WO2002047936A1 - Mecanisme de direction pour voiture electrique - Google Patents
Mecanisme de direction pour voiture electrique Download PDFInfo
- Publication number
- WO2002047936A1 WO2002047936A1 PCT/JP2001/009419 JP0109419W WO0247936A1 WO 2002047936 A1 WO2002047936 A1 WO 2002047936A1 JP 0109419 W JP0109419 W JP 0109419W WO 0247936 A1 WO0247936 A1 WO 0247936A1
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- WO
- WIPO (PCT)
- Prior art keywords
- steering
- wheel
- steering angle
- motor
- electric vehicle
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1581—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by comprising an electrical interconnecting system between the steering control means of the different axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K16/00—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind
- B60K2016/003—Arrangements in connection with power supply of propulsion units in vehicles from forces of nature, e.g. sun or wind solar power driven
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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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
- Y02T10/62—Hybrid vehicles
-
- 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
-
- 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
-
- 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
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof
Definitions
- the present invention relates to a steering mechanism for an electric vehicle having a tandem-hol suspension.
- an electric vehicle is a vehicle that can run using only the driving force of the electric motor 101, and a secondary battery is used as a power source to supply the electric motor 101.
- Those using batteries (batteries) are called electric vehicles A in a narrow sense, those using engine generators are called series hybrid vehicles B, and those using fuel cells are called fuel cell vehicles C.
- 102 is a wheel
- 103 is a controller
- 104 is a secondary battery
- 201 is an engine
- 202 is a generator
- 310 is a hydrogen supply source
- 30 2 is a fuel cell.
- an electric vehicle is a vehicle that can run using only the driving force of a rotary electric motor, and uses a secondary battery, a fuel cell, and an internal combustion engine as a power source to supply the electric motor. It is defined as a car that uses a generator, a solar cell, etc., or a combination of these.
- vehicles that use only secondary batteries in mind such as vehicles, fuel cells, internal combustion engine generators, and vehicles that use solar cells as a power source are naturally included. Background art
- the reason for using a tandem wheel type suspension is that the conventional one wheel is replaced with two wheels, so the ground contact with the road surface is good and a large acceleration force can be obtained.
- the vehicle can continue to run, reducing the input transmitted from the road surface to the vehicle body through each wheel, thereby improving ride comfort. It is. Disclosure of the invention
- the present invention has been made in view of the above circumstances, and provides a steering mechanism for an electric vehicle having a tandem wheel type suspension and capable of performing a smooth turning operation in a steering mechanism of an electric vehicle having a steering unit for each of the left and right wheel sets.
- the purpose is to provide.
- the present invention in order to achieve the above object,
- the steering mechanism for an electric vehicle according to (2) further comprising: a motor control controller that controls a motor drive current of each of the steering units according to a control output of the general control controller.
- the integrated control controller includes a sensor for inputting a detection value for controlling the steering means. It is characterized by a combination of a shift position sensor, a wheel set steering angle sensor, a horizontal rate sensor, a lateral acceleration sensor, and a longitudinal acceleration sensor according to the control target.
- FIG. 1 is a diagram showing a basic configuration of an electric vehicle.
- FIG. 2 is a schematic diagram of a steering system corresponding to a tandem wheel suspension controlled by a general control controller and a motor control controller, showing a first embodiment of the present invention.
- FIG. 3 is a block diagram of a steering system corresponding to a tandem wheel type suspension controlled by a general control controller and a motor control controller according to the first embodiment of the present invention.
- FIG. 4 is a diagram showing a steering angle control mode characteristic of the transmission form of steering angle data according to the second embodiment of the present invention.
- FIG. 5 is a diagram showing a steering angle control mode characterized by a physical transmission form of steering angle data according to the third embodiment of the present invention.
- FIG. 6 is a diagram showing a steering angle control mode characteristic of another physical transmission form of steering angle data according to the fourth embodiment of the present invention.
