CN103407381A - Distributed electrically-driven hinged multipurpose vehicle - Google Patents
Distributed electrically-driven hinged multipurpose vehicle Download PDFInfo
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- CN103407381A CN103407381A CN2013103813678A CN201310381367A CN103407381A CN 103407381 A CN103407381 A CN 103407381A CN 2013103813678 A CN2013103813678 A CN 2013103813678A CN 201310381367 A CN201310381367 A CN 201310381367A CN 103407381 A CN103407381 A CN 103407381A
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- 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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a distributed electrically-driven hinged multipurpose vehicle. The distributed electrically-driven hinged multipurpose vehicle is composed of front and back bodies, four electric wheels arranged on the front and back bodies, a console arranged the front body, a steering wheel, a steering wheel angle sensor, a brake pedal, a drive pedal, an advancing/retreating switch and a battery unit. A power cable of each electric wheel is connected with the console, a revolution speed sensor arranged in each electric wheel is connected with the console, the front and back bodies are hinged to each other through a hinge support and provided with body angle sensors, the steering wheel angle sensor is in signal connection with the console, the brake pedal and the drive pedal are connected with the console through signal data lines, and the advancing/retreating switch is connected with the console through a data cable. The vehicle can achieve actions such as steering, proceeding, retreating flexibly in narrow space, has large body effective accommodating spaces for accommodating water, oil, cleansers, garbage, goods and the like and has the advantages of being low in noise, free of pollution, easy to maintain and the like.
Description
Technical field
The invention belongs to battery-driven car and control field, be specifically related to a kind of distributed electrically operated hinged MPV (Multi-Purpose Vehicle) and motion control method thereof, can be environmental sanitation, storage, logistics etc. high maneuverability place special vehicle is provided.
Background technology
At environmental sanitation and storage sector, for realizing that action needs a kind of place special vehicle flexibly.At present this field vehicle of application is power mainly with combustion engine, for realize moving flexibly chassis adopt before and after the vehicle body articulated structure, middlely by hydraulic arm, connect and realize turning action.Existing this car has the following disadvantages: 1) engine exhaust pollutes greatly, is not suitable for city and indoor widespread adoption; 2) efficiency of internal combustion engine is low, less economical; 3) articulator turns to needs hydraulic efficiency pressure system, has taken more vehicle body space, difficult arrangement; 4) steering hydraulic system is difficult in maintenance, and easy oil leakage causes secondary pollution to environment; 5) combustion engine and hydraulic efficiency pressure system all can produce larger noise, easily disturb residents.
Summary of the invention
The object of the invention is in order to overcome the deficiency of existing hinged place MPV (Multi-Purpose Vehicle), propose a kind of distributed electrical and drive hinged MPV (Multi-Purpose Vehicle), can realize realizing at small space actions such as turning to flexibly, advance, retreat, have the effective storage space of larger vehicle body be used to depositing water, oil, cleaning agent, rubbish, goods etc., and have the advantages such as noise is low, pollution-free, easy care.
Distributed electrical of the present invention drives hinged MPV (Multi-Purpose Vehicle), comprise: front body, rear vehicle body, be separately positioned on 4 electric drive wheels on front and rear body, be arranged on steering wheel angle sensor, brake pedal, driving pedal below control desk, bearing circle and the bearing circle on front body, seat, forward/back change-over switch and battery unit;
The power cable of each described electric drive wheel is connected with control desk, can realize the driving of each electric drive wheel, the independent control of braking, and each electric drive wheel is built-in with tachogen simultaneously, and is connected with control desk by data cable, but rotating speed of each wheel of Real-time Feedback;
The articulated stand that is rigidly connected on front body, be hinged mutually by jointed shaft and rear vehicle body, and the vehicle body rotary angle transmitter is installed between articulated stand and jointed shaft, can measure at any time the corner between forward and backward vehicle body;
Described bearing circle is realized steering operation for offering chaufeur, there is no the steering hardware of physics, only to be used to provide to turn to interface, steering wheel angle sensor below described bearing circle is for real-time direction of measurement dish corner, and this signal is transferred to control desk, with the intention that turns to of identification of driver;
Described brake pedal and driving pedal are the line traffic control pedal, are connected with control desk by the signal data line, can realize the driving of chaufeur or the input of braking instruction; Described battery unit is connected with control desk by power cable, and described forward/back change-over switch is connected with control desk by data cable.
