CN113329925A - 轮毂电机驱动***用扭矩矢量分配*** - Google Patents

轮毂电机驱动***用扭矩矢量分配*** Download PDF

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Publication number
CN113329925A
CN113329925A CN201980089833.0A CN201980089833A CN113329925A CN 113329925 A CN113329925 A CN 113329925A CN 201980089833 A CN201980089833 A CN 201980089833A CN 113329925 A CN113329925 A CN 113329925A
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CN
China
Prior art keywords
torque
wheel motor
wheel
control unit
vehicle
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Pending
Application number
CN201980089833.0A
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English (en)
Inventor
王瑾
苏辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Publication of CN113329925A publication Critical patent/CN113329925A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
    • 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
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • 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
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/30—Wheel torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/40—Torque distribution

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

一种轮毂电机驱动***用扭矩矢量分配***，其利用电机控制单元代替车辆控制单元进行扭矩矢量分配计算，从而能够更合理地获得目标电机扭矩且实时性更好。另外，由于不需要车辆控制单元进行计算，因此可以在将扭矩矢量分配***整合到车辆之前就能够在电机控制单元的试验台上对扭矩分配和扭矩变化进行评价。

Description

PCT国内申请，说明书已公开。

Claims (10)

  1. PCT国内申请，权利要求书已公开。
CN201980089833.0A 2019-03-19 2019-03-19 轮毂电机驱动***用扭矩矢量分配*** Pending CN113329925A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/078628 WO2020186443A1 (zh) 2019-03-19 2019-03-19 轮毂电机驱动***用扭矩矢量分配***

Publications (1)

Publication Number Publication Date
CN113329925A true CN113329925A (zh) 2021-08-31

Family

ID=72518901

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980089833.0A Pending CN113329925A (zh) 2019-03-19 2019-03-19 轮毂电机驱动***用扭矩矢量分配***

Country Status (4)

Country Link
US (1) US11780447B2 (zh)
CN (1) CN113329925A (zh)
DE (1) DE112019007044T5 (zh)
WO (1) WO2020186443A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102681385B1 (ko) * 2019-11-26 2024-07-03 현대자동차주식회사 인휠모터 차량의 스티어링 부하 축소를 위한 제어 방법
US20220258723A1 (en) * 2021-02-15 2022-08-18 GM Global Technology Operations LLC Motion and torque control architecture for mobile platform having distributed torque actuators
JP2023040487A (ja) * 2021-09-10 2023-03-23 日野自動車株式会社 駆動制御装置

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6015193A (en) * 1995-07-18 2000-01-18 Daimlerchrysler Ag Braking and steering system for a vehicle
JP2007106171A (ja) * 2005-10-11 2007-04-26 Toyota Motor Corp 制駆動制御装置
CN102167082A (zh) * 2011-03-21 2011-08-31 武汉理工大学 电动轮驱动汽车的差力主动转向***及其控制方法
KR20130057841A (ko) * 2011-11-24 2013-06-03 현대자동차주식회사 차량의 토크 벡터링 시스템 및 그것의 제어방법
CN103935265A (zh) * 2014-04-24 2014-07-23 吴刚 一种电动汽车的车身稳定控制***
CN104494464A (zh) * 2014-12-25 2015-04-08 西安交通大学 一种分布式驱动电动汽车多电机协调控制器
CN104786804A (zh) * 2015-04-30 2015-07-22 郑州宇通客车股份有限公司 一种车辆及其轮边驱动***和轮边驱动扭矩分配方法
CN105172785A (zh) * 2015-09-09 2015-12-23 北京汽车研究总院有限公司 一种汽车扭矩矢量分配的方法及***
CN205022575U (zh) * 2015-09-09 2016-02-10 北京汽车研究总院有限公司 汽车扭矩矢量分配***及汽车
CN106043284A (zh) * 2015-04-07 2016-10-26 现代自动车株式会社 电动四轮驱动混合电动车辆的前后轮扭矩分配的控制方法
CN106864306A (zh) * 2017-02-21 2017-06-20 长沙理工大学 一种分布式驱动电动汽车多模式电子差速控制***

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101760499B1 (ko) * 2009-03-05 2017-07-21 보그워너 스웨덴 아베 토크 벡터링을 위한 장치
JP6447430B2 (ja) * 2015-09-09 2019-01-09 アイシン精機株式会社 トルクベクタリング装置
JP6451690B2 (ja) * 2016-05-11 2019-01-16 トヨタ自動車株式会社 車両の駆動力制御装置
US10737680B2 (en) * 2018-05-03 2020-08-11 Ford Global Technologies, Llc Speed control of super positioning torque vectoring differential

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6015193A (en) * 1995-07-18 2000-01-18 Daimlerchrysler Ag Braking and steering system for a vehicle
JP2007106171A (ja) * 2005-10-11 2007-04-26 Toyota Motor Corp 制駆動制御装置
CN102167082A (zh) * 2011-03-21 2011-08-31 武汉理工大学 电动轮驱动汽车的差力主动转向***及其控制方法
KR20130057841A (ko) * 2011-11-24 2013-06-03 현대자동차주식회사 차량의 토크 벡터링 시스템 및 그것의 제어방법
CN103935265A (zh) * 2014-04-24 2014-07-23 吴刚 一种电动汽车的车身稳定控制***
CN104494464A (zh) * 2014-12-25 2015-04-08 西安交通大学 一种分布式驱动电动汽车多电机协调控制器
CN106043284A (zh) * 2015-04-07 2016-10-26 现代自动车株式会社 电动四轮驱动混合电动车辆的前后轮扭矩分配的控制方法
CN104786804A (zh) * 2015-04-30 2015-07-22 郑州宇通客车股份有限公司 一种车辆及其轮边驱动***和轮边驱动扭矩分配方法
CN105172785A (zh) * 2015-09-09 2015-12-23 北京汽车研究总院有限公司 一种汽车扭矩矢量分配的方法及***
CN205022575U (zh) * 2015-09-09 2016-02-10 北京汽车研究总院有限公司 汽车扭矩矢量分配***及汽车
CN106864306A (zh) * 2017-02-21 2017-06-20 长沙理工大学 一种分布式驱动电动汽车多模式电子差速控制***

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Publication number Publication date
US20220169259A1 (en) 2022-06-02
DE112019007044T5 (de) 2021-12-30
US11780447B2 (en) 2023-10-10
WO2020186443A1 (zh) 2020-09-24

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