CN101746415B - Electronic differential control system of electric vehicle - Google Patents
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- CN101746415B CN101746415B CN200810185896XA CN200810185896A CN101746415B CN 101746415 B CN101746415 B CN 101746415B CN 200810185896X A CN200810185896X A CN 200810185896XA CN 200810185896 A CN200810185896 A CN 200810185896A CN 101746415 B CN101746415 B CN 101746415B
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses an electronic differential control system of an electric vehicle, which belongs to a control system. The electronic differential control system of the electric vehicle of the invention comprises a central control circuit, left and right motors, corresponding left and right sensors and corresponding left and right controllers, wherein the central control circuit is an analog electronic circuit; and the central control circuit receives signals, which are output by the left and right sensors and related to left and right motor torques, and outputs corresponding speed regulation signals to the left and right controllers. The electronic differential control system of the electric vehicle controls the torque difference of two motors when the rotating speeds of the two motors are different, so the electronic differential function of the electric vehicle is realized.
Description
Technical field
The invention that real name is called a kind of electronic differential control system of battery-driven car relates to a kind of control system and is applicable to the electronic differential control of electronlmobil and the electronic differential control of three-wheeled electric vehicle etc.
Background technology
The control circuit complexity that existing existing general electronic differential control technology has, the speed of response that has is slow, the adaptation complex road condition that has and the ability of operating mode, unreliable and the uneasy congruence of ubiquity is not enough, application number is that a kind of four wheel electronic differential speed steering control system of 02136498.2 patent disclosure is adjusted vehicle wheel rotational speed again after calculating each wheel rotating speed of target, can not adapt to various complex road conditions and operating mode; Application number is that the control that a kind of electronlmobil of 200720107279.9 patent disclosure turns to the utility model of electronic differential controller to lack motor torque can not adapt to various complex road conditions and operating mode equally; Though application number is the control that the differential control system of the two-wheeled driven electric vehicle of 200810020544.9 patent disclosure has motor torque, but control circuit has used complicated digital circuits such as micro controller system, can not control in real time, speed of response is slow, and is very dangerous.
Summary of the invention
The objective of the invention is to avoid the some shortcomings of now existing general electronic differential control technology existence, for battery-driven car provides a kind of more safe and reliable electronic differential control system.Real name is called a kind of a kind of electronic differential control system of battery-driven car of invention of electronic differential control system of battery-driven car and realizes by following technical scheme, the electronic differential control system of described a kind of battery-driven car of the present invention comprises central control circuit and is respectively applied for a driving battery-driven car left side, the left side of right drive wheel, right motor and respectively with a left side, the corresponding left side of right motor, right sensor drives a left side with being respectively applied for, the left side of right motor, right controller, left side controller is used to drive left motor, right controller is used to drive right motor, a left side, right sensor is a sensing left side respectively, the torque of right motor and respectively output voltage become positively related dtc signal with the torque of corresponding motor separately, central control circuit is an Analogic Electronic Circuits, central control circuit receives a left side respectively, the dtc signal of right sensor output and difference are left, the speed control signal input part of right controller is exported corresponding speed control signal, central control circuit is with the left side of its reception, the voltage difference of the dtc signal of right sensor output is controlled it in real time and is transported to a left side, the speed control voltage of signals of right controller, thereby make a left side, no matter right motor exists any speed discrepancy, a left side, the torque differences of right motor all is in the predetermined scope, thereby realize the electronic differential function of battery-driven car, specifically be, when the voltage of the dtc signal of the right sensor output of voltage ratio of the dtc signal of left sensor output was big, central control circuit was transported to the speed control voltage of signals of left controller with a left side, the increase of the absolute value of the voltage difference of the dtc signal of right sensor output and reducing; Otherwise, when the voltage of the dtc signal of the voltage ratio left side sensor output of the dtc signal of right sensor output was big, the speed control voltage of signals that central control circuit is transported to right controller reduced with the increase of the absolute value of the voltage difference of the dtc signal of left and right sensor output.Described central control circuit can also receive and handle from exterior control signal, comprise from the brake signal of brake lever or