth clutch, 13-seventh clutch, 14-eighth clutch, 15-first lock, 16-second lock Stopper, 17-double planet row.
  • the power drive device of the present invention includes a double planetary row 17, a main motor 1, an auxiliary motor 2, a main input shaft 3, an auxiliary input shaft 4, an output shaft 5, and several clutches, wherein the main motor 1 It is connected to the double planetary row 17 through the main input shaft 3, the auxiliary motor 2 is connected to the double planetary row 17 through the auxiliary input shaft 4, the double planetary row 17 adopts a Simpson structure, and the seventh clutch 13 is connected to the planetary carrier of the double planetary row 17 , The eighth clutch 14 is connected to the sun gear of the double planetary row 17, the first lock 15 and the second locker 16 are provided on the ring gear of the double planetary row 17, the first clutch 7, the second clutch 8, The third clutch 9 is sequentially arranged on the left side of the output shaft 5 and is connected to the output shaft through a spline.
  • the first clutch 7, the second clutch 8 and the third clutch 9 are respectively connected to the main input shaft 3 through gear engagement, and the fourth clutch 10.
  • the fifth clutch 11 and the sixth clutch 12 are sequentially arranged on the left side of the output shaft 5 and connected to the output shaft 5 by splines.
  • the fourth clutch 10, the fifth clutch 11, and the sixth clutch 12 are respectively connected to the auxiliary input shaft 4 Connected by gear mesh.
  • a torque distribution control method based on the driving device of the present invention specifically includes the following steps:
  • Step 1 when the demand for power when the main motor work separately for P mod1, demand for power when the auxiliary motor operation separately for P mod2, power requirements when using the torque coupling output of the main motor and the auxiliary motor is a P mod3, the main motor and the auxiliary motor When the speed coupling is used, the required power is P mod4 .
  • the mode with the minimum required power is selected as the driving mode of the main motor and the auxiliary motor.
  • Working demand power P Out is calculated as formula (1):
  • Step 2 The required power P req of the main motor or auxiliary motor is obtained from the required torque T, the required angular speed ⁇ and the transmission efficiency ⁇ .
  • the motor torque and speed are obtained from the vehicle speed and the required torque
  • the torque and speed of the motor and auxiliary motor are used to obtain the required power when the main motor and auxiliary motor are driven separately.
  • the required power is as follows according to formula (2):
  • Step 3 When the main motor or auxiliary motor is driven by torque coupling, the lock is locked.
  • the planetary row is used as the power coupling device.
  • the input power of the motor is transmitted to the sun gear through the gear and ring gear and then output by the planet carrier.
  • the relationship is decoupling, and the torque is the coupling relationship.
  • the relationship between motor speed and motor torque is shown in formula (3) and formula (4):
  • n MG1 and n MG2 are the speeds of the main and auxiliary motors respectively, T MG1 and T MG2 are the torques of the main and auxiliary motors respectively, and n s is the speed of the planetary gear sun gear , N c is the rotation speed of the planetary carrier, n r is the rotation speed of the planetary ring gear, T r , T c are the torque of the planetary ring gear and the planetary carrier, k is the characteristic constant of the planetary carrier, according to the planetary carrier Structural parameters are determined.
  • Step 4 When the main motor or the auxiliary motor is driven by the speed coupling, the lock is separated, the planetary row is used as the power coupling device, and the input power of the motor is output by the planetary gear wheel after coupling the sun gear and the ring gear. At this time, the speed relationship is the coupling relationship.
  • Torque is a decoupling relationship, and the relationship between motor speed and torque satisfies formula (5) and formula (6):
  • i g is the speed ratio of the planetary row sun gear and the ring gear, and the meanings of other symbols are the same as those in formula (3) and formula (4).
  • Step 5 When the main motor and the auxiliary motor are used in the simultaneous working mode, the main motor and the auxiliary motor are operated at the optimal working point while meeting the vehicle's power requirements, and the torque is calculated according to the different combinations of power coupling devices ,
  • the torque coupling mode is adopted, the motor speed relationship is decoupled. The required speed is obtained according to the vehicle speed, and whether the maximum speed of the auxiliary motor is exceeded is determined according to the obtained speed.
  • the speed is further judged Exceed the maximum speed of the main motor.
  • the torque coupling mode cannot meet the vehicle power requirements.
  • the corresponding clutch is controlled to adjust in the motor load characteristic field
  • the output torque of the main motor and auxiliary motor traverses the working position of each motor that meets the relationship in the calculated characteristic field to ensure that the total required power is minimum.
  • the output torque of the two motors is shown in formula (7):
  • Treqt is the vehicle demand torque
  • T 1 is the main motor torque
  • T 2 is the auxiliary motor torque.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Structure Of Transmissions (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

