CN105946622A - Walking control system, control system and double-drive electric vehicle - Google Patents
Walking control system, control system and double-drive electric vehicle Download PDFInfo
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- CN105946622A CN105946622A CN201610270355.1A CN201610270355A CN105946622A CN 105946622 A CN105946622 A CN 105946622A CN 201610270355 A CN201610270355 A CN 201610270355A CN 105946622 A CN105946622 A CN 105946622A
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- electric vehicle
- control system
- driven electric
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Classifications
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- 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
-
- 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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
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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)
Abstract
The invention relates to the technical field of double-drive electric vehicle, in particular to a walking control system, a control system and a double-drive electric vehicle. The walking control system comprises a control unit, a walking operation unit, a first walking motor and a second walking motor as well as a first detecting unit and a second detecting unit, wherein the walking operation unit is used for inputting a set walking value to the control unit; the first walking motor and the second walking motor are used as walking control objects; the first detecting unit is used for detecting the output amount of the first walking motor; the second detecting unit is used for detecting the output amount of the second walking motor; and the first walking motor and the first detecting unit form a closed loop together with the control unit; and the second walking motor and the second detecting unit also form a closed loop together with the control unit. According to the invention, the differential speed of the double-drive electric vehicle can be preferably controlled.
Description
Technical field
The present invention relates to double driven electric vehicle technical field, specifically, relate to a kind of traveling control system,
Control system and double driven electric vehicle.
Background technology
At present, electric vehicle is applied in the system of Dual Drive direct current generator, still uses traditional open loop control
System.Owing to opened loop control exists, control accuracy is low, easily once occurred that error cannot be mended by external interference, output
The defect such as repay, because being unable to preferably be applicable to high precision manipulation environment.It is being applied to such as electric vehicle
During the higher industry of this kind of safety criterion, although open cycle system can save feedback system, but it is to electrical equipment
Element possesses the demand of higher sensitivity characteristic, result in the raising to relevant component quality requirement, virtually
Add manufacturing cost on the contrary and there is unstability.Meanwhile, when for needing to carry out differential control
Under, open cycle system can not more effectively realize accurately.On the other hand, current electric vehicle field, double
On the premise of driving, the steering mode of employing turns to based on fluid-link steering and universal wheel substantially.Wherein, liquid
Pressure turns to be needed to increase hydraulic system, and relative cost is higher；Although the lower cost that universal wheel turns to, but
Being to turn to comfort level low, loss is fast, and later maintenance cost is high.
Summary of the invention
In order to overcome certain or some defect of prior art, the invention provides and a kind of double drive electric motor car
Traveling control system.
According to double driven electric vehicle traveling control systems of the present invention, it includes control unit, for control
The walking operating unit of unit input walking set-point, the first movable motor and the as travelling control object
Two movable motors, for detection the first movable motor output the first detector unit and for detection the second row
Walk the second detector unit of motor output, the first movable motor and the first detector unit, the second movable motor
All closed loop is constituted with control unit with the second detector unit.
In double driven electric vehicle traveling control systems of the present invention, walking operating unit can be sent out to control unit
Sending travel commands, travel commands can include that direction of travel instruction and the speed of travel instruct；Control unit receives
The first run signal for being sent to the first movable motor can be generated and for being sent to after travel commands
Second run signal of two movable motors, the first movable motor and the second movable motor can be according to receiving
Corresponding run signal changes running status (direction of rotation and rotating speed) respectively；First detector unit can be to first
The running status of movable motor carries out detecting and generating the first feedback signal, and the second detector unit can be to second
The running status of movable motor carries out detecting and generate the second feedback signal, and control unit can be anti-according to first
Feedback signal and the second feedback signal to tackling the first run signal and the second run signal compensates, it is thus possible to
Enough the most accurately the running status of the first movable motor and the second movable motor is controlled.
As preferably, the first detector unit, the second detector unit all can include hall-effect speed sensor.
