CN100526116C - Four-wheel driving system and method for electric vehicle - Google Patents
Four-wheel driving system and method for electric vehicle Download PDFInfo
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- CN100526116C CN100526116C CNB2005100223655A CN200510022365A CN100526116C CN 100526116 C CN100526116 C CN 100526116C CN B2005100223655 A CNB2005100223655 A CN B2005100223655A CN 200510022365 A CN200510022365 A CN 200510022365A CN 100526116 C CN100526116 C CN 100526116C
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Abstract
A 4-wheel drive system for electric car is composed of 4 wheel hub motors respectively fixed to 4 wheels and their drivers, a sensor network, and a measuring, controlling and managing system with an input connected to the output of sensor network and an output connected to the input of said driver for wheel hub motor.
Description
[technical field]
The present invention relates to the electronlmobil field, especially about a kind of four-wheel drive system and method for electronlmobil.
[background technology]
The tradition fuel-engined vehicle is a power with gasoline or diesel oil mainly, inherently has a lot of problems: as the pollution of vehicle exhaust to environment; In places such as the intensive parking area of vehicle, small spaces, its parking steering has become the quite thing of difficulty; Simultaneously, traditional fuel-engined vehicle power drive comprises: power-transfer clutch, change-speed box, transmission shaft, diff, semiaxis make its structure complex structure, volume is big, the available space that takies vehicle is also big, because these sets of transmission mechanism knot parts are many, the noise that friction, vibration produce is relatively large.The horsepower of general fuel-engined vehicle is bigger, and full car weight amount will move to rear axle during acceleration, moves after can causing center of gravity, and front axle is light.
[summary of the invention]
The object of the present invention is to provide a kind of four-wheel drive system and method for the electronlmobil of being convenient to control.
The object of the present invention is achieved like this: the four-wheel drive system of this electronlmobil comprises wheel hub motor, wheel hub motor actuator, sensor network and management system of measurement and control, this wheel hub motor is installed on the wheel, and this wheel hub motor, wheel hub motor actuator and wheel are corresponding one by one, the input end of the output termination management system of measurement and control of this sensor network, the input end of the mouth cock wheel hub motor driver of management system of measurement and control, wheel hub motor output end of driver cock wheel hub motor.
The four-wheel drive system of described electronlmobil also comprises stepping motor, stepper motor driver, steering swivel system and steering wheel torque, rotary angle transmitter, this stepping motor, stepper motor driver and wheel are corresponding one by one, the mouth of this steering wheel torque, rotary angle transmitter is connected with the input end of steering swivel system, the mouth of steering swivel system is connected with the input end of stepper motor driver, the mouth of stepper motor driver is connected with stepping motor, the step motor drive wheel, and this steering swivel system is connected with management system of measurement and control is two-way.
A kind of four wheel drive method of electronlmobil comprises the cruising pattern, and this normal mode comprises the steps:
A) gather the parameter and output to management system of measurement and control of travelling of electronlmobil by the sensor network sense;
B) management system of measurement and control also outputs to each wheel hub motor actuator with this parameter according to the parameter of travelling that this parameter of travelling redefines each wheel;
C) the wheel hub motor actuator is according to receiving the voltage that parameter is determined its corresponding wheel hub motor, to adjust the rotating speed of wheel.
Described four wheel drive method also comprises and turns to step:
D) corner and the moment of torsion of direction of passage dish moment of torsion, corner inductor induction bearing circle;
E) steering angle with this corner and setting compares, and as setting corner greater than this, then the wheel hub motor actuator makes the rotating speed of the rotating speed of outboard wheels greater than inboard wheel according to the rotating speed of corner and moment of torsion adjustment medial and lateral wheel.
Described step c) comprises the steps:
C1) determine the target current of wheel hub motor according to the parameter of travelling that receives;
C2) determine its actual current according to the current three phase current of wheel hub motor;
C3) of the input of the difference of target current and actual current as electric current loop, regulate the output three phasevoltage through PI, calculate the dutycycle of three phasevoltage after output PWM ripple to wheel hub motor, to control the rotating speed of wheel.
