CN201347005Y - Traction force control system of electric automobile - Google Patents
Traction force control system of electric automobile Download PDFInfo
- Publication number
- CN201347005Y CN201347005Y CNU2008202354848U CN200820235484U CN201347005Y CN 201347005 Y CN201347005 Y CN 201347005Y CN U2008202354848 U CNU2008202354848 U CN U2008202354848U CN 200820235484 U CN200820235484 U CN 200820235484U CN 201347005 Y CN201347005 Y CN 201347005Y
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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
本实用新型提供一种电动汽车的牵引力控制系统，包括：电源、从动轮、驱动轮、从动轮转速传感器、驱动轮转速传感器、驱动电机、控制单元。通过检测车轮的速度来判断车轮是否打滑，然后通过控制单元控制驱动电机输出转矩控制的方式来防止车轮滑转，能够针对路面状况突然变换引起的车轮滑转有很好的抑制和稳定作用、且结构简单、运行经济。
The utility model provides a traction force control system for an electric vehicle, comprising: a power supply, a driven wheel, a driving wheel, a driven wheel speed sensor, a driving wheel speed sensor, a driving motor, and a control unit. By detecting the speed of the wheels to determine whether the wheels are slipping, and then controlling the output torque of the drive motor through the control unit to prevent the wheels from slipping, it can effectively suppress and stabilize the wheel slips caused by sudden changes in road conditions. Moreover, the structure is simple and the operation is economical.
Description
Technical field
The utility model relates to a kind of anti-slip regulation of electronlmobil.
Background technology
The anti-slip regulation of automobile (TCS) can effectively play and prevent the tyre skidding (comprise in startup, accelerator and driving process road surface condition variation) of automobile in operational process, guarantees that automobile is stable, handling in the process of moving, propulsive effort is best.Its its working principles is by calculating the slippage rate of wheel in the vehicle traveling process, the drive torque of wheel is controlled or the speed of wheel is controlled, the slippage rate of wheel is reduced in the target zone, being generally 15%-20%.
The TCS that prior art provides adopts two kinds of methods to prevent wheel slip usually: motor torque mode and brake control mode:
The motor torque mode is exactly: the adjusting driving engine is transferred to the driving torque on the drive wheel, thus the slip level of control wheel, but this mode speed of response is slower.
Brake control mode is exactly: the drive wheel that will dally is applied certain braking force, will be balanced out by the redundance of the next propulsive effort of driving engine transmission, thereby the slip level of wheel is controlled on the degree of expection.Adopt this mode to make certain propulsive effort be braked power and offset, thereby make transmitting set make idle work, be unfavorable for the performance driving economy of automobile.
For electronlmobil, it does not have combustion engine and driving system thereof, therefore can't utilize the motor torque mode to control and realize the TCS function.If utilize brake control mode to realize, also there is the actuator system complexity, the shortcoming that cost is high.
The utility model content
The purpose of this utility model is, the defective that exists at above-mentioned prior art provides a kind of anti-slip regulation of electronlmobil, and good restraining and stabilization and simple in structure, economical operation can be arranged at the wheel slip that the unexpected conversion of condition of road surface causes.
The technical solution of the utility model is as follows:
A kind of anti-slip regulation of electronlmobil comprises: power supply, flower wheel, drive wheel, secondary speed sensor, drive wheel tachogen, drive motor, control unit, wherein:
Described power supply is connected with described drive motor by electric wireline, and for described drive motor provides electric power, described drive motor and described drive wheel are in transmission connection;
Described secondary speed sensor is connected with flower wheel, is used to detect the rotating speed of described flower wheel, obtains described secondary speed information, and sends described secondary speed information to described control unit;
Described drive wheel tachogen is connected with drive wheel, is used to detect the rotating speed of described drive wheel, obtains described drive wheel rotary speed information, and sends described drive wheel rotary speed information to described control unit;
Described control unit is used to receive described secondary speed information and described drive wheel rotary speed information, and sends control information to described drive motor according to described secondary speed information and described drive wheel rotary speed information;
Described drive motor is used for according to control information, switches to the electric braking running state by driving operation, and drive wheel is slowed down, and trackslips to reduce described drive wheel.Wherein, the anti-slip regulation of described electronlmobil also comprises live axle, two drive wheels about described live axle connection is described, and described drive motor is in transmission connection by described live axle and described drive wheel.
Wherein, the anti-slip regulation of described electronlmobil also comprises speed-changing mechanism, modified roll mechanism, and described drive motor is by described speed-changing mechanism and the modified roll mechanism described drive wheel that is in transmission connection.
