CN205601540U - Four in -wheel motor driving [electric] motor coach electron initiative control system that prevents heeling - Google Patents
Four in -wheel motor driving [electric] motor coach electron initiative control system that prevents heeling Download PDFInfo
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- CN205601540U CN205601540U CN201620397368.0U CN201620397368U CN205601540U CN 205601540 U CN205601540 U CN 205601540U CN 201620397368 U CN201620397368 U CN 201620397368U CN 205601540 U CN205601540 U CN 205601540U
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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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The utility model discloses a four in -wheel motor driving [electric] motor coach electron initiative control system that prevents heeling, include: vehicle ecu ECU, sensor group, vehicle suspension controller, four active suspension, in -wheel motor controller and four drive in -wheel motor, wherein: vehicle ecu ECU's input links to each other with sensor group, vehicle ecu ECU's output links to each other with vehicle suspension controller and in -wheel motor controller respectively, the vehicle suspension controller links to each other with four active suspension respectively, the in -wheel motor controller links to each other with two drive in -wheel motor respectively. This system can improve the vehicle and do all can to the mean effort on ground, increases lateral friction force, the security of reinforcing turn the corner, and can effectively improve vehicle turn the corner speed and improve passenger's comfort.
Description
Technical field
This utility model relates to new energy vehicle and controls technical field, particularly relates to a kind of four In-wheel motor driving electric motor coach anti-inclination electronics active control system.
Background technology
New-energy automobile especially pure electric automobile more and more occurs due to its feature of environmental protection and convenience in city.Owing to its energy feature especially possesses development space in the passenger car field of route operation.
It is a kind of new-type electric automobile type of drive that In-wheel motor driving controls, and it has simple in construction, and transmission efficiency is high, it is simple to the features such as maintenance.Thus the control of wheel hub motor becomes the big problem that electric motor car drives, especially when vehicle is turned, owing to there is no traditional mechanical speed difference device, need controller that both sides wheel hub motor is carried out the differential control of electronics, to ensure that interior outside wheel speed meets certain differential state when turning, reduce the loss of vehicle and make turning to of vehicle energy safer and more comfortable.
Four wheel hub motor powered passenger vehicles are a kind of novel electric motor car moulding, owing to have employed the type of drive of wheel hub motor, can significantly liberate interior space, increase the motility of arrangement, reduce vehicle chassis, increase stability, improve ride quality, strengthen interior space etc..
The problems such as meanwhile, novel driving structure brings and such as turns to differential control, and steering stability controls, vehicle vibration control.Passenger vehicle is long due to its length, and radius of turn is big, and center of gravity is high, the features such as load-carrying is big, is particularly susceptible the problems such as generation inclination, rollover.In prior art, the problem that the most effective method solves the rollover of electric motor coach vehicle roll.
Utility model content
The purpose of this utility model is to provide a kind of four In-wheel motor driving electric motor coach anti-inclination electronics active control system, can improve the vehicle mean effort to ground, increases side-friction force, strengthened curved safety；And can be effectively improved vehicle cross curved speed improve occupant's comfort.
The purpose of this utility model is achieved through the following technical solutions:
A kind of four In-wheel motor driving electric motor coaches anti-inclination electronics active control system, including: Vehicle Electronic Control Unit ECU, sensor group, vehicle hanging controller, four Active Suspensions, hub motor control device and four drive hub motors；Wherein:
The input of described Vehicle Electronic Control Unit ECU is connected with sensor group；
The outfan of described Vehicle Electronic Control Unit ECU is connected with vehicle hanging controller and hub motor control device respectively；
Described vehicle hanging controller is connected with four Active Suspensions respectively, and described hub motor control device is connected with four drive hub motors respectively.
Described sensor group includes: vehicle speed sensor, wheel speed sensors, acceleration transducer, yaw-rate sensor, vehicle obliquity sensor, steering angle sensor and accelerator pedal sensor.
The technical scheme that thered is provided by above-mentioned this utility model is it can be seen that export corresponding signal to Active Suspensions and hub motor control device by Vehicle Electronic Control Unit ECU according to the data that sensor group input, thus regulates suspension height and travel speed；So that the inclination that the turning centrifugal force that passenger vehicle is when turning causes can be shifted by center of gravity and offset so that occupant is reduced or eliminated the sense of discomfort of outer inclination, can improve the vehicle mean effort to ground, increases side-friction force, strengthened curved safety simultaneously；Furthermore, it is possible to offset the inclination that external environmental factor causes, improve the comfortableness of occupant.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, in describing embodiment below, the required accompanying drawing used is briefly described, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, from the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawings according to these accompanying drawings.
The structural representation of a kind of four In-wheel motor driving electric motor coach anti-inclination electronics active control system that Fig. 1 provides for this utility model embodiment；
The one four In-wheel motor driving electric motor coach anti-inclination electronics active control system vehicle body that Fig. 2 provides for this utility model embodiment arranges schematic diagram；
The acceleration transducer internal circuit schematic diagram that Fig. 3 provides for this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on embodiment of the present utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into protection domain of the present utility model.
