DE19651897A1 - Common drive-braking-steering system for electrically driven vehicle - Google Patents

Abstract

The common driving, braking and steering system for wheeled vehicles driven by electric power, with the unneeded kinetic energy regenerated in to electric power. A computer controls a logical entity, which is produced between the drive, the braking and the steering of an electric vehicle. All the vehicle wheels have the same construction and the same arrangement. The wheel is located in a wheel fork, and the wheel strut is located rotatable and is horizontally spring loaded. One each side a linear motor with its stator windings including the wheel axle is fixed at the wheel fork and reacts on a rotor arranged as a circle sector or vice versa the rotor on the stator (energy regeneration system with wheels driving motor as generator).

Description

The invention relates to the manufacture of vehicles according to the preamble of Claim 1.

Electrically powered vehicles are currently using one or more conventional vehicles electric motors. These are either DC or three-phase motors. Here different gear types (e.g. central gear, differential gear, separate Satellite transmission, etc.) used. The speed is changed by the power (W = U. I) regulated.

The steering of the electrically powered vehicles is conservative as with all Vehicles with an appropriate mechanical steering system. Most of them of the cases, only two wheels can be steered, either the front wheels or less often the rear wheels. There are also few vehicles with two steering systems so that all four wheels can be steered. So far, the manufacturing and operating costs have also been taken into account.

The disadvantages with regard to the drive depend on the choice and arrangement of the motors from, the worse the arrangement, the more gear or differential gear is required. However the arrangement of the DC or AC motors is chosen without one Gears are not enough.

The steering is mechanical and therefore quite complex, complicated and very that Subject to wear. Naturally, the mechanical steering system is not with that electric drive coupled or connectable.

Due to the high proportion of mechanical, movable assemblies, the production and Maintenance costs are relatively high.

The object of the invention is a unit between the drive and steering of the vehicles to manufacture, d. H. the conventional mechanical steering system is omitted except for small residues and the new drive system also takes over an important part of the steering of the Vehicle. In addition, there is no longer a mechanical gearbox for the drive. This unity between drive and steering is only using the latest knowledge in the various fields of technology (electrics, electronics, measurement, control and Control technology) conceivable and possible.

This goal is achieved as follows:

• 1. The four wheels are structurally arranged analogous to a bicycle fork.
• 2. On each of the four wheels, a linear motor is arranged on each fork side so that they with their windings on the flat circular cutting surface of the wheel (between Wheel hub and wheel rim) can act.  
• 3. No mechanical gear is required.
• 4. The mechanical steering is reduced to four rotatable and horizontal In the direction of the sprung wheel forks, with the suspension in the fork arm area.
• 5. The drive and the steering of the vehicle are controlled with the aid of a processor or a computer as follows:
  • - Distribution of the drive energy to the respective wheels
  • - Braking with the help of linear motors (energy recovery) taking into account the driving conditions
  • - Steering of the vehicle through different drives and braking of the wheels
  • - Rotation of the wheels by servomotors on the head of the axes of rotation
  • - Electrical or / and mechanical locking of the front or rear wheels due to the stability (e.g. at high speed).
• 6. Virtual direction determination (steering process), visible on a screen, with inhibited implementation (analogous to the current steering wheel).
• 7. Virtual acceleration setting (speed, forward or backward), on Screen visible, with inhibited implementation (analogous to the current accelerator and the Circuit).

All modern vehicles have to be on our roads with the help of massive and sensible Use of the latest electrics, electronics, measurement, control and regulation technology safer, become more effective, simply easier to handle, more versatile and cheaper.

The following advantages are visible:

• - Reduce production and maintenance costs by reducing the proportion of expensive ones and complicated mechanical parts and assemblies.
• - Standardization of the remaining mechanical parts and assemblies, thereby increasing the identical number of pieces and reduction of unit costs.
• - Use of the latest electronics, as well as measurement, control and regulation technology is inexpensive to manufacture and significantly increases security.
• - The vehicles are easier to use:
  • - One foot is only required for heavy braking (emergency braking)
  • - no actuation of the clutch (no longer available)
  • - no gas pedaling
  • - no effort when steering
  • - New drivers can get used to it faster
  • - The computer takes over as far as possible the driver's previous tasks.
• - These vehicles are more promising, ie they are more open to further developments. This applies in particular to the use of computer programs. Here, continuously revised program versions can be used that improve both the scope for action and the range of motion.
  The program versions can be tailored to different vehicle types.
• - The vehicles are not very susceptible to faults.
• - A consequent, greatest possible recovery of the energy is possible and that even under certain circumstances in the acceleration period, e.g. B. the Inner curve wheels are braked slightly.
• - The control of all four wheels means that the vehicles can be steered more flexibly. Even figure driving (e.g. art driving as a new sport) is conceivable and safe also makes sense.

