CN106938614A - Electric automobile dynamic equilibrium control system - Google Patents
Electric automobile dynamic equilibrium control system Download PDFInfo
- Publication number
- CN106938614A CN106938614A CN201710116198.3A CN201710116198A CN106938614A CN 106938614 A CN106938614 A CN 106938614A CN 201710116198 A CN201710116198 A CN 201710116198A CN 106938614 A CN106938614 A CN 106938614A
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- electric automobile
- battery pack
- power battery
- dynamic equilibrium
- control system
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 13
- 239000000523 sample Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating imbalance
- G01M1/36—Compensating imbalance by adjusting position of masses built-in the body to be tested
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
- B60K2001/0438—Arrangement under the floor
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention is applied to Control of Electric Vehicles technical field, a kind of electric automobile dynamic equilibrium control system is provided, chassis box including being installed on electric motor car bottom, drive mechanism and power battery pack are installed in the chassis box, the system also includes being used to gather the dynamic pickup of the running data of electric automobile, and for carrying out judgement calculating according to running data, real-time output control is instructed to the computer module of drive mechanism；The drive mechanism drives the power battery pack laterally and/or longitudinally to be moved in the chassis box according to control instruction correspondence, to realize dynamic equilibrium control.The present invention detects running car data using various dynamic pickups, then adjustment control in real time is carried out to the position of power battery pack, the center of gravity that amendment electric automobile is continually changing in the process of moving, make electric automobile center of gravity all the time within the scope of safely controllable, brake of the automobile in the process of moving caused by the change of center of gravity is thoroughly solved to nod, accelerate the various wild effects such as new line, cornering roll, improve security, the stability of running car, and the comfortableness that passenger takes.
Description
Technical field
The invention belongs to Control of Electric Vehicles technical field, more particularly to a kind of electric automobile dynamic equilibrium control system.
Background technology
Electric automobile refers to using vehicle power as power, is travelled with device driving moment, meets road traffic, security legislation
The vehicle of requirements.The relatively conventional fuel-engined vehicle of its effect on environment is smaller, and prospect is had an optimistic view of extensively, and in the market is also gushed
Substantial amounts of electric automobile is showed.
The physical aspect of the power battery pack of electric automobile is all more regular, and the current electronic battery location of electric automobile is consolidated
Determine, and the integrally-built center of gravity of electric automobile will not change, in vehicle traveling process, if vehicle condition becomes suddenly
Change, such as acceleration, brake deceleration, left and right are turned etc., body of a motor car is unstable, and ride comfort is poor, particularly works as automobile
When swerving, easily occurs rollover situation.
The content of the invention
In view of the above problems, it is an object of the invention to provide a kind of electric automobile dynamic equilibrium control system, it is intended to solves
The technical problem that certainly existing electric automobile during traveling is unstable, comfort is poor.
The present invention is adopted the following technical scheme that：
The electric automobile dynamic equilibrium control system, including it is installed on the chassis box of electric motor car bottom, the chassis box
Drive mechanism and power battery pack are inside installed, the system also includes：
Dynamic pickup, running data and output for gathering electric automobile；
Computer module, the running data for receiving the dynamic pickup output, is then united according to preset rules
Meter is calculated, and real-time output control is instructed to the drive mechanism；
The drive mechanism is used to drive the power battery pack in the chassis box according to control instruction correspondence
Laterally and/or longitudinally move, to realize dynamic equilibrium control.
Further, the dynamic pickup includes wheel steering sensor, gyroscope, gravity sensor, GPS moulds
Block, laterally vehicle speed sensor, longitudinal acceleration/deceleration sensor, tire rotational speed sensor.
Further, rail groove is provided with an opposite side of the chassis box, the drive mechanism includes the first driving
One piece of loading plate is installed, the first driving means are used to drive institute between device and the second drive device, the rail groove
State loading plate to move along the rail groove, the power battery pack is installed on the loading plate, second drive device
For driving length direction of the power battery pack along the loading plate to move, the moving direction of the loading plate with it is described
The moving direction of power battery pack is vertical.
Further, left and right dovetail slide block is set on the loading plate, the power battery pack back side is provided with dovetail groove, described
Dovetail slide block is located in the dovetail groove.
Further, the first driving means and the second drive device use driving stepper motor.
Further, it is also equipped with backplate on the chassis box.