La présente invention concerne un dispositif d'entraînement électrique à double moteur et un procédé associé de commande de distribution de couple. Le dispositif d'entraînement électrique comprend une rangée à deux planètes (17), un moteur principal (1), un moteur auxiliaire (2), un arbre d'entrée principal (3), un arbre d'entrée auxiliaire (4), un arbre de sortie (5) et plusieurs embrayages. Le moteur principal (1) est raccordé à la rangée à deux planètes (17) au moyen de l'arbre d'entrée principal (3), et le moteur auxiliaire (2) est raccordé à la rangée à deux planètes (17) au moyen de l'arbre d'entrée auxiliaire (4). La rangée à deux planètes (17) utilise une structure de type Simpson. Le présent procédé de commande de distribution de couple basé sur un dispositif d'entraînement électrique règle le point de fonctionnement du moteur et effectue de manière rationnelle une gestion d'énergie en fonction de la puissance requise d'un véhicule. Dans le même temps, le présent procédé peut réaliser une récupération d'énergie de freinage à moteur unique et une récupération d'énergie de freinage à double moteur sous différentes forces de freinage.
PCT/CN2019/093151 2018-11-21 2019-06-27 Dispositif d'entraînement électrique à double moteur et procédé associé de commande de distribution de couple WO2020103451A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811389957.4A CN109484163B (zh) 2018-11-21 2018-11-21 一种双电机的动力驱动装置及其扭矩分配控制方法
CN201811389957.4 2018-11-21

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WO2020103451A1 true WO2020103451A1 (fr) 2020-05-28

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Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109484163B (zh) * 2018-11-21 2021-04-16 南京越博电驱动系统有限公司 一种双电机的动力驱动装置及其扭矩分配控制方法
CN110834549A (zh) * 2019-10-30 2020-02-25 江苏大学 一种电动汽车双电机驱动系统及其功率耦合综合控制方法
CN112406497B (zh) * 2020-11-19 2022-04-29 北京汽车股份有限公司 双电机的扭矩矢量控制系统、方法、动力总成及车辆
CN113022227B (zh) * 2021-04-27 2022-06-07 吉林大学 一种多模式双电机耦合电动驱动桥
CN114506198B (zh) * 2022-02-28 2023-12-01 蔚来动力科技(合肥)有限公司 用于车辆的电驱动系统及其控制方法及车辆
WO2024139571A1 (fr) * 2022-12-26 2024-07-04 无锡星驱动力科技有限公司 Véhicule et ensemble d'entraînement électrique à double moteur associé

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JP2008232199A (ja) * 2007-03-19 2008-10-02 Kyowa Metal Work Co Ltd 自動車用駆動装置
CN203926644U (zh) * 2014-04-30 2014-11-05 北京航空航天大学 一种电驱动的行星齿轮变速器
CN104401215A (zh) * 2014-12-13 2015-03-11 北京理工大学 一种双电机双行星排动力耦合驱动结构
CN206336116U (zh) * 2016-10-10 2017-07-18 蔚来汽车有限公司 电动汽车动力耦合系统及具有其的电动汽车
CN206416834U (zh) * 2017-01-10 2017-08-18 上海汽车变速器有限公司 双电机混合动力汽车驱动系统
CN109484163A (zh) * 2018-11-21 2019-03-19 南京越博电驱动系统有限公司 一种双电机的动力驱动装置及其扭矩分配控制方法

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