Wherein, described secondary speed sensor, drive wheel tachogen are respectively applied for the rotating shaft that detects on the drive wheel and the rotary speed information of the rotating shaft on the flower wheel, by formula:
Obtain the slippage rate of drive wheel; I=1 wherein, 2 represent left and right driving wheel, W respectively
1, W
2Be respectively the rotating speed of left and right driving wheel; W
FromMean speed for flower wheel.W
FromBe secondary speed, r is the flower wheel radius, W
DriveBe drive wheel rotating speed, r
DriveBe the drive wheel radius.
Wherein, the anti-slip regulation of described electronlmobil, also comprise vehicle acceleration sensor, described vehicle acceleration sensor is connected with described drive wheel, be used to detect the acceleration/accel of described drive wheel, and sending described acceleration information to described control unit, described control unit is controlled described drive motor according to described acceleration information and is driven described drive wheel.
The beneficial effects of the utility model are: the utility model provides a kind of anti-slip regulation of electronlmobil, judge by the speed that detects wheel whether wheel skids, mode by the control of control unit controlling and driving motor output torque prevents wheel slip then, and good restraining and stabilization and simple in structure, economical operation can be arranged at the wheel slip that the unexpected conversion of condition of road surface causes.
Description of drawings
The anti-slip regulation structural representation of the electronlmobil that Fig. 1 provides for the utility model embodiment.
The specific embodiment
The utility model provides a kind of anti-slip regulation of electronlmobil, and is clearer, clear and definite for making the purpose of this utility model, technical scheme and advantage, below with reference to the accompanying drawing embodiment that develops simultaneously the utility model further described.
As shown in Figure 1, the anti-slip regulation of a kind of electronlmobil that the utility model embodiment provides, comprise: power supply 140, flower wheel 163,164, drive wheel 161,162, secondary speed sensor 171,172, drive wheel tachogen 131,132, drive motor 120, control unit 150, wherein: described power supply 140 is connected with described drive motor 120 by electric wireline, for described drive motor 120 provides electric power, described drive motor 120 is in transmission connection with described drive wheel 161,162.
Described secondary speed sensor 171,172 is connected with flower wheel 163,164 respectively or is arranged in the rotating shaft of this flower wheel 163,164, be used to detect the rotating speed of described flower wheel 163,164, obtain the rotary speed information of described flower wheel 163,164, and send the rotary speed information of described flower wheel 163,164 to described control unit 150.In other embodiment, also can be arranged on the flower wheel only with a secondary speed sensor, the rotary speed information that detects a flower wheel gets final product.
Described drive wheel tachogen 131,132 is connected with drive wheel 161,162 respectively, perhaps be arranged in the rotating shaft of this drive wheel 161,162, be used to detect the rotating speed of described drive wheel 161,162, obtain the rotary speed information of described drive wheel 161,162, and send the rotary speed information of described drive wheel 161,162 to described control unit 150.In other embodiment, also can be arranged on the drive wheel only with a drive wheel tachogen, the rotary speed information that detects a drive wheel gets final product.
Described control unit 150, be used to receive described secondary speed sensor 171,172 and described drive wheel tachogen 131,132 secondary speed information that sends over and drive wheel rotary speed informations, and send control information to described drive motor according to described secondary speed information and described drive wheel rotary speed information, as: the comparison serious situation of trackslipping (changes suddenly such as the road surface, adhesion factor descends suddenly), the running state of drive motor can be switched to (the regenerative braking of electric braking running state by driving operation, resistance braking or reversing braking), drive wheel is slowed down, trackslip with reduction.
Described drive motor is used for driving described drive wheel according to control information.Specifically be that this drive motor switches to the electric braking running state by driving operation, and drive wheel is slowed down, and trackslips to reduce described drive wheel.
In the present embodiment, this anti-slip regulation also comprises live axle 110, two drive wheels 161,162 about described live axle 110 connection automobiles, and described drive motor 120 is in transmission connection with described drive wheel 161,162 by described live axle 110.In a further embodiment, this drive motor 120 also can be in transmission connection by other modes and this drive wheel 161,162, as: this anti-slip regulation can also comprise speed-changing mechanism, modified roll mechanism, and described drive motor 120 is by described speed-changing mechanism and the modified roll mechanism described drive wheel 161,162 that is in transmission connection.
In a further embodiment, also comprise vehicle acceleration sensor (not drawing among the figure), described vehicle acceleration sensor is connected with described drive wheel 161,162, this vehicle acceleration sensor is used to detect the acceleration/accel of described drive wheel 161,162, and sends described acceleration information to described control unit 150; Described control unit 150 receives the acceleration information that vehicle acceleration sensor sends over, and controls the described drive wheel 161,162 of described drive motor 120 drivings according to described acceleration information, to obtain better control and to drive effect.