The beneficial effects of the invention are as follows：The power battery pack of electric automobile is changed to dynamic by the present invention by existing fixed form
Mode is relatively fixed, and running car data are detected using various dynamic pickups, and then the position of power battery pack is carried out in fact
When adjustment control, relative position of the motivation of adjustment battery pack in the box of chassis, amendment electric automobile constantly become in the process of moving
The center of gravity of change, makes electric automobile center of gravity all the time within the scope of safely controllable, thoroughly solves automobile in the process of moving because of center of gravity
The brake that causes of change nod, accelerate the various wild effects such as new line, cornering roll, improve the safety of running car
Property, stability, and passenger take comfortableness.
Further, since the stability of running car is greatly improved, motor corporation is without complicated suspension design and using expensive
The fitment material of weight, such as can be obtained by even more than adjustable electromagnetic spring and air spring using existing helical spring
Effect and texture are travelled, production cost and the energy has been saved.
Brief description of the drawings
Fig. 1 is the upward view of electric automobile；
Fig. 2 is the schematic diagram of electric automobile dynamic equilibrium control system；
Fig. 3 is a kind of scheme of installation of power battery pack；
Fig. 4 is the sectional view of power battery pack and loading plate；
Fig. 5 is another scheme of installation of power battery pack.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Fig. 1 is the upward view of electric automobile, and Fig. 2 is the schematic diagram of electric automobile dynamic equilibrium control system, for the ease of
Illustrate to illustrate only the part related to the embodiment of the present invention.
As shown in Figure 1, 2, the electric automobile dynamic equilibrium control system that the present embodiment is provided includes being installed on electric motor car bottom
Drive mechanism 2 and power battery pack 3 are installed in the chassis box 1 in portion, the chassis box 1, the system also includes：
Dynamic pickup 4, running data and output for gathering electric automobile；
Computer module 5, the running data for receiving the dynamic pickup output, is then united according to preset rules
Meter is calculated, and real-time output control is instructed to the drive mechanism；
The drive mechanism 2 is used to drive the power battery pack in the chassis box according to control instruction correspondence
Laterally and/or longitudinally move, to realize dynamic equilibrium control.
In the process of moving, vehicle body state may change electric automobile, such as brake, start, turn, through over-subtraction
Speed belt etc., running data can change, and the present invention obtains the running data, by judging that running data changes, to control
Relative position of the power battery pack in base plate box, vehicle body center is changed with respective opposed so that electric automobile is all the time in dynamic
The state of state balance, increase multiplies comfort.
Specifically, the running data of electric automobile can such as use wheel steering by the dynamic pickup on car
Sensor, gyroscope, gravity sensor, GPS module, laterally vehicle speed sensor, longitudinal acceleration/deceleration sensor, tire rotational speed sensing
Device etc..These sensors can be that electric automobile dispatches from the factory and carried, can also separately installation settings.For example, when driver moves
During steering wheel, wheel steering sensor can get the rotation amplitude and velocity of rotation of inverted plate, and computer module can root
Judge whether vehicle body is swerving according to these data；It may also detect that whether vehicle body has lateral acceleration by gyroscope
Degree, can also judge whether vehicle body is swerving, and in brake and start-up course, the transverse acceleration of automobile can also change
Become, it can be determined that go out the brake starting state of automobile；Alternatively, it is also possible to set single horizontal, longitudinal acceleration/deceleration sensor, with
Just more accurately measure the lateral acceleration of vehicle body and laterally accelerate change；Vehicle speed sensor and tire rotational speed sensor can also be felt
Know the change of speed, it can be determined that automobile is in the particular state for accelerating, slowing down, start or stopping；The gyroscope and gravity
Inductor can also get acceleration change of the vehicle body in vertical direction, when electric automobile is by deceleration strip or is absorbed in pit
When, vehicle body leading portion or rear end can shake, therefore can also obtain the shake of vehicle body by gyroscope and gravity sensor
Data message.Embodiment does not limit the specific type and quantity of these sensors, and manufacturer can choose according to actual conditions
State the one or more of sensor.