Distributed electrical of the present invention drives the motion control method of hinged MPV (Multi-Purpose Vehicle), realizes according to the following steps:
Drive and control:
A. the forward/back change-over switch is placed in to forward travel state;
B. suitably depress the driving pedal, drive the built-in stroke sensor of pedal travel information is passed to control desk;
C. the central process unit of control desk produces corresponding control signal after receiving and driving instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces corresponding power current and is delivered on each electric drive wheel according to control signal;
D. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel wheel speed control signal.Repeating step c, d are until deviation is less than specialized range;
Braking is controlled:
A. suitably depress brake pedal, the built-in stroke sensor of brake pedal passes to control desk by travel information;
B. the central process unit of control desk produces corresponding control signal after receiving braking instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces the respective opposed power current and is delivered on each electric drive wheel according to control signal;
C. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel brake control signal.Repeating step b, c are until deviation is less than specialized range;
Turn to control:
A. the chaufeur steering wheel rotation is to certain angle, and the steering wheel angle sensor of the corner of bearing circle below it records and be transferred to central controller;
B. central controller is according to steering wheel angle and current vehicle body corner, and current driving pedal instruction (the speed intention of chaufeur), and decision-making goes out the needed wheel speed of each electric drive wheel;
C. each wheel speed central controller decision-making gone out is delivered to each electric drive wheel as control command through the In-wheel motor driving plate;
D. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel wheel speed control signal.Repeating step c, d are until deviation is less than specialized range.
The present invention has following outstanding advantages:
1) distributed electrical of the present invention drives hinged MPV (Multi-Purpose Vehicle), by the differential compound forward method of being combined with hinged vehicle body between wheel, both avoided the tire undue wear of differential steering between simple wheel, realized again that the hinged vehicle body of simple dependence turned to more flexible, motor-driven handling maneuver.
2) the present invention has removed the steering hardware of traditional vehicle from, without relative deflection angle, makes vehicle body clearance envelope ratio larger between wheel and vehicle body, arranges more flexibly, convenient.
3) between the hinged front and back vehicle body of the present invention without complicated hydrostatic steering system, make that it is more reliable, cost is low, non-maintaining, also for the layout of other implement (as flowing snow scraper, dust collecting fan, cleaning brush etc.), provides larger convenience.
4) the present invention has realized pure electronic kinematic scheme (comprise driving, brake, turn to), control flexible, easy, only need one hand, single pin just can complete the total movement operation, can vacant another hand, another pin completes other Job Operations, as road-cleaning, deicing, remove the snow, remove obstacles, carrying etc.
The accompanying drawing explanation
Fig. 1 is the birds-eye view that distributed electrical drives hinged MPV (Multi-Purpose Vehicle);
Fig. 2 is that distributed electrical drives hinged MPV (Multi-Purpose Vehicle) lateral plan;
Fig. 3 is that distributed electrical drives hinged MPV (Multi-Purpose Vehicle) Electrical Appliances & Control schematic diagram;
Fig. 4 is that the hinged MPV (Multi-Purpose Vehicle) of distributed electrical driving turns to schematic diagram.
The specific embodiment
The embodiment provided below in conjunction with accompanying drawing is described in further detail the present invention.
