CN102616277B - Double-motor coupled driving tracked vehicle steering system - Google Patents
Double-motor coupled driving tracked vehicle steering system Download PDFInfo
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- CN102616277B CN102616277B CN 201210124087 CN201210124087A CN102616277B CN 102616277 B CN102616277 B CN 102616277B CN 201210124087 CN201210124087 CN 201210124087 CN 201210124087 A CN201210124087 A CN 201210124087A CN 102616277 B CN102616277 B CN 102616277B
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Abstract
The invention provides a double-motor coupled driving tracked vehicle steering system, which comprises a control subsystem, a power subsystem and a mechanical subsystem, wherein the mechanical subsystem comprises two drive motors, a clutch, a brake, a controllable coupler, an electromagnetic clutch friction disk braking device and a central electromagnetic clutch; the brake is connected with driving wheels of a tracked vehicle; the central electromagnetic clutch is connected with the controllable coupler through the electromagnetic clutch friction disk braking device; and the controllable coupler is further connected with the drive motors and the clutch respectively. By adopting the controllable coupler, the two motors are coupled together to supply energy to the driving wheels of the vehicle, namely the motor on one side, which is steered by relatively small torque, is used for supporting the motor on the other side, which is steered by relatively large torque; due to the distribution mode, the requirement on the power of the drive motor on the single side can be reduced greatly; and therefore, energy of the drive motors can be used fully, and electrodeless steering is realized.
Description
Technical field
The present invention relates to a kind of wheel steering system, be specifically related to a kind of double-motor couple drive continuously tracked vehicle steering swivel system.
Background technology
Turning to is travel key problem in the theory of continuously tracked vehicle, alerting ability that turns to and controllability be estimate mobility of tracked vehicles can important indicator.Continuously tracked vehicle makes the both sides crawler belts obtain friction speed by steering hardware and realizes turning to, and this has basic different with the steering principle of wheeled car and steering hardware.The steering mode of continuously tracked vehicle is divided into generally that steering clutch-drg turns to, the mechanical double power circuit turns to, hydraulic machinery differential steering and electron steering differential steering.Two-side motor individual drive continuously tracked vehicle adopts the electron steering differential steering usually, as Zhai Li, and Sun Fengchun, Gu Zhongli, Zhang Chengning. " electric tramsmission continuously tracked vehicle electronic differential speed steering control policy " (Beijing Institute of Technology's journal, 2009.02:13～118); Zhai Li, Sun Fengchun, Gu Zhongli. " the electronic differential continuously tracked vehicle turns to the torque Neural Network PID Control " (agricultural mechanical journal, 2009.02:1～6).
Electron steering differential steering system turns to motor-driven function admirable, can realize continuous turning and infinite speed variation, and it turns to flexibly, and has the higher moving velocity that on average turns to, and this system does not have mechanical changeover to impact simultaneously, and chaufeur is controlled simply laborsaving.But this steering swivel system needs the both sides power of motor bigger, and normally single motor-driven twice makes the power of motor be not fully utilized.In order to address this is that, adopt horizontal shaft type Dual-motors Driving continuously tracked vehicle to realize usually by central reducer unit and steer motor.As vehicle limited slip drive configuration (US Patent, application number 6953408B2), but this steering mode is difficult to realize continuous turning owing to have mechanical constraint between the two-side motor, and the steering stability of this steering swivel system does not have electronic differential speed steering good simultaneously.
Summary of the invention
The objective of the invention is to drive continuously tracked vehicle and realize that electron steering low speed turns to torque excessive at two-side motor, when turning to high speed steering, middling speed needs the excessive problem of one-sided power of motor, drive continuously tracked vehicle at the horizontal shaft type two-side motor and realize the continuous turning difficulty, design a kind of double-motor couple drive continuously tracked vehicle steering swivel system one-sided power of motor, that can realize continuous turning that reduces.