The running data exported according to above-mentioned various sensors, computer module judges the state of electric automobile have
The deterministic process and algorithm the present embodiment of body are not specifically limited, and the computer module is typically built in car running computer, driving
Computer is data acquisition and the automobile control centre of electric automobile.Computer module is detected after the real-time status of electric automobile, is led to
Mechanism of overdriving driving power battery pack is moved backward in the box of chassis, to realize the center of gravity of adjustment electric automobile in real time, specifically
Displacement it is related to the state of electric automobile.Computer module presets control algolithm, such as is adding when detecting automobile
Speed, acceleration directly determines the position of power battery pack, as a kind of example, in accelerator, if acceleration gradually increases
Greatly, then control power battery pack is gradually moved forward, and in moderating process, acceleration is gradually reduced, then controls power battery pack gradually
After move, the mobile range of power battery pack is also relevant with acceleration.If detecting that rapidly left/right turns electric automobile, control is dynamic
Power battery pack right/left is moved.If detecting front/rear section of shake of vehicle body, the corresponding front/rear shifting of control battery, to mitigate shake width
Degree.The control rule of the computer module of the present embodiment is not limited to above-mentioned situation.
By rationally controlling position of the power battery pack in the box of chassis in real time, electric automobile can be corrected in real time in traveling
During the center of gravity that is continually changing, make electric automobile center of gravity all the time within the scope of safely controllable, thoroughly solve automobile in traveling
During brake caused by the change of center of gravity nod, accelerate the various wild effects such as new line, cornering roll, improve automobile
The security of traveling, stability, and the comfortableness that passenger takes.
Further, since the stability of running car is greatly improved, motor corporation is without complicated suspension design and using expensive
The fitment material of weight, such as can be obtained by even more than adjustable electromagnetic spring and air spring using existing helical spring
Effect and texture are travelled, production cost and the energy has been saved.
In the present embodiment, the power battery pack of electric automobile is located in the box of chassis, and battery pack is not contacted directly with chassis, is kept away
Exempt from chassis to collide with the injury brought to battery pack.The physical aspect for being additionally, since battery pack is very regular, generally cube knot
Structure, a big cube is constituted after battery pack is integrally fixed, then carry is in drive mechanism, and chassis box can be made rectangular
Body, there is enough space power battery packs, and basis is provided for electric automobile preferably dynamic configuration center.In addition, may be used also
To install backplate on the box of chassis, collided with outside with preventing that battery pack is exposed.Present system is simple in construction, and technique can
Control, fault rate is low, non-maintaining substantially without maintenance.
What the present embodiment did not limited drive mechanism implements form, as long as power battery pack can be controlled horizontal in the box of chassis
To with vertically move.Enumerated as a kind of structure, as shown in Figure 3,4, rail is set on an opposite side of the chassis box 1
Road groove 21, the drive mechanism includes first driving means (not shown) and the second drive device (not shown), institute
State and be provided between rail groove 21 one piece of loading plate 22, the first driving means are used to driving the loading plate 21 along described
Rail groove 21 is moved, and the power battery pack 3 is installed on the loading plate 22, and second drive device is described for driving
Length direction of the power battery pack 3 along the loading plate 22 is moved, the moving direction of the loading plate and the electrokinetic cell
The moving direction of group is vertical.Further, left and right dovetail slide block 23, described 3 groups of back sides of electrokinetic cell are set on the loading plate 22
Provided with dovetail groove 24, the dovetail slide block 23 is located in the dovetail groove 24.
In the present embodiment, the implementation of first driving means and the second drive device can use various implementations,
Such as motor driving, rack pinion, chain drive, belt transmission, air cylinder driven etc., for control accuracy, described
One drive device and the second drive device are preferably driving stepper motor.Such as, the first motor, loading plate two are installed on loading plate
End is provided with rolling bearing, and rail groove is rack structure, and rolling bearing is located on rack structure, and the first motor via reducer is driven
Dynamic rolling bearing is rotated, it is achieved thereby that control loading plate is moved along rail groove.Second motor is installed in power battery pack, held
Driving rack is installed, the output gear of the second motor via reducer is rotated, the output gear and driving cog of reductor on support plate
Bar is engaged, and then realizes driving power battery pack movement.
