CN202657095U - Wheel side/ wheel side/ wheel hub motor rear wheel drive vehicle steering control system - Google Patents
Wheel side/ wheel side/ wheel hub motor rear wheel drive vehicle steering control system Download PDFInfo
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- CN202657095U CN202657095U CN 201220128791 CN201220128791U CN202657095U CN 202657095 U CN202657095 U CN 202657095U CN 201220128791 CN201220128791 CN 201220128791 CN 201220128791 U CN201220128791 U CN 201220128791U CN 202657095 U CN202657095 U CN 202657095U
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Abstract
The utility model relates to a wheel side/ wheel hub motor rear wheel drive vehicle steering control system. The steering system comprises a full vehicle controller, a service brake controller, a motor torque distribution controller, a left rear wheel motor controller and a right rear wheel motor controller. The full vehicle controller and the service brake controller are respectively connected with the motor torque distribution controller through a data bus. The motor torque distribution controller is respectively connected with the left rear wheel motor controller and the right rear wheel motor controller in a controlling mode through the data bus. The left rear wheel motor controller and the right rear wheel motor controller are respectively used for controlling a left rear wheel motor and a right rear wheel motor. The wheel side/ wheel hub motor rear wheel drive vehicle steering control system enables a double control chip to be adopted, separates an algorithmic control and a logical control, achieves a high control accuracy and speed, successfully enables steady and safe veering driving of a wheel side/ wheel hub motor rear wheel drive passenger car to be achieved, and reduces the conditions of oversteer and understeer.
Description
Technical field
The utility model relates to a kind of limit/wheel hub motor rear wheel drive vehicle steering control system of taking turns, and belongs to the Control of Electric Vehicles technical field.
Background technology
Automobile is in the Turning travel process, and front-wheel (wheel flutter) all adopts active steering control, and trailing wheel is divided into follow-up steering control and active steering is controlled two kinds.The steering angle of active steering control thumbwheels tire is controlled by steering swivel system, and is proportional with the bearing circle anglec of rotation; The steering angle of follow-up steering control thumbwheels tire is not controlled by steering swivel system, and is irrelevant with the bearing circle anglec of rotation.The deflection angle of trailing wheel follow-up steering is determined by the connection mode of trailing wheel and suspension, suspension and vehicle body, namely between trailing wheel and suspension, suspension and vehicle body, some rubber mounts have been arranged, make suspension and vehicle body realize flexibly connecting by rubber, because there is certain elasticity in rubber, so when automobile turning, elastic deformation to a certain degree can occur in the rubber mount of rear-mounted point of connection under the effect of transverse force, thereby does the variation of certain angle with motor car wheel.Generally, the steering angle of trailing wheel is all below 3 degree.
The trailing wheel active steering refers to that the rear-axle steering angle controlled by steering swivel system, and proportional with the bearing circle anglec of rotation.Be divided into two classes according to mode, the first kind is mechanical type rear-axle steering control system, and namely rear-axle steering and front-wheel steering belong to the mechanical linkage system, but steering angle there are differences (being determined by the rear-axle steering organization gear); Equations of The Second Kind is the electron steering rear-wheel steering system, and the system acquisition bearing circle anglec of rotation is determined the deflection angle that trailing wheel is required according to internal algorithm, and drives the work of rear-axle steering mechanism, and front-and rear-wheel steer mechanism does not have mechanical connection.Present stage, the front-wheel of passenger vehicle is wheel flutter, and trailing wheel is drive wheel.Trailing wheel adopts follow-up steering control, in the steering procedure between the two-wheeled speed discrepancy determined by the diff on the vehicle bridge.Along with going from strength to strength of integral new-energy passenger industry, the continuous maturation of wheel limit/wheel hub motor integrated technology, the pure electric coach of wheel limit/In-wheel motor driving possesses the advantage that large, the whole low floor of interior space, the high traditional integral new-energy passenger of space availability ratio can't possess, and the pure electric coach of therefore taking turns limit/In-wheel motor driving will become Future New Energy Source bus market development sign.But the rotating direction control method of present stage can not satisfy the requirement of wheel limit/In-wheel motor driving passenger vehicle Turning travel.
The utility model content
The purpose of this utility model provides a kind of limit/wheel hub motor rear wheel drive vehicle steering control system of taking turns, the not plateau problem that occurs when solving wheel limit/wheel hub motor rear wheel drive vehicle Turning travel.
The utility model provides a kind of limit/wheel hub motor rear wheel drive vehicle steering control system of taking turns for solving the problems of the technologies described above, this steering control system comprises entire car controller, the service brake controller, the motor torque dispensing controller, left rear wheel electric machine controller and off hind wheel electric machine controller, the motor torque dispensing controller links to each other with the service brake controller with entire car controller respectively by data bus, the motor torque dispensing controller is connected with the off hind wheel motor controller controls with the left rear wheel electric machine controller by control bus, and left rear wheel electric machine controller and off hind wheel electric machine controller are respectively applied to control left rear wheel motor and off hind wheel motor.
The beneficial effects of the utility model are: the utility model is by using motor torque dispensing controller, left rear wheel electric machine controller and off hind wheel electric machine controller, the utility model adopts two control chips, algorithm is separated with logic control, high control precision and speed have been realized, success realizes stable, the safe Turning travel of wheel limit/wheel hub motor back-wheel drive passenger vehicle, reduces the generation of ovdersteering or understeer situation.