brake gear with from speed control crank or quicken the car load speed control signal of electric switch from exterior control signal, when brake signal, described central control circuit makes a described left side, right controller is closed down a described left side, right motor, when no brake signal, described central control circuit is according to the size of the car load speed control voltage of signals that it received, it transports to a described left side corresponding adjustment, the size of the speed control voltage of signals of right controller, thereby the speed of regulation and control car load.Described central control circuit can also be controlled the size that it transports to the corresponding speed control voltage of signals of described left and right controller respectively according to the voltage of the dtc signal of described left and right sensor output, thereby limits the maximum torque of described left and right motor.The electronic differential control system of described a kind of battery-driven car of the present invention also has the differential locking-device function, specifically be, correspondingly separately respectively between the dtc signal mouth of described left and right sensor and ground be connected with open circuited at ordinary times left and right differential locking-device button switch, when left wheel skids or is unsettled, make its closure by bottom right differential locking-device button switch, the speed control voltage of signals that just can make described central control circuit transport to described right controller is not subjected to the influence of the torque of described right motor, thereby makes described right motor have enough torques that car is moved ahead; When right tyre skidding or when unsettled, make its closure by bottom left differential locking-device button switch, the speed control voltage of signals that just can make described central control circuit transport to described left controller is not subjected to the influence of the torque of described left motor, thereby makes described left motor have enough torques that car is moved ahead.The electronic differential control system of described a kind of battery-driven car of the present invention can also have the function of the level of torque of adjusting described left and right motor, specifically reach the purpose of the level of torque of adjusting described left and right motor by the symmetry that changes the symmetrical circuit part that described central control circuit comprises, thereby when the car sharply turning, can suitably reduce the torque of inboard motor and the torque that increases outside motor, strengthen the road-holding property of car.Be connected with the corresponding separately left and right high-frequency filter capacitor that is used to reduce the output voltage high-frequency ripple between the dtc signal mouth of described left and right sensor and the ground respectively.Described left and right sensor can also be to be used for the difference sensing current sensor of the phase current of corresponding described left and right motor separately, utilize the torque of motor and the phase current positive correlation of motor, reach the purpose of the torque of indirect measurement motor by the phase current of measuring motor.Described left and right motor is wheel hub motor.The invention has the beneficial effects as follows: the torque differences of (one) the present invention when there is any speed discrepancy in the left and right motor that drives battery-driven car left and right driving wheel controlled, and respectively takes turns rotating speed of target and just can adapt to uneven road surface automatically and various complex road conditions and operating mode such as turn to suddenly thereby need not calculate and control; (2) the present invention is when normal operative condition, can utilize the torque differences of left and right motor to turn round back corrections automatically after the car deflection, thereby can make car be not easy sideslip during craspedodrome in more smooth and mass ratio on than uniform prevailing roadway, and is safer; (3) the present invention uses simple Analogic Electronic Circuits, and reliability is higher, and speed of response is faster.To sum up the invention provides a kind of more safe and reliable electronic differential control system.
Description of drawings
Fig. 1 is the structural representation of electronic differential control system of a kind of battery-driven car of a preferred embodiment of the present invention.Fig. 2 is the circuit diagram of central control circuit of electronic differential control system of a kind of battery-driven car of a preferred embodiment of the present invention.Among the figure: yellow, blue, green, red, the black terminals that are; E12 is the 12V positive source; Ground is the 12V power cathode; I1, left-hand rotation square signal input part; I2, right torque signal input part; M1, left speed control signal output part; M2, right speed control signal output part; K1, left differential locking-device button switch; K2, right differential locking-device button switch; VZ1, stabilivolt; VZ2, stabilivolt; VD1, diode; VD11, diode; VD12, diode; V1, aerotron; V2, aerotron; V11, aerotron; V21, aerotron; V12, aerotron; V22, aerotron; R1, resistance; R2, resistance; R3, resistance; R4, resistance; R5, resistance; R6, resistance; R7, resistance; R11, resistance; R21, resistance; R31, resistance; R41, resistance; R51, resistance; R12, resistance; R22, resistance; R32, resistance; R42, resistance; R52, resistance; RP, rheostat; C1, electric capacity; C2, electric capacity; C11, left high-frequency filter capacitor; C12, right high-frequency filter capacitor.