- FIG. 7 is a diagram showing an embodiment characterized by consistent steering angle control according to the fifth embodiment of the present invention.
- FIG. 8 is a diagram showing an embodiment characterized by another consistent steering angle control according to the sixth embodiment of the present invention.
- FIG. 9 is a diagram showing an embodiment characterized by simple steering angle control according to the seventh embodiment of the present invention.
- FIG. 2 is a schematic diagram of a steering system corresponding to a tandem wheel type suspension controlled by a general control controller and a motor control controller showing a first embodiment of the present invention
- FIG. 3 is a block diagram of a steering system corresponding to a tandem wheel suspension controlled by a controller.
- the present invention is directed to a vehicle having at least one tandem wheel type suspension and one set of right and left wheels, each set of right and left wheels always including steering means including a steering wheel, and adopting an embodiment of six or eight wheels.
- the embodiment of the present invention will be described based on a vehicle in which all the left and right wheels have an evening wheel suspension and one steering wheel and the remaining three steering means.
- Each wheel has a motor in the wheel of each wheel, and the front and rear wheels are supported in pairs by a tandem wheel suspension.
- the front left and right front wheels RFF and LFF, the front left and right rear wheels RFR and LFR, the front left and right rear wheels RRF and LRF, and the rear left and right rear wheels RRR and LRR are controlled as a pair of wheels when steering angle control. Is done.
- the axle of each wheel is provided with a rotational position sensor 10, 11, 12, 13, 14, 15, 16, 17, respectively.
- the output of these rotational position sensors is controlled by the general control controller. Is input to L50.
- the front front wheel steering means is configured to operate the power steering device 21 or the like by operating the steering wheel 20 to manually steer the front front wheels RFF and LFF.
- the front rear wheel steering means has an electric motor 33, and the electric motor 33 is driven by a worm gear 36 for reduction, which is fixed to a motor shaft, and a rotation-to-movement conversion means 30. Both ends of the moving shaft such as tie rods are connected to the front rear wheels RFR and LFR via levers and knuckle arms, etc. It is composed of
- the rear front wheel steering means has an electric motor 34, and this electric motor 34 is connected to the left and right moving shafts via a reduction worm 37 fixed to the motor shaft and a rotation-movement converting means 31. Then, both ends of the moving shaft are connected to the rear front wheels RRF and LRF via levers, knuckles, etc., and are configured so that the rear front wheels are automatically steered directly by motor drive.
- the rear rear wheel steering means has an electric motor 35, and the electric motor 35 is driven by a worm gear 38 for reduction, which is fixed to a motor shaft, and a rotation-movement conversion means 32, which is used for the left and right.
- the two ends of the moving shaft are connected to the rear rear wheels RRR and LRR via levers, knuckle arms, etc., and are configured to directly and automatically steer the rear rear wheels by motor driving.
- the wheels RFR, LFR, RRF, LRF, RRR, and LRR are set to a predetermined steering angle with respect to the external road surface force due to the irreversibility of the worm gears 36, 37, and 38. To hold.
- Rotational position sensors 10, 11, 12, 13, 14, 15, 16, 17 that detect the wheel speed N of each of the eight wheels as a control system, and detect the steering angle 6 of the steering wheel Steering angle sensor 22, front rear wheel steering angle sensor 6 to detect front rear wheel steering angle EFR, rear front wheel steering angle sensor 7 to detect rear front wheel steering angle ERF, and rear rear wheel steering angle ERR Rear rear wheel steering angle sensor 8, longitudinal acceleration sensor 3 for detecting longitudinal acceleration GX of the vehicle, lateral acceleration sensor 4 for detecting lateral acceleration Gy of the vehicle 4, and furthermore, the angular velocity of the vehicle according to the rotational state of the vehicle It has a rate sensor 5 for detecting torque. These sensor signals are input to the general controller 50 and are subjected to comprehensive electrical processing.