When chaufeur implement to drive operation, wheel speed sensor (comprising secondary speed sensor 171,172, drive wheel tachogen 131,132) detected the rotating shaft on the drive wheel and the rotary speed information of the rotating shaft on the flower wheel, by formula:
Draw the slippage rate of drive wheel.I=1 in the following formula, 2 represent left and right driving wheel, W respectively
1, W
2Be respectively the rotating speed of left and right driving wheel; W
FromMean speed for flower wheel.W
FromBe secondary speed, r is the flower wheel radius, W
DriveBe drive wheel rotating speed, r
DriveBe the drive wheel radius.Wherein slippage rate is got the maxim of left and right driving skidding rate of rotation as the wheel slip basis for estimation, when surpassing slippage rate, one of them drive wheel sets atmosphere (being generally 15-20%), then the output torque with drive motor reduces 10-20% automatically, the tractive force of drive wheel is descended, drive wheel is shifted to steady operational status from the state of trackslipping.
Except that the criterion that slippage rate is trackslipped as drive wheel, can be according to the acceleration/accel of drive wheel revolution speed calculating wheel, if the acceleration/accel of drive wheel is greater than the several times (concrete multiple needs debugging) of preceding several cycle acceleration/accel aviation values, think that then drive wheel dallies, should reduce the output torque of drive motor this moment; If the acceleration/accel (being converted to linear acceleration) of drive wheel is then judged drive wheel idle running greater than certain multiple (as 1.1 times, needing debugging) of the acceleration/accel of vehicle body, must reduce the output torque of drive motor equally.
Therefore can judge trackslipping and dallying of drive wheel according to drive wheel slippage rate, acceleration/accel and drive wheel acceleration/accel and vehicle body acceleration difference.If the drive wheel slippage rate is greater than the expectation slippage rate, or acceleration/accel is worth greater than certain, or the wheel of drive wheel week acceleration/accel greater than vehicle body acceleration, then the controlling and driving motor reduces driving torque 10%-30%; If actual slippage rate is less than the expectation slippage rate, then the controlling and driving motor increases driving torque 10%-30%.The comparison serious situation (changes suddenly such as the road surface if trackslip, adhesion factor descends suddenly), the running state of drive motor is switched to electric braking running state (regenerative braking, resistance braking or reversing braking) by driving operation, drive wheel is slowed down, trackslip with reduction.Thereby realize driving anti-skidding controllable function.
It should be noted that, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (5)
1, a kind of anti-slip regulation of electronlmobil is characterized in that, comprising: power supply, flower wheel, drive wheel, secondary speed sensor, drive wheel tachogen, drive motor, control unit, wherein:
Described power supply is connected with described drive motor by electric wireline, and for described drive motor provides electric power, described drive motor and described drive wheel are in transmission connection;
Described secondary speed sensor is connected with flower wheel, is used to detect the rotating speed of described flower wheel, obtains described secondary speed information, and sends described secondary speed information to described control unit;
Described drive wheel tachogen is connected with drive wheel, is used to detect the rotating speed of described drive wheel, obtains described drive wheel rotary speed information, and sends described drive wheel rotary speed information to described control unit;
Described control unit is used to receive described secondary speed information and described drive wheel rotary speed information, and sends control information to described drive motor according to described secondary speed information and described drive wheel rotary speed information;
Described drive motor is used for according to control information, switches to the electric braking running state by driving operation, and drive wheel is slowed down, and trackslips to reduce described drive wheel.
2, the anti-slip regulation of electronlmobil according to claim 1 is characterized in that, also comprises live axle, described live axle connect described about two drive wheels, described drive motor is in transmission connection by described live axle and described drive wheel.
3, the anti-slip regulation of electronlmobil according to claim 1 is characterized in that, also comprises speed-changing mechanism, modified roll mechanism, and described drive motor is by described speed-changing mechanism and the modified roll mechanism described drive wheel that is in transmission connection.
4, the anti-slip regulation of electronlmobil according to claim 1 is characterized in that, described secondary speed sensor, drive wheel tachogen are respectively applied for the rotating shaft that detects on the drive wheel and the rotary speed information of the rotating shaft on the flower wheel, by formula:
Obtain the slippage rate of drive wheel; I=1 wherein, 2 represent left and right driving wheel, W respectively
1, W
2Be respectively the rotating speed of left and right driving wheel; W
FromBe the mean speed of flower wheel, W
FromBe secondary speed, r is the flower wheel radius, W
DriveBe drive wheel rotating speed, r
DriveBe the drive wheel radius.