Realize that technical scheme of the present invention is as follows:
A kind of double-motor couple drive continuously tracked vehicle steering swivel system comprises control subsystem, power sub-system and mechanical subsystem; This mechanical subsystem comprises two drive motor, two power-transfer clutchs and two drgs, two drgs link to each other with continuously tracked vehicle two driving wheels, and wherein said mechanical subsystem further comprises two controllable couplers, two magnetic clutch friction disc brake equipments and central magnetic clutch; The two ends of central authorities' magnetic clutch link to each other with a controllable coupler by a magnetic clutch friction disc brake equipment respectively; Each controllable coupler further connects a drive motor and a power-transfer clutch;
Controllable coupler receives the torque T of drive motor output and the angular signal θ that control subsystem transmits, and under the control of control subsystem, a controllable coupler is coupled to the torque that receives, and another controllable coupler distributes the torque that receives;
Control a controllable coupler when control subsystem described torque T is carried out the branch timing, then this controllable coupler is distributed into torque T according to described θ with torque T
1With torque T
2, and with torque T
1Be transferred to coupled power-transfer clutch, for the driving wheel of a side provides energy, with torque T
2Be transferred to coupled magnetic clutch friction disc brake equipment, and further be transferred to another controllable coupler by central magnetic clutch and another magnetic clutch friction disc brake equipment;
When control subsystem is controlled a controllable coupler described torque T is coupled, this controllable coupler torque T that torque T and coupled magnetic clutch friction disc brake equipment are transmitted then
2Be coupled, and the torque transfer after will being coupled provides energy for the driving wheel of opposite side for coupled power-transfer clutch;
The common formation of magnetic clutch friction disc brake equipment and central magnetic clutch one torque transfer mechanism; When control system control magnetic clutch friction disc brake equipment is held the friction disc of central magnetic clutch tightly, and when controlling central magnetic clutch and being in off-state, interrupt torque T
2Transmission; When control system control magnetic clutch friction disc brake equipment is not held the friction disc of central magnetic clutch tightly, and when controlling central magnetic clutch and being in connected state, then realize torque T
2Transmission.
Further, control subsystem of the present invention is judged turning to power demand, when judgement turns to required power less than one-sided drive motor maximum power, then the control system mechanism that controls described transmission torque is in off-state, when judgement turned to required power greater than one-sided drive motor maximum power, then the control system mechanism that controls described transmission torque was in connected state.
Beneficial effect
The present invention adopts controllable coupler to realize that the double-motor coupling provides energy to vehicle drive wheels, promptly utilizing turns to the less side motor of required torque to remove to support the motor that turns to the bigger side of required torque, adopt this allocation scheme can reduce requirement greatly, so it can guarantee that the drive motor energy must make full use of and realize electrodeless turning to simultaneously to one-sided drive motor power.
Description of drawings
The structural representation of the steering swivel system that Fig. 1 provides for present embodiment.
The specific embodiment
Below in conjunction with the drawings and specific embodiments invention is further elaborated.
Double-motor couple drive continuously tracked vehicle steering swivel system provided by the invention, this steering swivel system work principle is: when low power turns to (when turning to power demand less than the drive motor maximum power), adopt the electronic differential continuous turning, promptly drive motor provides the form of energy respectively; Turn to (when turning to power demand) when turning at superpower,, make the mode of torque by coupling of both sides motor realize turning to by engaging central magnetic clutch greater than the drive motor maximum power with minor radius difficulty road surface.The conversion of dual mode of the present invention switches on and off by central magnetic clutch and realizes, the design of this steering swivel system can utilize the both sides power of motor to greatest extent, realizes that continuously tracked vehicle is electrodeless to turn to.
As shown in Figure 1, this steering swivel system comprises control system, power system and mechanical system.