In the described step e), less than setting corner, then steering swivel system is inoperative as the corner of automobile, and management system of measurement and control makes the rotating speed of each wheel hub motor identical by the wheel hub motor actuator.
Compared with prior art, the present invention has following advantage: management system of measurement and control is by analyzing the driving information of electronlmobil of input, can determine the needed voltage of each wheel hub motor, thereby realized independent control to each vehicle wheel rotational speed, not only improved the speed of handling, and be convenient to the driver more and carry out cruising and turn to the operation of travelling.
[description of drawings]
Fig. 1 is a circuit block diagram of the present invention.
Fig. 2 is the position view of the present invention's wheel when spinning left in the original place.
Fig. 3 is the position view of the present invention's wheel when spinning to the right in the original place.
Fig. 4 is the hardware structure diagram of wheel hub motor actuator of the present invention.
Fig. 5 is the software architecture diagram of wheel hub motor actuator of the present invention.
Fig. 6 is the spin diagram of circuit of mode switch part of cruising of the present invention and original place.
[specific embodiment]
See also Fig. 1 to Fig. 6, the four-wheel drive system of a kind of electronlmobil of the present invention comprises wheel hub motor 12, wheel hub motor actuator 13, sensor network 14 and management system of measurement and control 20, this wheel hub motor 12 is installed on the wheel 15, and this wheel hub motor 12, wheel hub motor actuator 13 and wheel 15 are corresponding one by one, the input end of the output termination management system of measurement and control 20 of this sensor network 14, the input end of the mouth cock wheel hub motor driver 13 of management system of measurement and control 20, the mouth cock wheel hub motor 12 of wheel hub motor actuator 13.But this four-wheel drive system is stepping motor 32, stepper motor driver 31, steering swivel system 30 and steering wheel torque, rotary angle transmitter also, this stepping motor 32, stepper motor driver 31 and wheel 15 are corresponding one by one, the mouth of this steering wheel torque, rotary angle transmitter is connected with the input end of steering swivel system, the mouth of steering swivel system is connected with the input end of stepper motor driver, the mouth of stepper motor driver is connected with stepping motor, the step motor drive wheel, and this steering swivel system is connected with management system of measurement and control is two-way.In the present embodiment, wheel hub motor actuator 13, wheel hub motor 12 and wheel 15 constitute drive system 10; Sensor network 14 comprises current Hall sensor, voltage hall sensor, motor rotor position sensor, throttle depth transducer, brake depth transducer and gear position sensor.
Four-wheel driving electric vehicle of the present invention can be operated in cruising pattern and the original place pattern dual mode that spins.When selecting cruising, bearing circle control front-wheel comes change of direction.It is the current loop control of core that the control of wheel hub motor 12 is adopted with DSP.The method of the wheel hub motor actuator 13 control wheel hub motors 12 that the present invention relates to may further comprise the steps: the depth signal that detects gear signal, guard signal and brake, throttle when the PWM ripple control of carrying out wheel hub motor 12, export Id, Iq given value, i.e. target current according to these data and respective algorithms; Three phase current Ia when front motor
*, Ib
*, Ic
*Go out motor actual current value Id through park conversion and clark transformation calculations
*, Iq
*,, regulate output three phasevoltage value Va, Vb, Vc through PI of the input of the difference of target current and actual current as electric current loop; Detect motor rotor position simultaneously and measure rotor angle θ, be used for the Park conversion; Be converted into dutycycle output at last, controlled PWM wave-wave shape; Reach the Control of Automobile speed of a motor vehicle thereby adjust the wheel hub motor rotating speed, can reach electrodeless variable-speed, do not have the speed change gear by step on the accelerator.Adopt electric current loop to the three-phase sine-wave current control, thereby, rationally adjust some parameters, can obtain better controller performance, have advantages such as stationarity is good, speed adjusting performance is excellent, dynamic response is fast by the control current control torque.
Integrator to pi regulator in control process carries out amplitude limit to reach the purpose that prevents overshoot, under the prerequisite that guarantees the quick property of system response the PI regulating frequency is limited simultaneously, in order to avoid pi regulator is regulated too fast generation overshoot.