In double driven electric vehicle control systems of the present invention, relative to traditional bearing encoder, use Hall-type
Speed probe does not haves the series of problems caused because of motor self axle concentric problem, such as damage, letter
Number instability etc.；Meanwhile, hall-effect speed sensor can insulating Design such that it is able to preferably protection from
Body；Thus, use hall-effect speed sensor can not only preferably improve the stability of system, additionally it is possible to
Solve the uppity problem of closed-loop system stability to a certain extent.
As preferably, walking operating unit can include hall accelerator.
In double driven electric vehicle control systems of the present invention, walking operating unit can include hall accelerator,
Hall accelerator can preferably export forward, reverse signal and speed-regulating signal, consequently facilitating walking operation
Unit sends travel commands；Compared to traditional resistance-type accelerator, hall accelerator is nothing on electronic structure
Mechanical loss, the speed-regulating signal curve of output is able to programme, it is possible to preferably meet multiple demand；It addition, use
The mode of operation of hall accelerator meets major part normative document in world wide, exports certification including CE etc..
In order to overcome certain or some defect of prior art, present invention also offers a kind of double drive electronic
Vehicle to run control system.
According to double driven electric vehicle control systems of the present invention, it include any of the above-described kind of traveling control system,
For turning to the steering operation unit of set-point to control unit input, turn to electricity as course changing control object
Machine and for detecting the 3rd detector unit of steer motor output, steer motor, the 3rd detector unit and control
Unit processed constitutes closed loop.
In double driven electric vehicle control systems of the present invention, steering operation unit can send to control unit and turn
To instruction, steering order can include that steering direction instruction and steering angle instruct；Control unit receives and turns to
Can produce the turn signal for being sent to steer motor after instruction, steer motor can be according to receiving
Turn signal produces corresponding output (steering direction and steering angle)；3rd detector unit can be to turning to electricity
The output (steering direction and steering angle) of machine carries out detecting and generating turning to feedback signal, control unit energy
Enough according to turning to feedback signal that turn signal is compensated, so that the most accurately to steer motor
Output is controlled.
As preferably, additionally it is possible to include steering angle zero testing unit, steering angle zero testing unit is used for
Steering angle zero signal is inputted to control unit, to make to turn by regulation and control steer motor output under original state
Make zero to motor steering angle.
In double driven electric vehicle control systems of the present invention, in an initial condition (during system start-up), control single
The steering angle zero signal that unit can provide according to steering angle zero testing unit, by controlling steer motor
Output makes steer motor steering angle make zero.
As preferably, steering angle zero testing unit can include photoswitch.
In double driven electric vehicle control systems of the present invention, it is possible to use the photoswitch zero-bit to steer motor
Positioning, compared to traditional mechanical switch, photoswitch need not Mechanical Contact and applies any
Pressure just can work, and has the double grading of travel switch and microswitch, possesses stability height, response speed
Hurry up, the feature such as length in service life.
As preferably, the first detector unit, the second detector unit and the 3rd detector unit all can include Hall
Formula speed probe.
In double driven electric vehicle control systems of the present invention, relative to traditional bearing encoder, use Hall-type
Speed probe does not haves the series of problems caused because of motor self axle concentric problem, such as damage, letter
Number instability etc.；Meanwhile, hall-effect speed sensor can insulating Design such that it is able to preferably protection from
Body；Thus, use hall-effect speed sensor can not only preferably improve the stability of system, additionally it is possible to
Solve the uppity problem of closed-loop system stability to a certain extent.
As preferably, walking operating unit can include hall accelerator.
In double driven electric vehicle control systems of the present invention, walking operating unit can include hall accelerator,
Hall accelerator can preferably export forward, reverse signal and speed-regulating signal, consequently facilitating walking operation
Unit sends travel commands；Compared to traditional resistance-type accelerator, hall accelerator is nothing on electronic structure
Mechanical loss, the speed-regulating signal curve of output is able to programme, it is possible to preferably meet multiple demand；It addition, use
The mode of operation of hall accelerator meets major part normative document in world wide, exports certification including CE etc..
