CN110422042B - 一种混合动力框架车分布式驱动*** - Google Patents

一种混合动力框架车分布式驱动*** Download PDF

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CN110422042B
CN110422042B CN201910812649.6A CN201910812649A CN110422042B CN 110422042 B CN110422042 B CN 110422042B CN 201910812649 A CN201910812649 A CN 201910812649A CN 110422042 B CN110422042 B CN 110422042B
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CN110422042A (zh
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曾小华
钱琦峰
宋大凤
李晓建
牛超凡
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Jilin University
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    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • 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
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/32—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the fuel cells
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
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    • 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
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Abstract

本发明公开了一种混合动力框架车分布式驱动***，用其解决现有技术中多轴重载车辆起步困难、经济性较差等现状，该驱动***包括燃料电池、轮边电机及其电机控制器、DC/DC、超级电容、油泵电机、离合器、变量泵、伺服阀、液压控制阀组、轮毂液压马达、蓄能器，组合成电驱动***和液压驱动***；通过控制驱动***工作在不同的模式下，使得整套***能够充分发挥机电液混合动力***的优势，提高整车的燃油经济性，而且具有高通过性、较强的制动能量回收能力、起步快速等优点。

Description

一种混合动力框架车分布式驱动***
技术领域
本发明属于汽车节能技术及新能源汽车领域，主要涉及一种多轮车辆混合动力驱动***，更确切的说，本发明涉及一种由轮毂液压马达和轮边电机共同驱动的分布式混合动力***，使其同时兼备起步快速和高通过性的特点。
背景技术
在框架运输车领域，车辆的运载货物量大，而且工作环境复杂多变，为了满足日常的功能需求，大部分框架车通常装备大马力发动机，并且利用分动器等机械装置，常采用多轴驱动的方案。然而大排量的发动机工作在框架运输车这种低速重载的工况下，特别在起步和加速过程中，整车的燃油经济性很差。为了改善发动机能耗与动力性不能兼顾的先天缺陷，同时简化框架车复杂的传动机械结构，改用液压驱动***和电驱动***这两种驱动***，在这种工况下比传统的驱动方案更具优势。其电驱动***中的电动机相比于发动机，其明显的优势在于低速时能够提供高扭矩的特性，而液压驱动***中的液压轮毂马达的质量和体积要远小于与其相同功率等级下的电机。采用燃料电池为电动机提供电能，电动机为液压泵提供液压能。整车可以同时利用液压驱动***和电驱动***，不仅能够摒弃发动机高能耗的缺点，而且大大提高了整车的通过性。还可以利用电驱动***的超级电容和液压驱动***中的蓄能器，有效的回收再生制动能量，为下次整车的起步提供动力。
现有的一些专利，如中国专利公开号为CN 109263467A，公开日为2018年10月25日，发明名称为“一种多轴特种车辆混合动力全电驱动***”，该发明通过一套能量分配方式对多轴电驱动车辆进行功率和转矩的控制，在满足动力性的同时，尽可能的提高了整车的经济性。中国专利公开号CN 105667341A，公开日为2016年06月15日，发明名称为“一种用于多轴分布式机电驱动车辆的牵引力控制***”，该发明提出了一种多轴分布式机电驱动车辆的牵引力控制***，提高车辆在越野路面上的行驶能力。