Simultaneously, wheel hub motor driver control method of the present invention also can adopt following multiple ancillary technique scheme, to improve control reliability;
Phase shift compensation scheme: because the three-phase current signal of current Hall collection will be through the processing of filter amplification circuit before entering DSP, with the filtering high order harmonic, but so current signal has been caused time-delay simultaneously yet, thereby produced phase shift, making DSP detected is not current electric current.The effect of phase shift compensation is exactly that the method for diverting from one use to another software mutually that causes in the analog circuitry processes is compensated, and concrete compensation method is: offset angle=(current cireular frequency)/1100*102 °=102 ° * ((current cireular frequency)/1100)=102 ° of * cireular frequency perunit values.Wherein 102 ° is to measure the cireular frequency that comes when the 110rad/s with signal generator, the signal phase shift parameter that analogous circuit cause, and its phase shift is linear increasing basically along with the increase of cireular frequency.Signal through overcompensation just has been reduced into the signal that conforms to actual motor current like this.
Use magslip: because magslip inside is without any electronic component, have only three groups of coils, so aspects such as its vibration resistance, temperature tolerance, resistance to corrosion, anti-dust greasy dirt, anti-interference resistance all have good performance, can satisfy the operating needs under the varying environment, have high reliability.
Figure 4 shows that the hardware structure diagram of wheel hub motor actuator, vdc changes three phase windings that alternating-current voltage/AC voltage is loaded into electrical motor into by inverter circuit, has realized the driving of electrical motor; Gather the three-phase alternating current electric signal by current sensor, gather the dc voltage signal, deliver to signal processor DSP after amplifying through two-stage filtering and carry out computing, remove to control 6 road PWM waveforms by voltage sensor.Interchange phase current after the inversion of current sensor measurement direct supply flows to DSP, as the foundation of calculating torque.The mid point of each phase branch road of inverter is connected with the end of each phase winding of permagnetic synchronous motor (PMSM).Wherein, an end of each U phase winding, V phase winding and W phase winding is connected with common neutral, just star-like connection.Rotor-position sensor records angle position θ and gives DSP, as the foundation of Park conversion.Wherein, proofread and correct, remove bad value through the DSP inverse operation.Voltage sensor is measured vdc.Electric capacity is in parallel with inverter.High-capacity chemical capacitor is used for energy storage, the ripple of filtering DC component; And the effect of little absorption electric capacity is, in the process that IPM cut-offs with very high frequency, and absorbing high-frequency component and noise.
Figure 5 shows that the software architecture diagram of wheel hub motor actuator, calculate Id and Iq by three-phase current signal Ia, Ib, Ic, this Id and Iq as actual DQ shaft current, are obtained Id by motor speed by weak magnet-wire by the space vector conversion
*, obtain the moment that export and obtain torque current Iq by the gear information and the throttle degree of depth
*, by Id
*, Iq
*Green phase answers voltage equation to obtain Ud, Uq, uses PI control that Ud and Uq are revised by the deviation of two Id of place, Iq.Obtain Ua, Ub, Uc by Ud, Uq through coordinate transform again, obtain just can calculating behind Ua, Ub, the Uc dutycycle of three phasevoltage, output to inverter circuit, realize the output of three phasevoltage.
Angle go bad value part measure this angle measurement and last time observed reading difference whether in allowed band; Otherwise, will regulate according to rotating speed.Rate conversion partly is that angular transition is a cireular frequency.Switching value input and guard signal input to DSP, the estimated valve of decision Id and Iq; Motor phase current carries out the buck conversion according to the θ angle, calculates the actual value of Id, Iq, compares with given value.Comparative result carries out PI to be regulated, and it calculates Ud, Uq with voltage transitions part 53, produces three-phase electricity.The output of final decision drive waveforms dutycycle.