Referring to figs. 1 through 3, a kind of distributed electrical drives hinged MPV (Multi-Purpose Vehicle), comprise: front body 1, rear vehicle body 11, be separately positioned on before and after 4 electric drive wheels 7 on vehicle body, be arranged on steering wheel angle sensor 13, brake pedal 4 below control desk 2, bearing circle 3 and the bearing circle on front body, drive pedal 5, seat 6, forward/back change-over switch 15 and battery unit 12;
The power cable of each described electric drive wheel 7 is connected with control desk 2, can realize the driving of each electric drive wheel, the independent control of braking, and each electric drive wheel is built-in with tachogen simultaneously, and is connected with control desk 2 by data cable, but rotating speed of each wheel of Real-time Feedback;
The articulated stand 8 that is rigidly connected on front body 1, be hinged mutually by jointed shaft 9 and rear vehicle body 11, between articulated stand 8 and jointed shaft 9, vehicle body rotary angle transmitter 14 is installed, and can measure at any time the corner between forward and backward vehicle body;
Described bearing circle 3 is realized steering operation be used to offering chaufeur, there is no the steering hardware of physics, only to be used to provide to turn to interface, steering wheel angle sensor 13 below described bearing circle 3 is for real-time direction of measurement dish corner, and this signal is transferred to control desk 2, with the intention that turns to of identification of driver;
Described seat 6 is installed on front body 1, for chaufeur and (or) occupant provides and takes space.
Described brake pedal 4 and driving pedal 5 are the line traffic control pedal, are connected with control desk 2 by the signal data line, can realize the driving of chaufeur or the input of braking instruction;
Described battery unit 12 is connected with control desk 2 by power cable, for the driving of four electric drive wheels provides power output;
Described forward/back change-over switch 15 is connected with control desk 2 by data cable.
Described storage tank 10 is installed on it rear car, can be according to various different operatings needs for storing water, rubbish, docking facility, cleaning agent, goods etc.
As can be seen here, articulator of the present invention can be realized driving flexibly, braking, steering operation, has good manoevreability.
The motion control method of the hinged MPV (Multi-Purpose Vehicle) of distributed electrical driving is as follows:
One, drive and control
As shown in figures 1 and 3.When chaufeur needs vehicle to advance, the forward/back change-over switch is placed in to forward travel state, and suitably depresses the driving pedal, drive pedal and be built-in with stroke sensor, the stroke that chaufeur can be depressed to pedal passes to control desk as driving control inputs.The central process unit of control desk produces corresponding control signal after receiving and driving instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces corresponding power current and is delivered on each electric drive wheel according to control signal.Simultaneously, central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with control signal contrast, dynamic calibration wheel speed control signal.Realize thus the driving control of vehicle.When chaufeur need to be moveed backward, at first the forward/back change-over switch is placed in to the reversing state, the subsequent control method is the same with advancing drive.
Two, braking is controlled
As shown in figures 1 and 3.When chaufeur needs car retardation, while even stopping, suitably depress brake pedal, brake pedal is built-in with stroke sensor, and the stroke that chaufeur can be depressed to pedal passes to control desk as the braking control inputs.The central process unit of control desk produces corresponding brake control signal after receiving braking instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces the respective opposed power current according to brake control signal and imposes on each electric drive wheel, implements braking.Simultaneously, central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with control signal contrast, dynamic calibration brake control signal.Realize thus the braking control of vehicle.
Three, turn to control
As shown in Figure 1 and Figure 4.When chaufeur turned to intention, steering wheel rotation was to certain angle, and the steering wheel angle sensor of the corner of bearing circle below it records and be transferred to central controller.Central controller is according to steering wheel angle and current vehicle body corner, and current driving pedal instruction (the speed intention of chaufeur), and decision-making goes out the needed wheel speed of each electric drive wheel.For example in Fig. 4, chaufeur needs right-hand turning, needs right side wheels that less wheel speed is arranged, and left side wheel has larger wheel speed.Simultaneously, the two-wheeled on front body and rear car two-wheeled with it also will have certain difference, poor to produce necessary yaw moment, the expectation attitude angle of vehicle body before and after realizing.Further, each wheel speed central controller decision-making gone out is delivered to each electric drive wheel as control command through the In-wheel motor driving plate.So just realized the control that turns to of articulator.