As preferably, steering operation unit can include difference Hall element.
In double driven electric vehicle control systems of the present invention, steering operation unit can include difference hall sensing
Device, the way of output of difference Hall element, it is possible to make steering operation unit deviation angle and wheel deviation
Angle 1:1 synchronizes, and which can export contrary two linear signal, and these two signal sums are constant,
It is thus possible to be preferably used for confirming that device normally works, and can become according to the height of these two signal numerical value
Change and determine the direction and angle turned to；Compared to traditional duplex potentiometer, difference Hall element can carry
For more stable and signal accurately, while there is not mechanical wear problem.
As preferably, control unit can include analyzing module, analyzes module for turning to set-point to carry out
Analyze and output speed control signal, to regulate and control the rotating speed output of the first movable motor and the second movable motor.
In double driven electric vehicle control systems of the present invention, analyzing module can be analyzed turning to set-point
And output speed control signal, control unit can be walked to first in conjunction with speed controling signal and travel commands
The running status of motor and the second movable motor is respectively controlled；So that when turning to, it is possible to realize
First movable motor and the differential control of the second movable motor, the i.e. first movable motor and the second movable motor energy
Enough according to steering angle with different rotation speed operation such that it is able to stablize and cosily turn to；It addition, also
It is capable of when turning to bulk velocity is limited such that it is able to low speed turns to accurately.
In order to overcome certain or some defect of prior art, present invention also offers a kind of double drive electronic
Vehicle, it includes any of the above-described kind of double driven electric vehicle traveling control system.
In order to overcome certain or some defect of prior art, present invention also offers a kind of double drive electronic
Vehicle, it includes any of the above-described kind of double driven electric vehicle control system.
A kind of double driven electric vehicles of the present invention, it is possible to overcome the multinomial shortcoming of the double drive system of open loop DC, with
Time can preferably realize differential control, and produce and maintenance cost is relatively low.
A kind of double driven electric vehicles of the present invention, it is possible to preferably eliminate because of in external disturbance or control system
Portion's change and the deviation value that produces such that it is able to preferably the overall operation state to vehicle carry out relatively stable,
Control reliably.Simultaneously as closed loop system is insensitive for the characteristic variations of components and parts, it is possible to more
The components and parts of good compatible various qualities, thus reduce components and parts cost.Further, since steering and operation
System can be worked in coordination with by analyzing module, thus at differential control and the synergism turning to feedback control
Under, it is possible to preferably improve safety, comfortableness and the controllability turned to.
A kind of double driven electric vehicles of the present invention, by the foundation of control system mathematical model and relevant parameter
Regulation, it is possible to preferably landman, machine, the triangular relation of environment, embodies the core of human engineering
Theory.
Accompanying drawing explanation
Fig. 1 is the theory diagram of control system in embodiment 4；
Fig. 2 is the schematic diagram of double driven electric vehicles in embodiment 4；
Fig. 3 is the operation principle schematic diagram of steering operation unit in embodiment 4；
Fig. 4 is the operation principle schematic diagram of operating unit of walking in embodiment 4；
Fig. 5 is steering angle and the relation schematic diagram of maximum travelling speed in embodiment 4.
Detailed description of the invention
For further appreciating that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.Should
When being understood by, embodiment be only the present invention explained and and non-limiting.
Embodiment 1
Present embodiments provide a kind of double driven electric vehicle traveling control system, it include control unit, for
The walking operating unit of walking set-point, the first row leakage of electricity as travelling control object is inputted to control unit
Machine and the second movable motor, for the first detector unit of detection the first movable motor output be used for detecting
Second detector unit of the second movable motor output, the first movable motor and the first detector unit, the second row
Walk motor and the second detector unit all constitutes closed loop with control unit.
Embodiment 2
Present embodiments providing a kind of double driven electric vehicle control system, it includes the walking control in embodiment 1
System processed, for control unit input turn to the steering operation unit of set-point, as course changing control object
Steer motor and for detecting the 3rd detector unit of steer motor output, steer motor, the 3rd detection
Unit and control unit constitute closed loop.