Turning to by steering swivel system 30 of automobile finished.Drive system 10 has played the booster action that rotating speed is adjusted therein.When corner of vehicle steering wheel is no more than the steering angle (20 degree) of setting, think that electronlmobil is in straight-line travelling.Steering swivel system 30 is inoperative, and drive system 10 does not take rotating speed to adjust strategy yet, and the rotating speed of four wheel hub motors 12 is identical; Sense steering wheel angle when steering wheel torque, rotary angle transmitter and surpass 20 when spending, think that battery-driven car is in to turn to travel that wheel hub motor actuator 13 detects current vehicle speed, and the corner of bearing circle and moment of torsion.Management system of measurement and control 20 sends a message to wheel hub motor actuator 13 at once to adjust the rotating speed of nearside wheel and off-side wheel, makes the rotating speed of off-side wheel faster than nearside wheel.The turn radius of four-wheel driving electric vehicle diminishes like this, faster rotational speed.
When selecting the original place to spin pattern, wheel is driven on the point of contact that forwards to the concentric circle of battery-driven car by stepping motor 32.At this transition condition, wheel hub motor actuator 13 must be controlled each wheel hub motor 12 and be in halted state.After wheel such as having only to deflect into the position, wheel hub motor actuator 13 could be controlled each wheel hub motor and rotate.Automobile is flicker or flicker, is decided by the rotation direction of bearing circle.When bearing circle is beaten left, the automobile flicker, as shown in Figure 2; When the bearing circle right side is beaten, the automobile flicker, as shown in Figure 3.Bearing circle is beaten to such an extent that angle is big more, and the rotation of motor driver drive motor is fast more.In order to realize that the original place radius that spins minimizes, allow the center of four wheels and vehicle be the circle in the center of circle tangent be best, only accomplished approximate tangent in the working control, at this moment, four-wheel just can realize that by cw or left-hand revolution spin in the original place to the left or to the right, but motor-driven is controlled, inside and outside both sides wheel to observe hand of rotation from end cap be again on the contrary, shown in arrow among Fig. 2,3, at this moment the moment that provides of vehicle body both sides wheel hub motor actuator 13 must be that equal and opposite in direction, direction are opposite, and the four-wheel rotating speed is basic identical.Forwarding to when needing the position, can touch on the brake stops.
The present invention adopts two kinds to turn to pattern: cruising pattern and the original place pattern of spinning.Software flow pattern as shown in Figure 6.Under the cruising pattern, compare safety with existing steer-by-wire technology, reliability greatly improves, the stability of driving, ride comfort and driver-operated road feel also have greatly improved.And under spinning pattern in the original place, automobile can be around self mid point rotation, and turning circle diameter narrows down to limit, and automobile is promptly turned to or with easy access in crowded parking area in narrow road surface.
Claims (5)
1, a kind of four wheel drive method of electronlmobil, it comprises the cruising pattern, this normal mode comprises the steps:
A) gather the parameter and output to management system of measurement and control of travelling of electronlmobil by the sensor network sense;
B) management system of measurement and control also outputs to each wheel hub motor actuator with this parameter according to the parameter of travelling that this parameter of travelling redefines each wheel;
C) the wheel hub motor actuator is according to receiving the voltage that parameter is determined its corresponding wheel hub motor, to adjust the rotating speed of wheel;
It is characterized in that:
Also comprise and turn to step:
D) corner and the moment of torsion of direction of passage dish moment of torsion, corner inductor induction bearing circle;
E) steering angle with this corner and setting compares, and as setting corner greater than this, then the wheel hub motor actuator makes the rotating speed of the rotating speed of outboard wheels greater than inboard wheel according to the rotating speed of corner and moment of torsion adjustment medial and lateral wheel.
2, the four wheel drive method of electronlmobil as claimed in claim 1, it is characterized in that: described step c) comprises the steps:
C1) determine the target current of wheel hub motor according to the parameter of travelling that receives;
C2) determine its actual current according to the current three phase current of wheel hub motor;
C3) of the input of the difference of target current and actual current as electric current loop, regulate the output three phasevoltage through PI, calculate the dutycycle of three phasevoltage after output PWM ripple to wheel hub motor, to control the rotating speed of wheel.
3, the four wheel drive method of electronlmobil as claimed in claim 1, it is characterized in that: in the described step e), less than setting corner, then steering swivel system is inoperative as the corner of automobile, and management system of measurement and control makes the rotating speed of each wheel hub motor identical by the wheel hub motor actuator.