综上所述，现有多轴分布式电驱动车辆的动力驱动***，大多数都重点关注于整车驱动管理或者驱动力控制，从而达到良好的动力性和经济性。而同时兼备驱动控制和制动能量回收的分布式***，而且具备液压驱动和电驱动的混合驱动***的，目前还尚未提出。因此，有必要提供这样一种多轴分布式驱动***来弥补现有技术的不足。
发明内容
本发明旨在解决现有技术中多轴重载车辆起步困难、经济性较差等现状，结合现有机电液一体化和再生能量制动回收技术，提出一种多轴分布式驱动***，不仅能够有效的提升多轴车辆起步困难、动力性差的缺点，而且充分利用制动回收。在复杂多变的路况下，使得这种多轴分布式驱动***同时兼备高通过性和较强的制动能量回收能力。
为解决上述技术问题，本发明是采用如下技术方案实现的：
一种混合动力框架车分布式驱动***，其特征在于，包括电驱动***和液压驱动***，所述的电驱动***包括燃料电池(4)、轮边电机及其电机控制器(5)、DC/DC(6)(7)、超级电容(9)；所述的液压驱动***包括油泵电机(8)、离合器(10)、变量泵(3)、伺服阀(11)、液压控制阀组(12)、轮毂液压马达(1)、蓄能器(14)。
电驱动***实现方式如下：燃料电池和超级电容给轮边电机和油泵电机提供电能，进而轮边电机驱动车轮转动。
液压驱动***实现方式如下：油泵电机带动变量泵，进而变量泵带动轮毂液压马达驱动车轮。轮毂液压马达通过液压控制阀组调节，可以工作在旁通模式，制动模式和驱动模式，旁通模式为轮毂液压马达自由转动，即不提供制动力也不提供驱动力，轮毂液压马达所在的车轮自由转动；驱动模式为轮毂液压马达提供驱动力驱动所在的车轮；制动模式为轮毂液压马达提供制动力，产生的液压能被蓄能器吸收。其中变量泵为轴向柱塞式，伺服阀控制变量泵的斜盘开度进而控制变量泵的流量，从而控制轮毂液压马达的转速，实现液压驱动***与电驱动***的协调控制。
整个框架车分布式驱动***可以在以下四种模式下工作，其一：电驱动***单独驱动，在该模式下又分为两种子模式，一种为燃料电池提供电能给所有轮边电机，另外一种为燃料电池和超级电容一起向电驱动***供电；整车在良好路面正常运行时工作在此模式；其二：电驱动***和液压驱动***同时驱动整车，在该模式下又分为三种子模式，第一种为前进助力模式，第二种为后退助力模式，第三种为旁通模式；在蓄能器能够助力起步或者液压驱动***增强整车通过性时进入该模式；其三：仅有液压驱动***驱动整车，整车处于跛行状态，在该模式下又分为两种子模式，一种为后退蠕行模式，另外一种为后退蠕行模式；当电驱动***出现意外故障时进入此模式；其四：制动能量回收，在该模式下分为三种子模式，液压制动、电机制动和联合制动模式；超级电容回收电动机工作在制动发电状态下时发出的电能，蓄能器回收液压驱动***提供制动力矩时的液压能，当整车处于制动时进入此模式。
所述的油泵电机具有多种功能，当离合器处于结合状态时，变量泵与油泵电机相连接，油泵电机带动变量泵，变量泵带动轮毂液压马达驱动车轮。当离合器处于分离状态时，液压驱动***将没有变量泵的动力输入，而油泵电机带动转向***进行转向或者进行框架的升降.
与现有技术相比本发明的有益效果是：
1.液压驱动***中的液压轮毂马达的质量和体积要远小于与其相同功率等级下的电机，以较小的空间和底盘性能开销下，能够在复杂路况下提供驱动力，同时在电驱动***失效时液压驱动***为整车提供跛行模式；
2.整车可以同时利用液压驱动***和电驱动***，不仅能够摒弃发动机高能耗的缺点，而且大大提高了整车的通过性；
3.采用机电液耦合的混合动力***，在制动能量回收时，液压驱动***能够利用蓄能器吸收液压马达的压力能进行制动能量回收，电驱动***能够利用超级电容吸收电动机制动得到的电能；
4.利用电驱动***的超级电容和液压驱动***中的蓄能器，有效的回收再生制动能量，为下次整车的起步提供动力；
5.利用燃料电池作为能量来源，燃料清洁无污染，而且能量转化效率高；
附图说明
下面结合附图对本发明作进一步的说明：
图1为本发明所述的混合动力框架车分布式驱动***整体结构原理图；
图2为本发明所述的混合动力框架车分布式驱动***模式切换状态机；
具体实施方式
下面结合附图对本发明作详细的描述：
参阅图1，多轴混合动力车辆驱动***包含轮毂液压马达(1)、驱动电机线束连接(2)、变量泵(3)、燃料电池(4)、轮边电机及其电机控制器(5)、DC/DC(6)、DC/DC(7)、油泵电机(8)、超级电容(9)、离合器(10)、伺服阀(11)、液压控制阀组(12)、液压管路(13)、蓄能器(14)。