The structural representation of a kind of four In-wheel motor driving electric motor coach anti-inclination electronics active control system that Fig. 1 provides for this utility model embodiment.As it is shown in figure 1, it specifically includes that
Vehicle Electronic Control Unit ECU, sensor group, vehicle hanging controller, four Active Suspensions, hub motor control device and four drive hub motors；Wherein:
The input of described Vehicle Electronic Control Unit ECU is connected with sensor group；
The outfan of described Vehicle Electronic Control Unit ECU is connected with vehicle hanging controller and hub motor control device respectively；
Described vehicle hanging controller is connected with four Active Suspensions respectively, and described hub motor control device is connected with four drive hub motors respectively.
Further, described sensor group includes: vehicle speed sensor, wheel speed sensors, acceleration transducer, yaw-rate sensor, vehicle obliquity sensor, steering angle sensor and accelerator pedal sensor.
The vehicle body of the four In-wheel motor driving electric motor coaches anti-inclination electronics active control system that this utility model embodiment is provided arranges that schematic diagram refers to Fig. 2, wherein accelerator pedal sensor is not shown with vehicle speed sensor, and wheel speed signal is the signal that corresponding wheel speed sensors collects with rotation direction sensor with turn signal.
Work process and the principle thereof of the four In-wheel motor driving electric motor coaches anti-inclination electronics active control system that this utility model embodiment is provided are as follows:
The four motor-driven electric motor coaches of wheel hub are a kind of novel electric motor car moulding, and it possesses, and space is big, chassis is low, facilitate the route commons cars such as the features such as passenger, suitable for city public transport, machine level ground car, school bus, become a kind of novel electric vehicle trend.But the electric motor coach model of this four wheel hub motors is different from general passenger car or drives the passenger vehicle of bridge-type, his complete vehicle structure is the loosest, lateral acceleration for producing when tempo turn is more sensitive, easily occurs the outside of car body to tilt to even result in rollover danger.
In the present embodiment, when vehicle started curved, driver turn steering wheel, vehicle corner sensor records the corner of each sampling instant, pass to ECU, collect the signal of accelerator pedal sensor and current transverse acceleration simultaneously, wheel speed, speed, yaw velocity etc., these data are sent to ECU within a sampling period and are calculated, in conjunction with electric motor coach vehicle structure data, can calculate vehicle greater than curved speed, when predicting speed close to marginal value, ECU is exceeded the speed limit by instrument warning driver.ECU sends instruction to electric machine controller and suspension controller: wheel hub motor is carried out differential calculating, reduce inside height, suspension height outside lifting, the inclination so caused by turning centrifugal force can be shifted by center of gravity and offset, make occupant that the sense of discomfort of outer inclination is reduced or eliminated, the vehicle mean effort to ground can be improved simultaneously, increase side-friction force, strengthened curved safety.
It is illustrated in figure 3 acceleration transducer internal circuit schematic diagram, it is provided that longitudinal direction of car and horizontal acceleration signal.This sensor uses the AD22293 type two-axis acceleration device of ANALOG DEVICE company as core devices, measures scope ± 5g, resolution 1mg, alignment accuracy 0.1 °, sensitivity 312mV/g, shock resistance 3500g.
Circuit uses low-pass filtering, emitter following, the design of noise filtering, accelerometer output analog quantity, utilizes low-pass filtering to realize anti-aliasing and noise suppressed.According to 3dB noise calculation formula:
f-3dB=1/ ((2 π) (32k Ω) × C(X,Y))
Our lowpass frequency of design is 50Hz, according to calculating, obtains filter capacitor 0.1uF, such as C37 in Fig. 3, C38.Use design to follow signal afterwards, utilize the MCP6232 signal amplifier chip of MICROCHIP company, improve carrying load ability, reduce the Line Attenuation of signal.Medium-high frequency filtering is carried out, it is ensured that stablizing of signal in interface end design capacitance.
When vehicle occurs to roll because of tunnel extreme crosswind, hazard weather high wind, what vehicle ECU was intelligent actively regulates the height of both sides Active Suspensions, soft durometer, to offset the inclination that external environmental factor causes, improves the comfortableness of occupant.
Require emphasis time, the calculating of parameters involved in above-mentioned work process and principle can be realized by conventional algorithm.
In order to make it easy to understand, be described further with anti-inclination during extreme crosswind turning respectively below for combining two examples.