Control system comprises integrated electronics controller 12, acceleration pedal and displacement pickup 16 thereof, brake pedal and displacement pickup 15 thereof, electronics gear collecting unit 14 and bearing circle and angular-motion transducer 13 thereof; Be to link to each other between each device in the control system and the integrated electronics controller 12 wherein by signal wire (SW), each device is given integrated electronics controller 12 with the signal that collects by signal wire transmits, integrated electronics controller 12 carries out Treatment Analysis to the received signal, and then each parts of vehicle are controlled, this process is a prior art.Because the present invention only relates to the steering swivel system of vehicle, the signal of being analyzed is the signal that bearing circle and angular-motion transducer 13 thereof are gathered, therefore only the signal that is applied to is described at present embodiment, the signal that other device collected, do not use in steering swivel system is not illustrated one by one.
The signal that control system transmits according to the bearing circle on it and angular-motion transducer 13 thereof generates angle signal θ and is transferred to two controlled coupler 4a, 4b, and according to this angle signal θ control controllable coupler 4a, 4b is coupled to the torque that receives or distribute; Simultaneously the break-make of the torque transfer mechanism that further central magnetic clutch 6 and magnetic clutch friction disc brake equipment 5a, 5b constituted according to steering angle signal θ control of control system is controlled.
Bearing circle and angle displacement sensor 13 thereof are to be used to gather the peripheral operation bearing circle on the vehicle so that continuously tracked vehicle reaches the expectation steering hardware, the signal that integrated electronics controller 12 in the control system is sensed bearing circle and angle displacement sensor 13 thereof converts steering angle signal θ to, judges according to this steering angle signal θ and turns to desired power this moment.
In the prior art, because the maximum power of drive motor is enough to satisfy the demand that turns to, therefore 12 needs of integrated electronics controller inform two drive motor the power that should export get final product, but the power of drive motor is bigger, and its power is not fully utilized.
Be fully used for the power that makes drive motor in the present invention, choose the drive motor of smaller power, simultaneously by integrated electronics controller 12 according to steering angle signal θ, judge turn to this moment required power be greater than or less than the maximum power of drive motor; When turning to required power greater than the drive motor maximum power, then its control turns to the controllable coupler of the less side of power demand that the torque that receives is distributed, and control turns to the controllable coupler of the bigger side of power demand that the torque that receives is coupled; So just can make collaborative work between two drive motor realize driving, thereby guarantee making full use of of drive motor power wheel steering.
Power system comprises two electric machine controller 8a, 8b, energy conversion control unit 9, energy absorbing device 10, Engine-Generator group 11 and battery pack 17; This system is identical with the composition of existing vehicle medium power system, and it is not an emphasis of the present invention, only it is carried out simple declaration below therefore.Engine-Generator group 11 passes to energy changing control unit 9 by three-phase ac power cord with three plase alternating current in power system, battery pack 17 passes to energy changing control unit 9 with direct current (DC) by the battery pack dc bus, energy conversion unit 9 becomes the required direct current (DC) of vehicle dc bus with three-phase alternating-current supply with battery pack dc bus power conversion, energy changing unit 9 can be with the electric flux input battery pack of feeding back on the vehicle dc bus 17, then unnecessary recuperated energy is passed to energy absorbing device 10 if battery pack 17 electric weight are saturated, vehicle-mounted direct supply bus is imported two electric machine controller 8a with direct current (DC), 8b, two electric machine controller 8a, 8b output AC electricity respectively gives two drive motor 7a, 7b realizes two drive motor 7a, the control of 7b output torque (torque herein also can be called the power output of drive motor).
Control system with annexation between the power system is: general controller 16 is connected with electric machine controller 11a, battery pack 15, energy conversion control unit 12, driving engine-generator set 14, electric machine controller 11b respectively by a CAN bus N1, the 2nd CAN bus N2, the 3rd CAN bus N3, the 4th CAN bus N4, the 5th CAN bus N5; This annexation is all prior art, is not emphasis of the present invention, therefore only adopts above annexation that it is carried out simple declaration.
Control system with annexation between the power system is: general controller 12 is connected with electric machine controller 8b, battery pack 17, energy conversion control unit 9, driving engine-generator set 11 etc. in the power system respectively by the CAN bus.This annexation is all prior art, is not emphasis of the present invention, therefore only adopts above annexation that it is carried out simple declaration.