The specific embodiment
The invention will be further described and casehistory below in conjunction with accompanying drawing and a preferred embodiment of the present invention.As shown in Figure 1, the electronic differential control system of a kind of battery-driven car of a preferred embodiment of the present invention comprises central control circuit and is respectively applied for a driving battery-driven car left side, the left side of right drive wheel, right motor and respectively with a left side, the corresponding left side of right motor, right sensor drives a left side with being respectively applied for, the left side of right motor, right controller, left side controller is used to drive left motor, right controller is used to drive right motor, a left side, right sensor is a sensing left side respectively, the torque of right motor and respectively output voltage become positively related dtc signal with the torque of corresponding motor separately, central control circuit is an Analogic Electronic Circuits, and central control circuit receives a left side respectively, the dtc signal of right sensor output and difference are left, the speed control signal input part of right controller is exported corresponding speed control signal; As shown in Figure 2, the central control circuit of the electronic differential control system of a kind of battery-driven car of a preferred embodiment of the present invention is one to be the Analogic Electronic Circuits of the 12V power supply power supply of 12V by voltage, E12 is the 12V positive source, ground is the 12V power cathode, be used to receive the dtc signal that left sensor is exported with the dtc signal mouth bonded assembly left-hand rotation square signal input part I1 of left sensor, so the voltage of left-hand rotation square signal input part I1 also with the torque positive correlation of left motor, be used to receive the dtc signal of right sensor output with the dtc signal mouth bonded assembly right torque signal input part I2 of right sensor, thus the voltage of right torque signal input part I2 also with the torque positive correlation of right motor; With the speed control signal input part bonded assembly of the left controller left side speed control signal output part M1 controller output speed control signal that is used to turn left, with the right speed control signal output part of the speed control signal input part bonded assembly M2 of the right controller controller output speed control signal that is used to turn right; Yellow, blue, green three ends are respectively applied for the respective terminal that connects speed control crank, Huang Duan is used to the speed control crank power supply, Lan Duan is used to speed control crank ground connection, green end is used to connect the signal end of speed control crank, red, black two ends are respectively applied for the respective terminal that connects brake lever, black end is used to brake lever ground connection, red end is used to connect the signal end of brake lever, as from the brake signal of brake lever the time, the voltage of red end is reduced to 0V, capacitor C 1 is discharged rapidly by diode VD1, capacitor C 1 both end voltage is reduced rapidly, thereby aerotron V1 is ended or the decline of conducting degree by resistance R 6, and then by resistance R 2, resistance R 3, resistance R 4 reduces to a certain degree aerotron V2 collector voltage, make the voltage that is added to left speed control signal output part M1 and right speed control signal output part M2 respectively by resistance R 11 and resistance R 12 be reduced to a certain degree, thereby can make a left side, right controller is closed down a left side, right motor; By resistance R 1, capacitor C 2, stabilivolt VZ1 provides burning voltage to speed control crank, when not from the brake signal of brake lever, earlier by resistance R 5, capacitor C 1, diode VD1, resistance R 7 reduces the ripple from the car load speed control voltage of signals of speed control crank from the input of green end, then by resistance R 6, aerotron V1, resistance R 2, resistance R 3, resistance R 4, aerotron V2 carries out swinging to for twice amplification and be added to left speed control signal output part M1 and right speed control signal output part M2 respectively by resistance R 11 and resistance R 12 after stabilivolt VZ2 pressure limiting car load speed control signal, thus the speed of regulation and control car load; When not having brake signal and car load speed control voltage of signals one regularly, when the voltage of the voltage ratio right torque signal input part I2 of left-hand rotation square signal input part I1 was big, the voltage of left-hand rotation square signal input part I1 makes left speed control signal output part M1 by aerotron V21, resistance R 51, right torque signal input part I2, resistance R 41, diode VD11, resistance R 31, aerotron V11, resistance R 11 voltage reduced with the increase of the absolute value of the voltage difference at I1, I2 two ends; When not having brake signal and car load speed control voltage of signals one regularly, when the voltage of the voltage ratio left-hand rotation square signal input part I1 of right torque signal input part I2 was big, the voltage of right torque signal input part I2 makes right speed control signal output part M2 by aerotron V22, resistance R 52, left-hand rotation square signal input part I1, resistance R 42, diode VD12, resistance R 32, aerotron V12, resistance R 12 voltage reduced with the increase of the absolute value of the voltage difference at I1, I2 two ends; So central control circuit is controlled the speed control voltage of signals that it transports to left and right controller in real time with the voltage difference of the dtc signal of the left and right sensor output of its reception, thereby make left and right motor no matter have any speed discrepancy, the torque differences of left and right motor all is in the predetermined scope, thereby realizes the electronic differential function of battery-driven car; The voltage of left-hand rotation square signal input part I1 also passes through the voltage of resistance R 21, aerotron V11, resistance R 11 direct controls left side speed control signal output part M1, the voltage of right torque signal input part I2 is the voltage by the right speed control signal output part of