5, as the anti-slip regulation of electronlmobil as described in the claim 1,2 or 3, it is characterized in that, also comprise vehicle acceleration sensor, described vehicle acceleration sensor is connected with described drive wheel, be used to detect the acceleration/accel of described drive wheel, and sending described acceleration information to described control unit, described control unit is controlled described drive motor according to described acceleration information and is driven described drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202354848U CN201347005Y (en) | 2008-12-19 | 2008-12-19 | Traction force control system of electric automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202354848U CN201347005Y (en) | 2008-12-19 | 2008-12-19 | Traction force control system of electric automobile |
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| CN201347005Y true CN201347005Y (en) | 2009-11-18 |
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| CNU2008202354848U Expired - Lifetime CN201347005Y (en) | 2008-12-19 | 2008-12-19 | Traction force control system of electric automobile |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241320A (en) * | 2010-04-20 | 2013-08-14 | 爱德利科技股份有限公司 | Electric locomotive with transmission control between motor and wheels and control method thereof |
| CN103558038A (en) * | 2013-11-22 | 2014-02-05 | 中国科学院深圳先进技术研究院 | Traction control detection system |
| CN104345730A (en) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot having walking state determining device, walking state determining method |
| CN104768789A (en) * | 2012-11-02 | 2015-07-08 | 日立汽车系统株式会社 | Vehicle control device |
| CN106004519A (en) * | 2016-06-21 | 2016-10-12 | 杭州虬龙科技有限公司 | TCS (traction control system) of electric vehicle |
| CN106427663A (en) * | 2016-07-27 | 2017-02-22 | 北京新能源汽车股份有限公司 | Traction control method and device for electric automobile |
| CN110407136A (en) * | 2019-08-29 | 2019-11-05 | 安徽合力股份有限公司 | An electric forklift driving and hydraulic system |
| CN110527530A (en) * | 2019-08-30 | 2019-12-03 | 中冶焦耐(大连)工程技术有限公司 | Control method of distributed power type coke tank carrying vehicle |
| CN110834636A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Method and system for identifying and controlling wheel slip of unmanned mine car |
| CN113665629A (en) * | 2021-09-30 | 2021-11-19 | 大连华锐重工冶金设备制造有限公司 | Method and system for detecting and controlling idle running of self-propelled molten iron mixing vehicle wheel set |
-
2008
- 2008-12-19 CN CNU2008202354848U patent/CN201347005Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241320B (en) * | 2010-04-20 | 2015-06-03 | 爱德利科技股份有限公司 | Electric locomotive with mutual transmission control between motor and wheels and control method thereof |
| CN103241320A (en) * | 2010-04-20 | 2013-08-14 | 爱德利科技股份有限公司 | Electric locomotive with transmission control between motor and wheels and control method thereof |
| CN104768789B (en) * | 2012-11-02 | 2017-06-13 | 日立汽车系统株式会社 | Controller of vehicle |
| CN104768789A (en) * | 2012-11-02 | 2015-07-08 | 日立汽车系统株式会社 | Vehicle control device |
| CN104345730A (en) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | Automatic mobile robot having walking state determining device, walking state determining method |
| CN103558038A (en) * | 2013-11-22 | 2014-02-05 | 中国科学院深圳先进技术研究院 | Traction control detection system |
| CN106004519A (en) * | 2016-06-21 | 2016-10-12 | 杭州虬龙科技有限公司 | TCS (traction control system) of electric vehicle |
| CN106427663A (en) * | 2016-07-27 | 2017-02-22 | 北京新能源汽车股份有限公司 | Traction control method and device for electric automobile |
| CN106427663B (en) * | 2016-07-27 | 2019-01-29 | 北京新能源汽车股份有限公司 | Traction control method and device for electric automobile |
| CN110407136A (en) * | 2019-08-29 | 2019-11-05 | 安徽合力股份有限公司 | An electric forklift driving and hydraulic system |
| CN110527530A (en) * | 2019-08-30 | 2019-12-03 | 中冶焦耐(大连)工程技术有限公司 | Control method of distributed power type coke tank carrying vehicle |
| CN110527530B (en) * | 2019-08-30 | 2021-05-25 | 中冶焦耐(大连)工程技术有限公司 | Control method of distributed power type coke tank carrying vehicle |
| CN110834636A (en) * | 2019-11-21 | 2020-02-25 | 北京易控智驾科技有限公司 | Method and system for identifying and controlling wheel slip of unmanned mine car |
| CN113665629A (en) * | 2021-09-30 | 2021-11-19 | 大连华锐重工冶金设备制造有限公司 | Method and system for detecting and controlling idle running of self-propelled molten iron mixing vehicle wheel set |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20091118 |