Example description of a patent application

An electrically powered vehicle is the basic idea for this new, common drive, Braking and steering system. I distinguish two types of innovations:

A) Mechanical

• 1. All four wheels are hung identical, stored and suspended. Each wheel is held in a wheel fork, which is arranged and suspended in an absolutely horizontal direction. The fork has no curvature and therefore the wheel has no forward or follow-up. The suspension takes place in the upper handle area of the fork. The fork arm is mounted in such a way that vertical rotations of 90 degrees to the right and left (together 180 degrees) from the basic position (wheel in the direction of the vehicle) are possible without any problems. The construction of the body must enable these wheel rotations, whereby a hemispherical wheel arch seems the most sensible.
  An electric servomotor (also a linear motor) sits above this wheel arch at the end of the fork arm. This is necessary for the fine adjustment and maintenance of the respective wheel.
  Each wheel is designed in such a way that between the wheel hub and wheel rim there are two runner bars that are isolated from each other in the middle and flat. When viewed from the side, a rotor is visible as a circular ring. The stator windings of the linear motors attached to the fork arms can act on the rotor on both sides.
  For assembly and disassembly of a wheel, a fork half is designed to be foldable or mountable, so that the wheel can be changed without problems.
• 2. All other previously required drive and steering assemblies, including the Steering wheel, omitted.
• 3. For heavy braking and emergency braking, there is one on each wheel on each side mechanical brake (e.g. analogous to a disc brake) installed on two small ones Areas (circular sections) of the two runners work.

B) Electrical and electronic innovations

In principle, with this innovation the drive and the steering are combined or superimposed. This is only due to a corresponding constructive design and the use of the latest Knowledge of electronics, measurement, control and regulation technology possible.

The following conditions are realized:

• 1. Each wheel is directly driven or braked with two linear motors. The two motors (one on each side) to prevent unwanted torque (from a single-sided motor) and to generate a desired torque (when cornering, additional support from the energy difference between the inner and outer motor). If more power is generated when driving on the inside of the right wheel than on the outside motor, a vertical torque to the left is created on the wheel, so that a left turn of the vehicle is supported and vice versa.
  When braking, the kinetic energy is converted back into electrical energy in as many cases as possible by switching the motors in generators.
  Here too, the generators are regulated differently according to the specified direction of travel (cornering), ie they are loaded differently so that the turning of the wheels is supported. This also applies to independent wheel braking or braking of the inner wheels to support the steering effect in all curves.
• 2. The drive and the most important steering component take place via the control of the energy according to the specifications and further conditions (see point 4) on the respective wheels. This means that the same drive energy must act on each wheel when driving straight ahead and on the same surface.
  In the event of desired deviations from the current direction of travel or better from the relative movement (including instantaneous cornering), more energy must be available on the wheels with the outer radius than on the inner radius. If there is little counter-steering (increasing the bicycle radius), the energy difference is reduced accordingly and vice versa.
• 3. As a third variable for the steering (only for steering), each wheel is rotated or held in the desired position via a servomotor (linear motor) at the end of the fork arm, depending on constant target / actual comparisons.
  Each wheel can be rotated to the right and left depending on the speed of the basic position (wheel in the direction of travel) ← 90 degrees. This option can be switched on and off separately for the front and rear wheels, so that both wheel groups can be controlled simultaneously. When cornering, in the latter case half of the steering angle is distributed to the front and rear wheels.
  Switching the wheel pairs to control the direction of travel is possible under defined conditions (when stationary, with the wheels in their basic position or at very low speeds).
• 4. The entire calculation of the drive and the control of the vehicle, ie all measurement, control and regulation processes are carried out by a processor or special computer. This computer, visible on a display or monitor, is transmitted to all necessary and desired setting parameters and travel commands by means of appropriate input buttons, switches and levers. The direction of travel and the speed are transmitted either via electric sliders or a (or two) special joystick.
  In addition to these target specifications, the computer takes into account other important influencing factors such as the nature of the road (different friction of the wheels), speed, cornering, wind conditions, etc.
  The computer program constantly calculates all the necessary data depending on these target specifications and the influencing factors and monitors the corresponding control and regulation processes.
  In particular, these are:
  • - Observe the liability during acceleration and braking to prevent the vehicle from skidding and breaking out.
  • - Inappropriate and jerky target steering and target accelerations are prevented or adjusted by appropriate corrections of the computer taking into account the speed.
  • - The actual speed is generally curtailed by important negative influencing factors.
  • - When cornering, maintaining or reaching the target radius is of paramount importance compared to the speed.
  • - When stationary and at very low speeds, the wheels can be turned in pairs up to 90 degrees with respect to the vehicle axis (on both sides), so that the wheels can be rotated by 180 degrees. For this purpose, the wheels are mainly positioned on the computer with the aid of the servomotors, that is, they are set according to the target specification and are held by them in the target-actual position.
    The actual position of the wheels is constantly checked and continuously (continuously) adapted to the changing target position taking into account the speed. This takes into account whether only the front wheels or the rear wheels or all 4 wheels should turn in pairs to change the direction of travel. Regardless of the drive power distribution, all 3 variants are conceivable and sensible. Under defined conditions (e.g. when standing still or driving straight ahead), a change can be made (also in advance) by making a new selection.
  • - The computer or the computer program must guarantee appropriate safety measures in the event of a fault or in the event of drive and control unit failure.
    For security reasons, it must be considered whether a second, redundant computer or processor is to be installed.
  • - All set driving and operating conditions as well as the results achieved (average speed etc.) are clearly displayed on the monitor and saved in the computer so that they can be evaluated accordingly.
  • - Due to the separate control of the front and rear wheels (e.g. with the help of a second joystick), figure driving (art driving) is possible in the range of low speeds, whereby one can even think of a new sport.
  • - By determining the distance and adjustable distance from the vehicle in front, a corresponding reduction in speed or acceleration is automatically made possible.
• 5. The computer program is used analogous to the common software programs in certain versions. This means that improving and expanding the program is always possible and useful. In addition, adapting the program to specific vehicle types is conceivable and feasible.
  The quality of the computer program essentially determines the level of overall control of the vehicle.
• 6. Additional solar energy should be on the vehicle while stationary and while driving be won.