4, a kind of employing four wheels of electric automobile drive system of driving method according to claim 1, it is characterized in that: comprise wheel hub motor, wheel hub motor actuator, sensor network and management system of measurement and control, this wheel hub motor is installed on the wheel, and this wheel hub motor, wheel hub motor actuator and wheel are corresponding one by one, the input end of the output termination management system of measurement and control of this sensor network, the input end of the mouth cock wheel hub motor driver of management system of measurement and control, wheel hub motor output end of driver cock wheel hub motor.
5, the four-wheel drive system of electronlmobil as claimed in claim 4, it is characterized in that: also comprise stepping motor, stepper motor driver, steering swivel system and steering wheel torque, rotary angle transmitter, this stepping motor, stepper motor driver and wheel are corresponding one by one, this steering wheel torque, the mouth of rotary angle transmitter is connected with the input end of steering swivel system, the mouth of steering swivel system is connected with the input end of stepper motor driver, the mouth of stepper motor driver is connected with stepping motor, the step motor drive wheel, and this steering swivel system is connected with management system of measurement and control is two-way.
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| CNB2005100223655A CN100526116C (en) | 2005-12-17 | 2005-12-17 | Four-wheel driving system and method for electric vehicle |
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| CNB2005100223655A CN100526116C (en) | 2005-12-17 | 2005-12-17 | Four-wheel driving system and method for electric vehicle |
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| CN100526116C true CN100526116C (en) | 2009-08-12 |
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Cited By (5)
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| CN102485528A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Wheel motor slip processing control system and slip processing method of wheel motor |
| CN102632924A (en) * | 2012-04-17 | 2012-08-15 | 北京理工大学 | Control strategy for sliding steering of four-wheel-hub motor driven vehicles |
| CN102815230A (en) * | 2012-08-23 | 2012-12-12 | 陈国华 | Electronic automobile |
| CN102897045A (en) * | 2011-07-24 | 2013-01-30 | 张财信 | Power generation system utilizing inertial energy of electric vehicle, and hybrid electric vehicle and pure electric vehicle both comprising power generation system |
| CN102975717B (en) * | 2012-11-28 | 2018-02-16 | 沈阳工业大学 | The active safety control system and method for redundancy executing agency electric automobile |
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| TWI421178B (en) * | 2009-11-25 | 2014-01-01 | Ind Tech Res Inst | An intelligent differential control method for in-wheel hub motors and apparatus thereof |
| CN102092308B (en) * | 2009-12-15 | 2013-01-09 | 财团法人工业技术研究院 | Intelligent differential speed control method and device for multiple independent power wheels |
| CN102328583A (en) * | 2011-09-18 | 2012-01-25 | 刘泽法 | Four-motor balance and exchange drive mechanism of electric vehicle |
| CN102514502A (en) * | 2011-12-31 | 2012-06-27 | 许晓华 | Electronic differential system of electric scooter |
| CN103481798A (en) * | 2012-06-08 | 2014-01-01 | 镇江恒驰科技有限公司 | CAN (controller area network) bus-based driving-driven distribution type control system of electric vehicle driven by hub motors |
| CN103158530A (en) * | 2013-02-15 | 2013-06-19 | 刘铁奇 | Four-wheel drive electrocar without semiaxis |
| CN103481843A (en) * | 2013-09-09 | 2014-01-01 | 上海电控研究所 | Electrically-driven platform central drive control system |
| CN104527458B (en) * | 2014-12-10 | 2017-09-08 | 北京航天发射技术研究所 | Many wheel independent drive electric vehicle slip control methods |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102485528A (en) * | 2010-12-03 | 2012-06-06 | 比亚迪股份有限公司 | Wheel motor slip processing control system and slip processing method of wheel motor |
| CN102485528B (en) * | 2010-12-03 | 2014-08-13 | 比亚迪股份有限公司 | Wheel motor slip processing control system and slip processing method of wheel motor |
| CN102897045A (en) * | 2011-07-24 | 2013-01-30 | 张财信 | Power generation system utilizing inertial energy of electric vehicle, and hybrid electric vehicle and pure electric vehicle both comprising power generation system |
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| CN102975717B (en) * | 2012-11-28 | 2018-02-16 | 沈阳工业大学 | The active safety control system and method for redundancy executing agency electric automobile |
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