Mechanical subsystem comprises two drive motor 7a, 7b, two power-transfer clutch 3a, 3b and two drg 2a, 2b, and two drg 2a, 2b link to each other with continuously tracked vehicle two driving wheels; This mechanical subsystem further comprises two controllable coupler 4a, 4b, two magnetic clutch friction disc brake equipment 5a, 5b and central magnetic clutch 6; Wherein two electric machine controller 8a, 8b control two drive motor 7a, 7b respectively by three-phase ac power cord, drive motor is connected in turn with controllable coupler, power-transfer clutch and drg, the two ends of central magnetic clutch 6 link to each other with a controllable coupler by a magnetic clutch friction disc brake equipment respectively simultaneously, and each controllable coupler (4a, 4b) further connects a drive motor and a power-transfer clutch.
Control system with annexation between the mechanical system is: the integrated electronics controller 12 in the control system is connected respectively with two drg 2a, 2b, two electromagnetic clutch 3a, 3b, two magnetic clutch friction disc brake equipment 5a, 5b, central magnetic clutch 6 and two controllable coupler 4a, 4b respectively by the CAN bus.
Two controllable coupler 4a, 4b in the mechanical system of the present invention, two magnetic clutch friction disc brake equipment 5a, 5b and central magnetic clutch 6 are emphasis of the present invention, below this device are elaborated:
Controllable coupler 4a, 4b receive the torque T of drive motor 7a, 7b output and the angular signal θ that control subsystem transmits, and under the control of control subsystem, one controllable coupler is coupled to the torque that receives, and another controllable coupler distributes the torque that receives.
Control a controllable coupler when control subsystem described torque T is carried out the branch timing, then this controllable coupler is distributed into torque T according to described θ with torque T
1With torque T
2, and with torque T
1Be transferred to coupled power-transfer clutch, for the driving wheel of a side provides energy, with torque T
2Be transferred to coupled magnetic clutch friction disc brake equipment, and further be transferred to another controllable coupler by central magnetic clutch and another magnetic clutch friction disc brake equipment; Wherein,
θ wherein
MaxHard-over for bearing circle.
When control subsystem is controlled a controllable coupler described torque T is coupled, this controllable coupler torque T that torque T and coupled magnetic clutch friction disc brake equipment are transmitted then
2Be coupled, and the torque transfer after will being coupled provides energy for the driving wheel of opposite side for coupled power-transfer clutch.
Magnetic clutch friction disc brake equipment 5a, 5b and central magnetic clutch 6 constitute a torque transfer mechanism jointly; When control system control magnetic clutch friction disc brake equipment 5a, 5b hold the friction disc of central magnetic clutch 6 tightly, and when controlling central magnetic clutch 6 and being in off-state, then interrupt torque T
2Transmission; When control system control magnetic clutch friction disc brake equipment 5a, 5b do not hold the friction disc of central magnetic clutch 6 tightly, and when controlling central magnetic clutch 6 and being in connected state, then realize torque T
2Transmission.
The present invention is elaborated to its concrete working process according to the size that turns to power demand:
Control subsystem judges turning to power demand, and when judgement turned to power demand less than one-sided drive motor maximum power, for example the required power of nearside wheel was P in the steering procedure
1, the required power of off-side wheel is P
2, the drive motor maximum power is P, and P
1And P
2All less than P, then two drive motor can provide energy separately to two side wheels respectively, then adopt electronic differential speed steering, and promptly the control system mechanism that controls described transmission torque is in off-state.Integrated electronics controller 12 is by the total line control of CAN central authorities magnetic clutch 6, make the left and right sides friction disc of central magnetic clutch 6 disconnect, general controller 12 is controlled magnetic clutch friction disc brake equipment 5a, 5b respectively by the CAN bus, make the left and right sides friction disc output shaft of magnetic clutch friction disc brake equipment 5a, 5b locking central authorities magnetic clutch 6, be in off-state by the torque transfer mechanism that control magnetic clutch friction disc brake equipment 5a, 5b and central magnetic clutch 6 constitute this moment; Integrated electronics controller 12 is controlled left and right sides magnetic clutch 3a, 3b respectively by the CAN bus and is engaged, integrated electronics controller 12 is according to turning to control policy simultaneously, the dtc signal of motor when motor 8a, 8b transmission to the left and right turns to respectively by the CAN bus, control inboard motor 7b output braking torque or pull-up torque or zero torque, control outside motor 7a output pull-up torque, continuously tracked vehicle makes the both sides crawler belt obtain friction speed by steering hardware and realizes turning to.