Drive mechanism can also use other forms in certain the present embodiment, this all within protection scope of the present invention,
It can also such as use in structure as figure 5 illustrates, chassis box 1 and be provided with two vertical carrying axles 25, wherein a carrying axle can
With transverse shifting, another can vertically move, and be driven respectively by motor.An integral sliding sleeve is cased with two carrying axles
26, power battery pack is hung on integral sliding sleeve, so realizes control power battery pack by controlling two carrying axle movements
Position.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent and improvement made within refreshing and principle etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of electric automobile dynamic equilibrium control system, it is characterised in that the chassis box including being installed on electric motor car bottom, institute
State and drive mechanism and power battery pack are installed in the box of chassis, the system also includes：
Dynamic pickup, running data and output for gathering electric automobile；
Computer module, the running data for receiving the dynamic pickup output, then carries out statistics meter according to preset rules
Calculate, real-time output control is instructed to the drive mechanism；
The drive mechanism, which is used to be corresponded to according to the control instruction, drives the power battery pack horizontal in the chassis box
And/or vertically move, to realize dynamic equilibrium control.
2. electric automobile dynamic equilibrium control system as claimed in claim 1, it is characterised in that the dynamic pickup includes side
To disk rotation direction sensor, gyroscope, gravity sensor, GPS module, laterally vehicle speed sensor, longitudinal acceleration/deceleration sensor, tire
Speed probe.
3. electric automobile dynamic equilibrium control system as claimed in claim 2 a, it is characterised in that opposite side of the chassis box
On be provided with rail groove, the drive mechanism includes installing between first driving means and the second drive device, the rail groove
There is one piece of loading plate, the first driving means are used to drive the loading plate to move along the rail groove, the power electric
Pond group is installed on the loading plate, and second drive device is used to drive the power battery pack along the loading plate
Length direction is moved, and the moving direction of the loading plate is vertical with the moving direction of the power battery pack.
4. electric automobile dynamic equilibrium control system as claimed in claim 3, it is characterised in that left and right swallow is set on the loading plate
Tail sliding block, the power battery pack back side is provided with dovetail groove, and the dovetail slide block is located in the dovetail groove.
5. electric automobile dynamic equilibrium control system as claimed in claim 4, it is characterised in that the first driving means and
Two drive devices use driving stepper motor.
6. the electric automobile dynamic equilibrium control system as described in claim any one of 1-5, it is characterised in that on the chassis box
It is also equipped with backplate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116198.3A CN106938614A (en) | 2017-03-01 | 2017-03-01 | Electric automobile dynamic equilibrium control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116198.3A CN106938614A (en) | 2017-03-01 | 2017-03-01 | Electric automobile dynamic equilibrium control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106938614A true CN106938614A (en) | 2017-07-11 |
Family
ID=59468600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710116198.3A Pending CN106938614A (en) | 2017-03-01 | 2017-03-01 | Electric automobile dynamic equilibrium control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106938614A (en) |
Cited By (7)
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|---|---|---|---|---|
| CN107489593A (en) * | 2017-09-22 | 2017-12-19 | 薛明刚 | A kind of overhead wind power generator |
| CN108215754A (en) * | 2018-03-05 | 2018-06-29 | 福州艾弗斯智能科技有限公司 | A kind of new-energy automobile chassis structure |
| CN108501847A (en) * | 2018-04-02 | 2018-09-07 | 江苏师范大学 | A kind of anti-rollover system of electric vehicle |
| CN109398164A (en) * | 2017-08-18 | 2019-03-01 | 创奕能源科技股份有限公司 | Mobile carrier automatic displacement device and its control method |
| CN110654441A (en) * | 2019-10-21 | 2020-01-07 | 肖雨楚 | Vehicle rollover prevention self-protection device and use method thereof |
| WO2021136535A1 (en) * | 2020-01-03 | 2021-07-08 | 纳恩博（北京）科技有限公司 | Traveling device |
| CN114056126A (en) * | 2022-01-17 | 2022-02-18 | 深圳佑驾创新科技有限公司 | Method and device for controlling longitudinal motion of electric vehicle based on deceleration strip detection |
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| CN109398164A (en) * | 2017-08-18 | 2019-03-01 | 创奕能源科技股份有限公司 | Mobile carrier automatic displacement device and its control method |
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| CN114056126A (en) * | 2022-01-17 | 2022-02-18 | 深圳佑驾创新科技有限公司 | Method and device for controlling longitudinal motion of electric vehicle based on deceleration strip detection |
| CN114056126B (en) * | 2022-01-17 | 2022-04-05 | 深圳佑驾创新科技有限公司 | Method and device for controlling longitudinal motion of electric vehicle based on deceleration strip detection |
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Application publication date: 20170711 |
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