Embodiment 3
Present embodiments providing a kind of double driven electric vehicle, it includes the traveling control system in embodiment 1.
Embodiment 4
Present embodiments providing a kind of double driven electric vehicle, it includes the control system in embodiment 2.
As it is shown in figure 1, this control system includes control unit 7, for given to control unit 7 input walking
Value walking operating unit, for control unit 7 input turn to the steering operation unit of set-point, conduct
First movable motor 1 of travelling control object and the second movable motor 4, turn to electricity as course changing control object
Machine, for detection the first movable motor 1 output the first detector unit and for detection the second movable motor 4
Second detector unit of output and for detecting the 3rd detector unit of steer motor output.First walking
Motor 1 and the first detector unit, the second movable motor 4 and the second detector unit are all constituted with control unit 7
Closed loop, steer motor the 8, the 3rd detector unit and control unit 7 constitute closed loop.
This control system also includes steering angle zero testing unit, and steering angle zero testing unit is for initially
Steering angle zero signal is inputted to control unit 7, to make to turn by regulation and control steer motor 8 output under state
Make zero to motor 8 steering angle.
Control unit 7 includes analyzing module, analyzes module for turning turning to set-point to be analyzed and exporting
Speed control signal, to regulate and control the rotating speed output of the first movable motor 1 and the second movable motor 4.
In the present embodiment, steering angle zero testing unit includes photoswitch 10, the first detector unit, second
Detector unit and the 3rd detector unit all include that hall-effect speed sensor, walking operating unit include that Hall adds
Speed device 6, steering operation unit includes difference Hall element 5.
As in figure 2 it is shown, the double driven electric vehicles in the present embodiment include car body, steering operation unit and walking
Operating unit is all located at car body, and difference Hall element 5 is located at steering operation unit, hall accelerator 6
It is located at walking operating unit.
Car body includes underbody seat 200, control unit the 7, first movable motor the 1, second movable motor 4 and turning
All it is located at underbody seat 200 to motor 8, at the first movable motor 1, is provided with the first hall-effect speed sensor 2
(corresponding first detector unit), is provided with the second hall-effect speed sensor 3 (corresponding at the second movable motor 4
Second detector unit), it is provided with the 3rd Hall element 9 (corresponding 3rd detector unit), light at steer motor 8
Electric switch 10 is located at the nearly steer motor 8 of underbody seat 200.
In the present embodiment, the first movable motor 1 and the second movable motor 4 are direct-drive motor.
Double driven electric vehicles of the present embodiment are on startup (i.e. under original state), and control unit 7 controls to turn to
Motor 8 runs, the fluted disc induction point of steer motor 8 through photoswitch 10 time, photoswitch 10
Sending steering angle zero signal to control unit 7, control unit 7 combines the data of the 3rd Hall element 9 to turning
It is adjusted to motor 8 output, so that steer motor 8 can be positioned at zero-bit more accurately.
As it is shown on figure 3, be the operation principle schematic diagram of steering operation unit, steering operation unit is when rotating
2 contrary linear signals, respectively signal A and letter can be exported by difference Hall element 5 simultaneously
Number B, signal A and signal B and constant such that it is able to preferably to confirm difference Hall element 5 whether
Normal work.After control unit 7 can be according to calculating signal A and signal B, preferably determine and turn
To direction and angle.
As shown in Figure 4, for the operation principle schematic diagram of operating unit of walking, control unit 7 can be according to turning
The traffic direction signal exported at the current steering angle and hall accelerator 6 of motor 8 and speed-regulating signal,
COMPREHENSIVE CALCULATING goes out the rotating speed needed for the first movable motor 1 and the second movable motor 4, and can in conjunction with first suddenly
That formula speed probe 2 and the second hall-effect speed sensor 3 realize the first movable motor 1 and the second walking
The differential control of motor 4.
As it is shown in figure 5, maximum operational speed can be controlled by control unit 7 according to current steering angle,
So that vehicle is when entering steering state, can travel by automatic retarding.