Claims (2)
1. a distributed electrical drives hinged MPV (Multi-Purpose Vehicle), comprise: front body (1), rear vehicle body (11), be separately positioned on before and after 4 electric drive wheels (7) on vehicle body, be arranged on steering wheel angle sensor (13), brake pedal (4) below control desk (2), bearing circle (3) and the bearing circle on front body, drive pedal (5), seat (6), forward/back change-over switch (15) and battery unit (12) is characterized in that:
The power cable of each described electric drive wheel (7) is connected with control desk (2), can realize the driving of each electric drive wheel, the independent control of braking, each electric drive wheel is built-in with tachogen simultaneously, and is connected with control desk (2) by data cable, but the rotating speed of each wheel of Real-time Feedback;
An articulated stand (8) is rigidly connected on front body (1), by jointed shaft (9) and rear vehicle body (11), be hinged mutually, between articulated stand (8) and jointed shaft (9), vehicle body rotary angle transmitter (14) is installed, can measures at any time the corner between forward and backward vehicle body;
Described bearing circle (3) is realized steering operation be used to offering chaufeur, there is no the steering hardware of physics, only to be used to provide to turn to interface, steering wheel angle sensor (13) below described bearing circle (3) is for real-time direction of measurement dish corner, and this signal is transferred to control desk (2), with the intention that turns to of identification of driver;
Described brake pedal (4) and driving pedal (5) are the line traffic control pedal, are connected with control desk (2) by the signal data line, can realize the driving of chaufeur or the input of braking instruction;
Described battery unit (12) is connected with control desk (2) by power cable;
Described forward/back change-over switch (15) is connected with control desk (2) by data cable.
2. distributed electrical claimed in claim 1 drives the motion control method of hinged MPV (Multi-Purpose Vehicle), realizes according to the following steps:
Drive and control:
A. the forward/back change-over switch is placed in to forward travel state;
B. suitably depress the driving pedal, drive the built-in stroke sensor of pedal travel information is passed to control desk;
C. the central process unit of control desk produces corresponding control signal after receiving and driving instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces corresponding power current and is delivered on each electric drive wheel according to control signal;
D. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel wheel speed control signal.Repeating step c, d are until deviation is less than specialized range;
Braking is controlled:
A. suitably depress brake pedal, the built-in stroke sensor of brake pedal passes to control desk by travel information;
B. the central process unit of control desk produces corresponding control signal after receiving braking instruction, and passes to the In-wheel motor driving plate, and the In-wheel motor driving buttress produces the respective opposed power current and is delivered on each electric drive wheel according to control signal;
C. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel brake control signal.Repeating step b, c are until deviation is less than specialized range;
Turn to control:
A. the chaufeur steering wheel rotation is to certain angle, and the steering wheel angle sensor of the corner of bearing circle below it records and be transferred to central controller;
B. central controller is according to steering wheel angle and current vehicle body corner, and current driving pedal instruction (the speed intention of chaufeur), and decision-making goes out the needed wheel speed of each electric drive wheel;
C. each wheel speed central controller decision-making gone out is delivered to each electric drive wheel as control command through the In-wheel motor driving plate; D. central controller obtains the current wheel speed information fed back by the built-in wheel speed sensors of electric drive wheel by the In-wheel motor driving plate, with the control signal contrast, produces each new electric drive wheel wheel speed control signal.Repeating step c, d are until deviation is less than specialized range.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310381367.8A CN103407381B (en) | 2013-08-28 | 2013-08-28 | Distributed electrical drives hinged MPV (Multi-Purpose Vehicle) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310381367.8A CN103407381B (en) | 2013-08-28 | 2013-08-28 | Distributed electrical drives hinged MPV (Multi-Purpose Vehicle) |
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| CN103407381A true CN103407381A (en) | 2013-11-27 |
| CN103407381B CN103407381B (en) | 2015-12-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111098718A (en) * | 2019-12-19 | 2020-05-05 | 深圳市亮点智控科技有限公司 | Electric vehicle |
| CN114103656A (en) * | 2020-08-27 | 2022-03-01 | 比亚迪股份有限公司 | Vehicle control method, medium, device, and vehicle |
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| CN103407381B (en) | 2015-12-23 |
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