resistance R 22, aerotron V12, resistance R 12 direct controls M2 also, thereby limit the maximum torque of left and right motor and maximum phase current separately; When left wheel skids or is unsettled, make its closure by bottom right differential locking-device button switch K 2, make the voltage of right speed control signal output part M2 not be subjected to the influence of the voltage of right torque signal input part I2, thereby the speed control voltage of signals that makes central control circuit transport to right controller is not subjected to the influence of the torque of right motor, thereby makes right motor have enough torques that car is moved ahead; When right tyre skidding or when unsettled, make its closure by bottom left differential locking-device button switch K 1, make the not turned left influence of voltage of square signal input part I1 of the voltage of left speed control signal output part M1, thereby the speed control voltage of signals that makes central control circuit transport to left controller is not subjected to the influence of the torque of left motor, thereby makes left motor have enough torques that car is moved ahead; Because there is the output internal resistance in sensor, so left and right two ends are connected with right torque signal input part I2 with left-hand rotation square signal input part I1 respectively and the rheostat RP of common end grounding has the dividing potential drop effect, make it the asymmetric purpose that just can be issued to the level of torque of adjusting left and right motor by the resistance that changes between left and right two ends of rheostat RP and the ground in other condition unmodified situations, thereby when the car sharply turning, can suitably reduce the torque of inboard motor and the torque that increases outside motor, strengthen the road-holding property of car; Also be connected with the corresponding separately left and right high-frequency filter capacitor that is used to reduce the output voltage high-frequency ripple by corresponding left and right dtc signal input end separately respectively between the dtc signal mouth of left and right sensor and the ground, specifically be, and the dtc signal mouth bonded assembly left-hand rotation square signal input part I1 of left sensor and ground between be connected with left high-frequency filter capacitor C11, and the dtc signal mouth bonded assembly right torque signal input part I2 of right sensor and ground between be connected with right high-frequency filter capacitor C12; What left and right sensor was used is to be used for the sensing current sensor of the phase current of corresponding left and right motor separately respectively, utilize the torque of motor and the phase current positive correlation of motor, reach the purpose of the torque of indirect measurement motor by the phase current of measuring motor, used current sensor is the current sensor of using with the sample resistance detecting motor phase current of motor coil windings in series; Left and right motor is used is DC brush low speed wheel hub motor, what be respectively applied for that the left and right controller that drives left and right motor uses is DC machine PWM speed setting controller by the pulse width modulation (PWM) signal drive motor, specifically be equipped with reversing with two-direction switch the brush controller arranged, the torque one that the brush motor that controller drove is arranged at this kind regularly its rotating speed be added in this kind the speed control voltage of signals positive correlation of the speed control signal input part of brushing controller arranged.Though the present invention announces as above with a preferred embodiment; right its is not in order to limit the present invention; any those skilled in the art; on the basis that does not break away from spirit of the present invention; can change and revise; therefore protection scope of the present invention should be not limited to the described content of embodiment, and should comprise and do not break away from change of the present invention and modification, and is as the criterion with the claim restricted portion that present patent application was proposed.
Claims (8)
1. the electronic differential control system of a battery-driven car comprises central control circuit and is respectively applied for the left and right motor that drives battery-driven car left and right driving wheel and respectively with the corresponding left and right sensor of left and right motor be respectively applied for the left and right controller that drives left and right motor, it is characterized in that; Left side controller is used to drive left motor, right controller is used to drive right motor, a left side, right sensor is a sensing left side respectively, the torque of right motor and respectively output voltage become positively related dtc signal with the torque of corresponding motor separately, central control circuit is an Analogic Electronic Circuits, central control circuit receives a left side respectively, the dtc signal of right sensor output and difference are left, the speed control signal input part of right controller is exported corresponding speed control signal, central control circuit is with the left side of its reception, the voltage difference of the dtc signal of right sensor output is controlled it in real time and is transported to a left side, the speed control voltage of signals of right controller, thereby make a left side, no matter right motor exists any speed discrepancy, a left side, the torque differences of right motor all is in the predetermined scope, specifically be, when the voltage of the dtc signal of the right sensor output of voltage ratio of the dtc signal of left sensor output was big, central control circuit was transported to the speed control voltage of signals of left controller with a left side, the increase of the absolute value of the voltage difference of the dtc signal of right sensor output and reducing; Otherwise, when the voltage of the dtc signal of the voltage ratio left side sensor output of the dtc signal of right sensor output was big, the speed control voltage of signals that central control circuit is transported to right controller reduced with the increase of the absolute value of the voltage difference of the dtc signal of left and right sensor output.