Schematically being described the present invention and embodiment thereof above, this description does not has restricted, attached
Shown in figure is also one of embodiments of the present invention, and actual structure is not limited thereto.So,
If those of ordinary skill in the art is enlightened by it, in the case of without departing from the invention objective, no
Design the frame mode similar to this technical scheme and embodiment through creative, all should belong to the present invention's
Protection domain.
Claims (10)
1. pair driven electric vehicle traveling control system, it is characterised in that: include control unit, for control unit
The walking operating unit of input walking set-point, as the first movable motor of travelling control object and the second row
Walk motor, for detecting the first detector unit of the first movable motor output and for detection the second walking electricity
Second detector unit of machine output, the first movable motor and the first detector unit, the second movable motor and
Two detector units all constitute closed loop with control unit.
2. pair driven electric vehicle control system, it is characterised in that: include the traveling control system described in claim 1,
For turning to the steering operation unit of set-point to control unit input, turn to electricity as course changing control object
Machine and for detecting the 3rd detector unit of steer motor output, steer motor, the 3rd detector unit and control
Unit processed constitutes closed loop.
The most according to claim 2 pair of driven electric vehicle control system, it is characterised in that: also include steering angle
Zero testing unit, steering angle zero testing unit is for inputting steering angle to control unit in an initial condition
Zero signal, to make steer motor steering angle make zero by regulation and control steer motor output.
The most according to claim 3 pair of driven electric vehicle control system, it is characterised in that: steering angle zero-bit is examined
Survey unit and include photoswitch.
The most according to claim 2 pair of driven electric vehicle control system, it is characterised in that: the first detector unit,
Second detector unit and the 3rd detector unit all include hall-effect speed sensor.
The most according to claim 2 pair of driven electric vehicle control system, it is characterised in that: walking operating unit
Including hall accelerator.
The most according to claim 2 pair of driven electric vehicle control system, it is characterised in that: steering operation unit
Including difference Hall element.
The most according to claim 2 pair of driven electric vehicle control system, it is characterised in that: control unit includes
Analyze module, analyze module for turning to set-point to be analyzed also output speed control signal, with regulation and control
The rotating speed output of the first movable motor and the second movable motor.
9. pair driven electric vehicle, it is characterised in that: include the double driven electric vehicle travelling control system in claim 1
System.
10. pair driven electric vehicle, it is characterised in that: include arbitrary described double driven electric vehicles in claim 2～8
Control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270355.1A CN105946622A (en) | 2016-04-27 | 2016-04-27 | Walking control system, control system and double-drive electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270355.1A CN105946622A (en) | 2016-04-27 | 2016-04-27 | Walking control system, control system and double-drive electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105946622A true CN105946622A (en) | 2016-09-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610270355.1A Pending CN105946622A (en) | 2016-04-27 | 2016-04-27 | Walking control system, control system and double-drive electric vehicle |
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| Country | Link |
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| CN (1) | CN105946622A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114237240A (en) * | 2021-12-07 | 2022-03-25 | 内蒙古黄陶勒盖煤炭有限责任公司 | Intelligent dredging robot and walking control method thereof |
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| CN102874310A (en) * | 2012-10-15 | 2013-01-16 | 山推工程机械股份有限公司 | Method and system for controlling differential steering of soil shifter |
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| CN205706233U (en) * | 2016-04-27 | 2016-11-23 | 浙江中力机械有限公司 | Traveling control system, control system and double driven electric vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201882139U (en) * | 2010-12-15 | 2011-06-29 | 东莞洲亮通讯科技有限公司 | DC servo steering system of electric automobile |
| CN102874310A (en) * | 2012-10-15 | 2013-01-16 | 山推工程机械股份有限公司 | Method and system for controlling differential steering of soil shifter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114237240A (en) * | 2021-12-07 | 2022-03-25 | 内蒙古黄陶勒盖煤炭有限责任公司 | Intelligent dredging robot and walking control method thereof |
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