- a motor controller 60 for controlling the driving of the large motor current of the electric motors 33, 34, 35 is provided separately. Then, each motor drive control signal, brake signal, differential limiting signal is output from the integrated controller 50, and a steering control signal is output to the motor controller 60.
- a vehicle behavior target value setting unit 51 to which the wheel speed N, the steering angle 0, the front rear wheel steering angle EFR, the rear front wheel steering angle ERF, the rear rear wheel steering angle ERR, and the longitudinal acceleration Gx are input.
- the vehicle behavior target value setting section 51 calculates the vehicle speed and determines the traveling state of acceleration or deceleration, the steering state of the front rear wheels RFR and LFR, the rear front wheels RRF and LRF, the rear rear wheels RRR and LRR, and the like. .
- a target value a of vehicle behavior excellent in vehicle stability at high speed or deceleration, turning performance at low speed, and the like is quantitatively set.
- It also has a vehicle behavior actual value calculation unit 52 to which the lateral acceleration Gy and the vehicle speed are input, and also calculates the actual value b of the change state when the vehicle behavior actually changes due to disturbance such as turning or side wind. Is calculated.
- the target value a and the actual value b of the above vehicle behavior, wheel speed N, longitudinal acceleration GX are The target value a is compared with the actual value b at the time of acceleration at each vehicle speed to quantitatively determine whether the vehicle behavior is stable or unstable.
- a total drive torque limit c corresponding to the difference between the two is obtained, and a motor control signal corresponding to the limit c is transmitted to the in-wheel motor control means 1. Output to 8.
- the wheel speed N, the longitudinal acceleration Gx, and the total drive torque limit c are input to the brake force setting unit 56, and when the limit c is large by referring to the total drive torque limit c from the vehicle speed and the acceleration state. Further, the braking force: f is determined, and this braking signal is output to the automatic braking means 19.
- the target value a and the actual value b are input to the all-wheel steering angle setting unit 57.
- the target front rear wheel steering angle EFR, rear front wheel steering angle ERF, and rear rear wheel steering angle ERR are obtained according to the deviation between the target value a and the actual value b, and the front rear wheel of this target is obtained.
- the steering control signal of the steering angle EFR, the rear front wheel steering angle ERF, and the rear rear wheel steering angle ERR is output to the controller 60.
- the motor control controller 60 has a motor current setting unit 61 to which a steering control signal is input, and sets a target according to the front rear wheel steering angle EFR, the rear front wheel steering angle ERF, and the rear rear wheel steering angle ERR. Set the current It. This current signal is input to the drive unit 62 so that a predetermined large motor current I flows through the electric motors 33, 34, and 35.
- the signals of various sensors are always input to the general controller 50, the target value a of the vehicle behavior is set, and the actual value b is calculated. Is done.
- the left and right in-wheel motor drive current values e and the target wheel steering angle E are set based on the target value a and the actual value b of the vehicle behavior. Therefore, if the actual value b deviates from the target value a and the vehicle behavior becomes unstable during straight-ahead or turning, a drive current value e corresponding to the deviation between the two is output to the left and right in-wheel motors. . For this reason, unnecessary operation of the left and right wheels is limited, and drive control is performed to achieve vehicle stability.
- the actual value b deviates from the target value a
- the target rear wheel steering angle E is set according to the difference between the two, and this steering control signal is output to the motor control controller 60. Therefore, the motor control controller 60 sets a target motor current It corresponding to the target rear wheel steering angle E, and the driving unit 62 generates a large motor for the electric motor 31 of the rotation-to-movement conversion means 30. Current flows.
- the front rear wheel, rear front wheel, and rear rear wheel are steered directly in a predetermined relationship by the rotational force of the drive current value e of the left and right in-wheel motors, and steering is performed to achieve vehicle stability. Controlled. Also, at extremely low speed turns, the in-wheel motor steers the rear front wheels and rear rear wheels in opposite phases, enabling a small turn.