2. the electronic differential control system of a kind of battery-driven car according to claim 1, it is characterized in that: described central control circuit can also receive and handle from exterior control signal, comprise from the brake signal of brake lever or brake gear with from speed control crank or quicken the car load speed control signal of electric switch from exterior control signal, when brake signal, described central control circuit makes a described left side, right controller is closed down a described left side, right motor, when no brake signal, described central control circuit is according to the size of the car load speed control voltage of signals that it received, it transports to a described left side corresponding adjustment, the size of the speed control voltage of signals of right controller, thereby the speed of regulation and control car load.
3. the electronic differential control system of a kind of battery-driven car according to claim 2, it is characterized in that: described central control circuit can also be controlled the size that it transports to the corresponding speed control voltage of signals of described left and right controller respectively according to the voltage of the dtc signal of described left and right sensor output, thereby limits the maximum torque of described left and right motor.
4. according to the electronic differential control system of claim 2 or 3 described a kind of battery-driven cars, it is characterized in that: the electronic differential control system of described a kind of battery-driven car also has the differential locking-device function, specifically be, on a described left side, correspondingly separately respectively between the dtc signal mouth of right sensor and the ground be connected with an open circuited at ordinary times left side, right differential locking-device button switch, when left wheel skids or is unsettled, make its closure by bottom right differential locking-device button switch, the speed control voltage of signals that just can make described central control circuit transport to described right controller is not subjected to the influence of the torque of described right motor, thereby makes described right motor have enough torques that car is moved ahead; When right tyre skidding or when unsettled, make its closure by bottom left differential locking-device button switch, the speed control voltage of signals that just can make described central control circuit transport to described left controller is not subjected to the influence of the torque of described left motor, thereby makes described left motor have enough torques that car is moved ahead.
5. the electronic differential control system of a kind of battery-driven car according to claim 4, it is characterized in that: the electronic differential control system of described a kind of battery-driven car can also have the function of the level of torque of adjusting described left and right motor, specifically reaches the purpose of the level of torque of adjusting described left and right motor by the symmetry that changes the symmetrical circuit part that described central control circuit comprises.
6. the electronic differential control system of a kind of battery-driven car according to claim 5 is characterized in that: be connected with corresponding separately left and right high-frequency filter capacitor between the dtc signal mouth of described left and right sensor and the ground respectively.
7. the electronic differential control system of a kind of battery-driven car according to claim 6, it is characterized in that: described left and right sensor can also be to be used for the difference sensing current sensor of the phase current of corresponding described left and right motor separately, utilize the torque of motor and the phase current positive correlation of motor, reach the purpose of the torque of indirect measurement motor by the phase current of measuring motor.
8. the electronic differential control system of a kind of battery-driven car according to claim 7, it is characterized in that: described left and right motor is wheel hub motor.
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| CN200810185896XA CN101746415B (en) | 2008-12-18 | 2008-12-18 | Electronic differential control system of electric vehicle |
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| CN200810185896XA CN101746415B (en) | 2008-12-18 | 2008-12-18 | Electronic differential control system of electric vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20120106211A (en) * | 2011-03-18 | 2012-09-26 | 현대모비스 주식회사 | Sensor sensitive steer device electric vehicle and steer control method thereof |
| US8852043B2 (en) * | 2012-02-23 | 2014-10-07 | Tai-Her Yang | Multi-CVT drive system having differential epicycle gear set |
| CN103124155B (en) * | 2012-11-20 | 2016-03-23 | 上海硅力电子科技有限公司 | Brushless electric machine differential regulates driving governor, go-cart brushless electric machine differential to regulate driving governor and a kind of go-cart |
| KR101365709B1 (en) * | 2013-08-29 | 2014-02-20 | 김성진 | Apparatus and method for controlling rolling of vehicles |
| CN105966263B (en) * | 2016-05-04 | 2018-06-05 | 南京航空航天大学 | A kind of electric wheel truck differential steering road feel control method of In-wheel motor driving |
| CN113346794A (en) * | 2021-06-11 | 2021-09-03 | 陈义照 | Control circuit of multi-wheel direct current electric vehicle |
| CN114633638B (en) * | 2022-04-11 | 2024-04-26 | 苏州汇川联合动力系统股份有限公司 | New energy automobile bus voltage control method, new energy automobile and power system thereof |
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