Example 1:
When vehicle needs to turn to when, driver turn steering wheel, steering angle value is passed to vehicle ECU unit by steering angle sensor, and ECU reads current time by vehicle speed sensor, acceleration transducer, vehicle speed sensor signal and yaw-rate sensor signal.If comparing speed after calculating to be more than curved limit velocity with vehicle modeling data, now accelerator pedal signal is inoperative, i.e. vehicle can not continue to accelerate or maintain speed, and motor driver proceeds by electric braking, and ECU informs that instrument alerting drivers exceeds the speed limit.Then ECU carries out electronic differential, according to when front hook and speed, suitably reduces the speed of inboard wheel, reaches differential turning purpose.If speed does not reaches limit velocity, now ECU is according to vehicle modeling data and current sensor acquisition value, send control signal to suspension controller and motor driver, suspension controller controls Active Suspensions inside Vehicle Active Suspension reduction, raise outside Active Suspensions, reaching active and inwardly roll the purpose of side, with equilibrium centrifugation power, its lifting reduces height and is determined through ECU calculating by actual sense samples value；Motor driver controls wheel hub motor, the wheel hub motor speed making outside is consistent with the desired speed of accelerator pedal, and the wheel hub motor speed of inner side combines sensor values after calculating at ECU, provide a value less than outside wheel hub motor speed, reach differential and actively tilted curved purpose.In the middle of this process, if driver's bend the throttle or take braking, ECU can dynamically adjust the lifting of differential and suspension.Here it is considered that the service data of the collection vehicle that vehicle ECU can be real-time, when the input information such as vehicle corner, accelerator pedal, speed change, can be immediately by the auxiliary information of sensor acquisition, comprehensive vehicle modeling information provides a suitable control program, pass to motor driver, suspension controller, control vehicle entrance one and safely and steadily run state.
Example 2:
If vehicle runs into cantankerous lateral wind when going out tunnel as shown in Figure 2, vehicle roll angle sensor detects that the vehicle right side that crosswind causes inclines, ECU will control rapidly the Active Suspensions (1,3) in left side and reduce, right side Active Suspensions (2,4) raise, car body is made to maintain on a stable equilbrium position, treat extreme crosswind weakens disappearance, ECU the most dynamically control hang return to original state.
Require emphasis time, the calculating of parameters involved in above-mentioned two example can be realized by conventional algorithm.
The above; it is only this utility model preferably detailed description of the invention; but protection domain of the present utility model is not limited thereto; any those familiar with the art is in the technical scope that this utility model discloses; the change that can readily occur in or replacement, all should contain within protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (2)
1. an In-wheel motor driving electric motor coach anti-inclination electronics active control system, it is characterised in that including: car
Electronic control unit ECU, sensor group, vehicle hanging controller, four Active Suspensions, hub motor control device with
And four drive hub motors；Wherein:
The input of described Vehicle Electronic Control Unit ECU is connected with sensor group；
The outfan of described Vehicle Electronic Control Unit ECU respectively with vehicle hanging controller and hub motor control device phase
Even；
Described vehicle hanging controller is connected with four Active Suspensions respectively, and described hub motor control device drives with four respectively
Runner hub motor is connected.
System the most according to claim 1, it is characterised in that described sensor group includes: vehicle speed sensor, wheel
Speed sensor, acceleration transducer, yaw-rate sensor, vehicle obliquity sensor, steering angle sensor and add
Speed pedal sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620397368.0U CN205601540U (en) | 2016-04-29 | 2016-04-29 | Four in -wheel motor driving [electric] motor coach electron initiative control system that prevents heeling |
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| CN201620397368.0U CN205601540U (en) | 2016-04-29 | 2016-04-29 | Four in -wheel motor driving [electric] motor coach electron initiative control system that prevents heeling |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585709A (en) * | 2016-12-21 | 2017-04-26 | 南京航空航天大学 | Automotive chassis integrated system and optimizing method thereof |
| CN106696761A (en) * | 2017-01-25 | 2017-05-24 | 福州大学 | Intelligent driving control system and driving control method thereof of electric automobile |
| CN112622555A (en) * | 2020-12-21 | 2021-04-09 | 厦门雅迅网络股份有限公司 | Vehicle predictive suspension control method and terminal |
| CN113352830A (en) * | 2020-03-05 | 2021-09-07 | 通用汽车环球科技运作有限责任公司 | Method and system for controlling suspension system of vehicle, and vehicle |
-
2016
- 2016-04-29 CN CN201620397368.0U patent/CN205601540U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585709A (en) * | 2016-12-21 | 2017-04-26 | 南京航空航天大学 | Automotive chassis integrated system and optimizing method thereof |
| CN106585709B (en) * | 2016-12-21 | 2019-01-29 | 南京航空航天大学 | A kind of automobile chassis integrated system and its optimization method |
| CN106696761A (en) * | 2017-01-25 | 2017-05-24 | 福州大学 | Intelligent driving control system and driving control method thereof of electric automobile |
| CN106696761B (en) * | 2017-01-25 | 2019-03-12 | 福州大学 | A kind of electric car intelligent driven controlling system and its drive control method |
| CN113352830A (en) * | 2020-03-05 | 2021-09-07 | 通用汽车环球科技运作有限责任公司 | Method and system for controlling suspension system of vehicle, and vehicle |
| CN112622555A (en) * | 2020-12-21 | 2021-04-09 | 厦门雅迅网络股份有限公司 | Vehicle predictive suspension control method and terminal |
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