- each wheel pair is controlled by the electric motor with a worm gear instructed by the general control controller 50 based on the output of the steering angle sensor 22.
- the steering means comprising a motor with a worm gear and rotation-movement conversion means in FIG. 2
- a steering means comprising steering wheels is provided, that is, a steering means comprising a plurality of steering wheels is provided.
- the remaining motor steering means are provided so that they can be linked to each other.
- the steering booster is an electric booster, which is mounted on only one steering shaft and the power is distributed to each steering shaft, or a booster is mounted on each steering shaft.
- a flexible wire is used to transmit force from the steering wheel to each steering shaft, and a flexible wire is used to transmit force from each steering shaft to another steering shaft. Some are used.
- the last row steering axis can be switched to the opposite phase at low speed and the same phase at high speed.
- the steering angle of the steering wheel 71 is transmitted to a steering angle sensor (mouth encoder) 72, a pulley 73, a torque sensor (torsion torque sensor) 74, and a gearbox 75.
- a steering angle sensor mouth encoder
- a pulley 73 pulley
- a torque sensor torque torque sensor
- gearbox 75 gearbox
- the rotation angle transmitted to the gearbox 75 is transmitted to an evening rod or the like via a shaft with a motor 77 interposed therebetween to steer the wheels.
- the rotation angle of the motor 77 is fed back to the torque sensor 74 via the gearbox 75 to perform feedback control.
- the following steering angle control (2) and (2) is performed.
- the controllers 76a and 76b which control the steering shafts of the other wheels, especially the front left and right rear wheels and the rear left and right rear wheels, use the values detected by the steering angle sensor 78 and the steering angle of the steering wheel 71.
- the detected value of 2 is input, and the booster action is applied to motors 77 b and 77 c.
- a gearbox 75a is provided on the left and right front wheel steering shafts.
- the gearbox 77a is provided with a booster motor 77a, a pulley 73a and a torque sensor 74a. Since the pulley-73 a is connected to the pulley 73 by a wire, the steering angle of the steering wheel 71 can be reproduced. The reproduced steering angle is detected by the torque sensor 74a. Based on this detection value, the controller 76a issues a command to generate a boosting action on the motor 77a, and feeds back to the torque sensor 74a via the gearbox 75a to obtain a feedback signal. Performs knock control.
- FIGS. 4 and 5 A third embodiment of the present invention will be described with reference to FIGS. 4 and 5.
- the diameter of the front pulley 73 and the diameter of the rear pulley 73a in the second embodiment is larger than the diameter of the front burry 73.
- a steering wheel with a long steering stroke can be used. Since a small-sized pulley 73 can be allocated to the wheel 71, the steering angle can be transmitted in accordance with the movement of the steering wheel 71.
- the detected value of the steering angle in the second embodiment is performed by a gearbox and a mouth, which are physical transmission means instead of a pulley.
- the steering angle of the steering wheel 71 is transmitted from the gearbox 75 via a rod to gearboxes 75a, 75b, and 75c provided on other steering shafts.
- the transmission of the steering angle can be made of a rigid rod, instead of a physical transmission means, in particular, a material that is not easily bent like a wire, so that the steering angle can be transmitted more accurately.
- the controllers 76a, 76b, and 76c feedback the detected values of the torque sensors 74a, 74b, and 74c and perform feedback control.
- this embodiment is characterized in that the entire steering system is controlled based on the detection value of one steering angle sensor.
- the steering shaft 79 is connected to the steering shaft 81 via (1) directly or (2) via a gear box 75 of a steering gear, and a steering angle sensor 78 detects displacement of the steering shaft 81.
- the steering angle of the steering shaft 79 is detected by a steering angle sensor 78, and is input to all the steering systems as a single detected value.