整个车辆的驱动***可分为两大驱动***，包括电驱动***和液压驱动***。电驱动***包括燃料电池(4)、轮边电机及其电机控制器(5)、DC/DC(6)(7)、超级电容(9)；液压驱动***包括油泵电机(8)、离合器(10)、变量泵(3)、伺服阀(11)、液压控制阀组(12)、轮毂液压马达(1)、蓄能器(14)；
首先介绍电驱动***：通过燃料电池(4)输出的电能通过电压转换器DC/DC(6)，转换为母线可用的电压后，供给轮边电机的电机控制器，同时，若超级电容(9)有电量剩余，也可通过DC/DC(7)，转换电压后接入母线，供给轮边电机的电机控制器。当在制动能量回收时，轮边电机切换为发电机状态，进行制动能量回收，产生的电能通过DC/DC后存入超级电容中(9)，以供下次电机驱动。
接下来介绍液压驱动***：轮毂液压马达(1)通过液压控制阀组(12)调节，可以工作在旁通模式，制动模式和驱动模式，旁通模式为轮毂液压马达自由转动，即不提供制动力也不提供驱动力，轮毂液压马达所在的车轮自由转动；驱动模式为轮毂液压马达提供驱动力驱动所在的车轮；制动模式为轮毂液压马达提供制动力，产生的液压能被蓄能器吸收。
驱动整个液压驱动***的变量泵(3)为轴向柱塞式，油泵电机(8)通过离合器带动变量泵(3)，然后变量泵(3)经过液压控制阀组(12)进行控制轮毂液压马达的工作模式，变量泵(3)通过伺服阀(11)控制其斜盘开度，即控制泵的排量，综上，通过这套液压驱动***，可以随意控制轮毂液压马达(1)的转速、转向以及空转等，进而实现液压驱动***与电驱动***的协调控制。
油泵电机(8)具有多种功能，当所述的离合器(10)处于结合状态时，变量泵与油泵电机相连接，油泵电机带动变量泵，变量泵带动轮毂液压马达驱动车轮。当所述的离合器处于分离状态时，液压驱动***将没有变量泵的动力输入，而油泵电机带动转向***进行转向或者进行框架的升降
参阅图2，展示了混合动力框架车分布式驱动***模式切换状态机，其中包括四个大主要工作模式I，II，III，IV，其分别代表电驱动模式、制动能量回收模式、电驱动和液压驱动混合模式、跛行模式；模式I分为仅燃料电池驱动模式和超级电容助力模式；模式II分为液压制动模式、电机制动模式、联合制动模式；模式III分为前进助力模式、后退助力模式、旁通模式；模式IV分为后退蠕行模式、前进蠕行模式。
接下来重点介绍每个模式的具体含义，模式I：电驱动***单独驱动，在该模式下又分为两种子模式，一种为燃料电池提供电能给所有轮边电机，另外一种为燃料电池和超级电容一起向电驱动***供电；整车在良好路面正常运行时工作在此模式；模式II：制动能量回收，在该模式下分为三种子模式，液压制动、电机制动和联合制动模式；超级电容回收电动机工作在制动发电状态下时发出的电能，蓄能器回收液压驱动***提供制动力矩时的液压能，当整车处于制动时进入此模式；模式III：电驱动***和液压驱动***同时驱动整车，在该模式下又分为三种子模式，第一种为前进助力模式，第二种为后退助力模式，第三种为旁通模式；在蓄能器能够助力起步或者液压驱动***增强整车通过性时进入该模式；模式IV：仅有液压驱动***驱动整车，整车处于跛行状态，在该模式下又分为两种子模式，一种为后退蠕行模式，另外一种为后退蠕行模式；当电驱动***出现意外故障时进入此模式。
每个模式可以看出一个状态，不同状态之间存在着切换条件，状态与条件构成了状态机。接下来分析不同状态之间的切换逻辑。
下面介绍不同模式之间的切换逻辑。具体模式与模式之间的切换方向和关系如图2所示。表1为模式I、II、III、IV之间切换条件的具体意义，表2为模式I中切换条件具体意义，表3为模式模式II中切换条件具体意义，表4为模式模式III中切换条件具体意义，表5为模式模式IV中切换条件具体意义。
表1主模式切换条件意义
条件序号 条件
a 汽车出现故障，需要立即修理或者诊断
b 汽车故障解除，可以正常使用
c 当蓄能器释放完全压力能而且离合器分离
d 离合器结合或者蓄能器有待释放的压力能
e 驾驶员踩下制动时
f 驾驶员松开制动踏板
表2模式I中切换条件意义
条件序号 条件
q 超级电容电能释放完全
r 超级电容有待释放的电能
s 超级电容电能释放完全
表3模式II中切换条件意义
条件序号 条件
m 蓄能器存储的能量没有达到其上限
n 超级电容存储的能量没有达到其上限
o 电制动和液压制动的制动力不能满足驾驶员制动力需求
p 电制动和液压制动的制动力不能满足驾驶员制动力需求
表4模式III中切换条件意义
条件序号 条件
g 汽车前进行驶
h 汽车后退行驶
i 汽车滑行行驶
j 汽车驱动行驶
k 汽车滑行行驶
l 汽车驱动行驶
表5模式IV中切换条件意义
条件序号 条件
t 驾驶员有蠕行运行的需求且汽车后退行驶
u 驾驶员有蠕行运行的需求且汽车前进行驶
v 驾驶员有蠕行运行的需求且汽车前进行驶
w 驾驶员有蠕行运行的需求且汽车后退行驶