Control subsystem judges turning to power demand, and when judgement turned to required power greater than one-sided drive motor maximum power, for example the required power of nearside wheel (left side driving wheel) was P in the steering procedure
1, the required power of off-side wheel (right side driving wheel) is P
2, the drive motor maximum power is P, P
1＞P and P
2＜P, then two drive motor coupling back provides energy separately to two side wheels, then adopts second kind of manifold type machinery differential steering, and promptly the control system mechanism that controls described transmission torque is in connected state.Integrated electronics controller 12 is by the total line control of CAN central authorities magnetic clutch 6, make central magnetic clutch 6 engage, integrated electronics controller 12 is controlled magnetic clutch friction disc brake equipment 5a, 5b respectively by the CAN bus simultaneously, make magnetic clutch friction disc brake equipment 5a, 5b unclamp, be in on-state by the torque transfer mechanism that control magnetic clutch friction disc brake equipment 5a, 5b and central magnetic clutch 6 constitute this moment, and this moment, the controllable coupler of the left and right sides was realized coupling.This moment, the integrated electronics controller was distributed into torque T by the total line control controllable coupler of CAN 4b to the torque T that drive motor 7b transmits
1With torque T
2, torque T wherein
1Provide energy by power-transfer clutch 3b, drg 2b for off-side wheel; Simultaneously the torque T that drive motor 7a transmitted by the total line control controllable coupler of CAN 4a of integrated electronics controller and the torque T that transmits by torque transfer mechanism
2Be coupled, and the torque after will being coupled provides energy by power-transfer clutch 3a, drg 2a for nearside wheel.The torque that two drive motor are exported in the present embodiment can be the same or different, but above-mentionedly all uses prosign T for expression method and represent.
In sum, more than be preferred embodiment of the present invention only, be not to be used to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. a double-motor couple drive continuously tracked vehicle steering swivel system comprises control subsystem, power sub-system and mechanical subsystem; This mechanical subsystem comprises two drive motor (7a, 7b), two power-transfer clutchs (3a, 3b) and two drgs (2a, 2b), two drgs (2a, 2b) link to each other with continuously tracked vehicle two driving wheels respectively, it is characterized in that described mechanical subsystem further comprises two controllable couplers (4a, 4b), two magnetic clutch friction disc brake equipments (5a, 5b) and central magnetic clutch (6); The two ends of central authorities' magnetic clutchs (6) link to each other with a controllable coupler by a magnetic clutch friction disc brake equipment respectively; Each controllable coupler (4a, 4b) further connects a drive motor and a power-transfer clutch;
Controllable coupler (4a, 4b) receives the torque T of drive motor (7a, 7b) output and the angular signal θ that control subsystem transmits, and under the control of control subsystem, one controllable coupler is coupled to the torque that receives, and another controllable coupler distributes the torque that receives;
Control a controllable coupler when control subsystem described torque T is carried out the branch timing, then this controllable coupler is distributed into torque T according to described θ with torque T
1With torque T
2, and with torque T
1Be transferred to coupled power-transfer clutch, for the driving wheel of a side provides energy, with torque T
2Be transferred to coupled magnetic clutch friction disc brake equipment, and further be transferred to another controllable coupler by central magnetic clutch (6) and another magnetic clutch friction disc brake equipment;
When control subsystem is controlled a controllable coupler described torque T is coupled, this controllable coupler torque T that torque T and coupled magnetic clutch friction disc brake equipment are transmitted then
2Be coupled, and the torque transfer after will being coupled provides energy for the driving wheel of opposite side for coupled power-transfer clutch;
Magnetic clutch friction disc brake equipment (5a, 5b) constitutes a torque transfer mechanism jointly with central magnetic clutch (6); Control magnetic clutch friction disc brake equipment (5a, 5b) when control subsystem and hold the friction disc of central magnetic clutch (6) tightly, and control central magnetic clutch (6) when being in off-state, then interrupt torque T
2Transmission; Control magnetic clutch friction disc brake equipment (5a, 5b) when control subsystem and do not hold the friction disc of central magnetic clutch (6) tightly, and control central magnetic clutch (6) when being in connected state, then realize torque T
2Transmission.