- the controllers 76, 76a, 76b, 76c of the respective steering systems are connected to the motors 77, 77a based on the detection values of the steering angle sensors 78 corresponding to the steering angles. , 77 b and 77 c are controlled so as to exert a boosting action. As a result, each steering system is controlled using one detected value as common data, so that consistent control can be performed for all steering systems.
- the controller 76 inputs the steering angle of the steering shaft 79 as the detection value of the steering angle sensor 78, and based on this detection value, the motor 7 Controls 7 and steers shaft 8
- the controller 76 performs feedback control by feeding back the rotation angle of the steering shaft 81 as a detection value of the steering angle sensor 78 via the gearbox 75 as a control result. Also, the detection values of the steering angle sensors 78 are only available for all other steering systems.
- the controller 76, 76a, 76b, 76c is connected to each motor 77, 76
- the steering shafts 8 1, 8 1 a, 8 1 b, 8 1 are controlled by controlling 77 a, 77 b, 77 c. Is driven to rotate. At this time, the amount of rotation of each steering shaft 81, 81a, 81b, 81c is feedback-controlled by the detected value of each steering angle sensor 78a, 78b, 78c. Steering can be eliminated.
- This embodiment is characterized in that one steering angle detection value is used as a single input value, and the entire steering system is controlled by a single controller.
- the steering angle of the steering shaft 79 is detected by a steering angle sensor 72.
- the controller 76 controls the motors 77, 77a, 77b, 77c of each steering system based on the detected values.
- the output of the controlled motor 77 is detected by the torque sensor 74 via the steering shaft and the gearbox 75.
- the detection data of the steering force is fed back to the controller 76, and the steering force is reduced. Is controlled so as to play.
- the entire steering system can be controlled by a single controller based on the single steering angle detection data, so that the steering can be coordinated as a whole.
- a seventh embodiment of the present invention will be described with reference to FIG. 4 and FIG.
- the steering angle of the steering wheel 71 or the joystick is detected by the steering angle sensor 72 and input to the controller 76.
- the controller 76 controls the steering angles of the steering motors 83, 83a, 83b, 83c provided for each wheel based on the detected values.
- the output of 83c is detected by the steer angle sensors 84, 84a, 84b, 84c and fed back to the controller 76 for controlling the steering of all the wheels.
- the controller 76 forms a feedback control system based on the detection values of the steering angle sensor 72 and the detection values of the steering angle sensors 84, 84a, 84b, 84c.
- Each wheel is equipped with steering motors 83, 83a, 83b, 83c in common, and the motors are used as first support brackets 86, 83, 83a, 83b, 83c.
- the first support member 86 is supported by a second support member 89 via a universal joint 90, and the second support member 89 is supported by suspensions 92, 92a.
- Moor for steering 8 3, 8 3 The a, 83b, and 83c are fixed to the first support bracket 86, and the motor shaft has a male screw groove 88 formed on the opposite side through the first support bracket 86.
- a cylindrical body 91 provided with a female screw portion 87 to be screwed into the male screw groove 88 is pivotally supported by the second support metal member 89 in a self-rotating manner.
- the motor for steering 8 3, 8 3 a, 8 3 b, and 8 3 c is driven in the forward and reverse directions, the external thread groove 88 of the shaft is connected to the cylindrical body 91 that is supported by the second support bracket 89.
- the wheel is steered by being inserted and removed while being screwed into the female screw groove 87.
- Steering angle sensors 84, 84a, 84b, 84c are provided on the cylinder 91, and a steering tube is provided for the shafts of the shafts 83, 83a, 83b, 83c.
- the steer angle is detected in accordance with the degree of the departure distance from the body 91.
- the steering mechanism can be made compact and simple.
- steering control can be performed directly by a control command from the controller, accurate control with little control error can be performed.
- the steering mechanism is configured to perform smooth turning operations.
- a comprehensive control controller that comprehensively processes the signals of various sensors and outputs drive control and steering control signals based on vehicle behavior, and responds to steering control signals
- the motor control controller for controlling the motor current of the electric motor of the electric wheel steering means is separately provided, so that the control system of the integrated control controller is small and compact.