Claims (1)

1.一种混合动力框架车分布式驱动***，其特征在于，包括电驱动***和液压驱动***，所述的电驱动***包括燃料电池（4）、轮边电机及其电机控制器（5）、DC/DC（6、7）、超级电容（9）；所述的液压驱动***包括油泵电机（8）、离合器（10）、变量泵（3）、伺服阀（11）、液压控制阀组（12）、轮毂液压马达（1）、蓄能器（14）；所述的驱动***在以下四种模式下工作，其一：电驱动***单独驱动，在该模式下又分为两种子模式，一种为燃料电池提供电能给所有轮边电机，另外一种为燃料电池和超级电容一起向电驱动***供电；整车在良好路面正常运行时工作在此电驱动***单独驱动模式；其二：电驱动***和液压驱动***同时驱动整车，在该模式下又分为三种子模式，第一种为前进助力模式，第二种为后退助力模式，第三种为旁通模式；在蓄能器能够助力起步或者液压驱动***增强整车通过性时进入该电驱动***和液压驱动***同时驱动整车模式；其三：仅有液压驱动***驱动整车，整车处于跛行状态，在该模式下又分为两种子模式，一种为前进蠕行模式，另外一种为后退蠕行模式；当电驱动***出现意外故障时进入此仅有液压驱动***驱动整车模式；其四：制动能量回收，在该模式下分为三种子模式，液压制动、电机制动和联合制动模式；超级电容回收电动机工作在制动发电状态下时发出的电能，蓄能器回收液压驱动***提供制动力矩时的液压能，当整车处于制动时进入此制动能量回收模式；所述的燃料电池和超级电容给轮边电机和油泵电机提供电能，进而轮边电机驱动车轮转动；所述的轮边电机为轮边式驱动方案；所述的油泵电机带动变量泵，进而变量泵带动轮毂液压马达驱动车轮；所述的轮毂液压马达通过液压控制阀组调节，工作在旁通模式，制动模式和驱动模式，所述的旁通模式为轮毂液压马达自由转动，即不提供制动力也不提供驱动力，轮毂液压马达所在的车轮自由转动；所述的驱动模式为轮毂液压马达提供驱动力驱动所在的车轮；所述的制动模式为轮毂液压马达提供制动力，产生的液压能被蓄能器吸收；所述的变量泵为轴向柱塞式，所述的伺服阀控制变量泵的斜盘开度进而控制变量泵的流量，从而控制轮毂液压马达的转速，实现液压驱动***与电驱动***的协调控制；所述的油泵电机具有多种功能，当所述的离合器处于结合状态时，变量泵与油泵电机相连接，油泵电机带动变量泵，变量泵带动轮毂液压马达驱动车轮；当所述的离合器处于分离状态时，液压驱动***将没有变量泵的动力输入，而油泵电机带动转向***进行转向或者进行框架的升降。
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