2. according to the couple drive of double-motor shown in the claim 1 continuously tracked vehicle steering swivel system, it is characterized in that, described control subsystem is judged turning to power demand, when judgement turns to required power less than one-sided drive motor maximum power, then the control subsystem mechanism that controls described transmission torque is in off-state, when judgement turned to required power greater than one-sided drive motor maximum power, then the control subsystem mechanism that controls described transmission torque was in connected state.
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| CN 201210124087 CN102616277B (en) | 2012-04-25 | 2012-04-25 | Double-motor coupled driving tracked vehicle steering system |
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|---|---|---|---|
| CN 201210124087 CN102616277B (en) | 2012-04-25 | 2012-04-25 | Double-motor coupled driving tracked vehicle steering system |
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| CN102616277B true CN102616277B (en) | 2013-07-31 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700612B (en) * | 2012-05-25 | 2014-10-22 | 北京理工大学 | Double side motor coupling driving steering system of electric transmission caterpillar vehicle |
| CN103350719B (en) * | 2013-06-27 | 2018-06-08 | 中国北方车辆研究所 | For the rotating direction control method of the endless-track vehicle of two-side motor coupling driving |
| CN103507857B (en) * | 2013-07-23 | 2015-08-26 | 北京理工大学 | Double-motor coupled mode electromechanical compound transmission device of tracked vehicle |
| CN103538468B (en) * | 2013-09-22 | 2016-03-23 | 上海中科深江电动车辆有限公司 | There is the continuously tracked vehicle electric actuator of double side gearbox |
| CN103738200B (en) * | 2014-01-21 | 2017-07-28 | 北京汽车股份有限公司 | A kind of electric automobile and its drive system |
| CN109263719B (en) * | 2018-10-10 | 2020-06-19 | 北京理工大学 | Device and method for driving tracked vehicle to steer |
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| US5168946A (en) * | 1991-09-09 | 1992-12-08 | General Electric Company | Track-laying vehicle electric drive system |
| US5445234A (en) * | 1994-02-16 | 1995-08-29 | General Motors Corporation | Dual drive transmission |
| GB0109336D0 (en) * | 2001-04-17 | 2001-05-30 | Secr Defence | Drive configuration for a skid steered vehicle |
| US6892837B2 (en) * | 2002-10-11 | 2005-05-17 | Caterpillar Inc | Electric drive system with differential steering |
| DE10344711A1 (en) * | 2003-09-26 | 2005-04-14 | Zf Friedrichshafen Ag | Electrical drive system for a vehicle with sliding steering, has two mechanical gear trains linking first and second drive transmission elements on the left and right sides of the vehicle |
| JP4746279B2 (en) * | 2004-03-16 | 2011-08-10 | ヤンマー株式会社 | Work vehicle transmission |
| CN102133854A (en) * | 2010-01-25 | 2011-07-27 | 北京理工大学 | Dual-motor rotating speed and torque coupling driving assembly |
| CN101985279B (en) * | 2010-09-17 | 2013-01-02 | 中国北方车辆研究所 | Electromechanical coupling transmission device of crawler |
| CN102229319B (en) * | 2011-04-26 | 2014-03-12 | 中国北方车辆研究所 | Electromechanical compound transmission device of tracked vehicle |
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