Description of drawings
Fig. 1 is the limit/wheel hub motor rear wheel drive vehicle steering control system constructional drawing of taking turns of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present utility model is described further.
Of the present utility modelly take turns that the limit/wheel hub motor rear wheel drive vehicle steering control system as shown in Figure 1, comprise the motor torque dispensing controller, left rear wheel electric machine controller and off hind wheel electric machine controller, the mouth of motor torque dispensing controller is connected with the off hind wheel motor controller controls with the left rear wheel electric machine controller by control bus, left rear wheel electric machine controller and off hind wheel electric machine controller are respectively applied to control left rear wheel motor and off hind wheel motor, the motor torque dispensing controller is by data bus and entire car controller, BMS links to each other with the service brake controller
Entire car controller, main value or the state of being responsible for gathering the bearing circle anglec of rotation, the Das Gaspedal degree of depth, the brake pedal degree of depth, other relevant analog quantitys or switching value, obtain the parameters such as electrokinetic cell voltage that BMS provides and capacity by data bus, related data is carried out Preliminary Analysis and logic control, to turn to the control correlative to issue the motor torque dispensing controller by data bus, and accept the correlative that the motor torque dispensing controller returns (such as motor speed etc.).
The motor torque dispensing controller, the main motor torque control algorithm of being responsible for, obtain the relevant control algorithm input by DCB, coil the lock torque of stopping on the output torque of calculating rear wheel rotation limit/wheel hub motor and four tires, utilize execution torque and the control command of control bus and data bus associated components to send.
The service brake controller, the main braking torque of being responsible for each tire of control by the size of data bus acquisition executive command and tire braking force, drives brake component and finishes braking force output.
Electric machine controller, main being responsible for drives corresponding wheel limit/wheel hub motor torque output according to obtain electric machine rotation order and output level of torque by control bus, gathers motor speed information and issues the motor torque dispensing controller.
The working process of this steering control system is as follows: entire car controller is with the bearing circle anglec of rotation that collects, the vehicle current vehicle speed, the motor speed of two trailing wheels, Das Gaspedal Voltage-output signal and brake pedal Voltage-output signal send to the motor torque dispensing controller by data bus, electric machine controller will gather motor speed information and issue the motor torque dispensing controller, BMS can provide power also to send to the motor torque dispensing controller electrokinetic cell that collects, the motor torque dispensing controller is according to obtaining the relevant control algorithm input by DCB, coil the lock torque of stopping on the output torque of two rear wheel rotation limit/wheel hub motors of calculating and four tires, utilize control bus and data bus to send corresponding torque control command to electric machine controller and service brake controller, the service brake controller is according to the size that obtains executive command and tire braking force, drive brake component and finish braking force output, electric machine controller is controlled corresponding motor according to the order of acquisition electric machine rotation and output level of torque and is finished power output, makes as required steady Turning travel of vehicle.The utility model adopts two control chips, and algorithm is separated with logic control, has realized high control precision and speed, successfully realizes stable, the safe Turning travel of wheel limit/wheel hub motor back-wheel drive passenger vehicle, reduces the generation of ovdersteering or understeer situation.
Claims (1)
1. take turns limit/wheel hub motor rear wheel drive vehicle steering control system for one kind, it is characterized in that: this steering control system comprises entire car controller, the service brake controller, the motor torque dispensing controller, left rear wheel electric machine controller and off hind wheel electric machine controller, the motor torque dispensing controller links to each other with the service brake controller with entire car controller respectively by data bus, the motor torque dispensing controller is connected with the off hind wheel motor controller controls with the left rear wheel electric machine controller by control bus, and left rear wheel electric machine controller and off hind wheel electric machine controller are respectively applied to control left rear wheel motor and off hind wheel motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220128791 CN202657095U (en) | 2012-03-30 | 2012-03-30 | Wheel side/ wheel side/ wheel hub motor rear wheel drive vehicle steering control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220128791 CN202657095U (en) | 2012-03-30 | 2012-03-30 | Wheel side/ wheel side/ wheel hub motor rear wheel drive vehicle steering control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202657095U true CN202657095U (en) | 2013-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220128791 Expired - Fee Related CN202657095U (en) | 2012-03-30 | 2012-03-30 | Wheel side/ wheel side/ wheel hub motor rear wheel drive vehicle steering control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202657095U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632923A (en) * | 2012-03-30 | 2012-08-15 | 郑州宇通客车股份有限公司 | Steering control method and system for rear-wheel driving vehicle of wheel rim/hub motor |
| CN107351913A (en) * | 2017-07-17 | 2017-11-17 | 聊城中通轻型客车有限公司 | A kind of trailing wheel active steering apparatus |
-
2012
- 2012-03-30 CN CN 201220128791 patent/CN202657095U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632923A (en) * | 2012-03-30 | 2012-08-15 | 郑州宇通客车股份有限公司 | Steering control method and system for rear-wheel driving vehicle of wheel rim/hub motor |
| CN102632923B (en) * | 2012-03-30 | 2013-11-06 | 郑州宇通客车股份有限公司 | Steering control method and system for rear-wheel driving vehicle of wheel rim/hub motor |
| CN107351913A (en) * | 2017-07-17 | 2017-11-17 | 聊城中通轻型客车有限公司 | A kind of trailing wheel active steering apparatus |
| CN107351913B (en) * | 2017-07-17 | 2023-09-05 | 中通客车股份有限公司 | Active steering device for rear wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130109 Termination date: 20190330 |