- the motor control controllers separately, it is possible to optimally control the large motor current of the electric wheel steering means. Also, it can easily cope with the presence or absence of motorized wheel steering means, small steering load, large and small vehicles, and changes in the capacity of large vehicles. In the case of tandem wheel suspension, turning and steering Can be smoothed.
- a smooth turning operation can be performed by providing an interlocking mechanism with the first axis on the other axis of the first axis.
- a smooth turning operation can be performed by providing a steering mechanism on two or more axes.
- [D] By providing separate motor control controllers, it is possible to optimally control the motor current with a large electric wheel steering means. In addition, it can easily cope with the presence or absence of equipment for electric wheel steering, small steering loads, large loads on small cars, and changes in the capacity of large cars. Also, in a tandem wheel suspension, turning and steering can be smoothed.
- the steering mechanism for an electric vehicle has a tandem wheel suspension, and can perform a smooth turning operation in an electric vehicle steering mechanism having steering means for each of the left and right wheel sets. This is suitable as a steering mechanism of an electric vehicle without exhaust gas, which can prevent the occurrence of exhaust gas.
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60134493T DE60134493D1 (de) | 2000-12-12 | 2001-10-26 | Lenkmechanismus für elektrisches fahrzeug |
EP01980915A EP1342609B1 (en) | 2000-12-12 | 2001-10-26 | Steering mechanism of electric car |
US10/433,778 US6863149B2 (en) | 2000-12-12 | 2001-10-26 | Steering mechanism of electric car |
JP2002549489A JP4030871B2 (ja) | 2000-12-12 | 2001-10-26 | 電気自動車の操舵機構 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000377715 | 2000-12-12 | ||
JP2000-377715 | 2000-12-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002047936A1 true WO2002047936A1 (fr) | 2002-06-20 |
Family
ID=18846391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/009419 WO2002047936A1 (fr) | 2000-12-12 | 2001-10-26 | Mecanisme de direction pour voiture electrique |
Country Status (5)
Country | Link |
---|---|
US (1) | US6863149B2 (ja) |
EP (1) | EP1342609B1 (ja) |
JP (1) | JP4030871B2 (ja) |
DE (1) | DE60134493D1 (ja) |
WO (1) | WO2002047936A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2005510391A (ja) * | 2001-08-23 | 2005-04-21 | ゼネラル・モーターズ・コーポレーション | 非機械的制御信号に応答するシステムを有する車両シャシ |
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JP3476770B2 (ja) * | 2000-12-18 | 2003-12-10 | 科学技術振興事業団 | 電気自動車の制御装置 |
US7213855B2 (en) * | 2004-03-08 | 2007-05-08 | Larson Dickie L | Hearse assembly |
JP2005289324A (ja) * | 2004-04-05 | 2005-10-20 | Bridgestone Corp | 後輪補助駆動用モータ付車輌 |
US7521814B2 (en) * | 2004-09-27 | 2009-04-21 | Oshkosh Truck Corporation | System and method for providing low voltage 3-phase power in a vehicle |
IL174061A0 (en) * | 2006-03-02 | 2006-08-01 | Amihud Rabin | Safety control system for electric vehicle |
US11597457B2 (en) * | 2018-10-12 | 2023-03-07 | New Heights, Llc | Self-propelled tandem axle trailer |
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Also Published As
Publication number | Publication date |
---|---|
US6863149B2 (en) | 2005-03-08 |
US20040050596A1 (en) | 2004-03-18 |
DE60134493D1 (de) | 2008-07-31 |
EP1342609A1 (en) | 2003-09-10 |
EP1342609B1 (en) | 2008-06-18 |
JP4030871B2 (ja) | 2008-01-09 |
EP1342609A4 (en) | 2005-12-14 |
JPWO2002047936A1 (ja) | 2004-04-15 |
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