Claims (12)

1. Common drive, braking and steering system for electrically powered vehicles that move with the help of wheels and recover unnecessary kinetic energy in electrical energy, characterized in that controlled by a computer, a meaningful unit between the drive, braking and the steering of an electric vehicle is manufactured. 2. Vehicle according to claim 1, characterized in that all wheels have the same structure and the same arrangement to have. 3. wheel according to claim 2, characterized in that it sits in a wheel fork and the handle of which is rotatably mounted and is sprung horizontally 4. Wheel according to claim 2, characterized in that on each side a linear motor with its stand windings is attached to the wheel fork including the wheel axle and on a as Runner arranged in a circular section or vice versa the runner acts on the stand (Energy recovery). 5. wheel according to claim 2, characterized in that an actuator (linear motor) on the handle of the fork vertical rotation of the wheel enables the target position through target-actual comparisons guaranteed and maintains the target-actual position achieved in this way. 6. wheel according to claim 2, characterized in that on each side on a small part of the Rotor circuit section of a mechanical brake, analogous to half one Disc brake, works. 7. Vehicle according to claim 1, characterized in that it is centralized by a computer (possibly to achieve a large redundancy by a second) controlled with a special program becomes. 8. Vehicle according to claim 1 or 7, characterized in that the computer has corresponding input keys, switches, Lever or joystick the necessary and sensible instructions are transmitted. 9. Vehicle according to one of the preceding claims, characterized in that the computer constantly in its control and regulation calculations Dependence on the target values and on other important influencing variables (see Description) implemented on the control and regulation assemblies.   10. Vehicle according to one of the preceding claims, characterized in that a consistent, greatest possible recovery of the Energy possible and even under certain circumstances in the Acceleration period when e.g. B. the curve inner wheels are slightly braked. 11. Vehicle according to one of the preceding claims, characterized by the fact that all input variables (e.g. the current, relative direction of travel etc.) and all calculated values (e.g. average speed speed, energy consumption etc.) and can be called up on a display or Make the screen visible. 12. Vehicle according to one of the preceding claims, characterized in that by the possible control of all four wheels Figure driving (art driving) is conceivable and useful.