CN203293935U - Electronic differential steering system of electric sweeper - Google Patents
Electronic differential steering system of electric sweeper Download PDFInfo
- Publication number
- CN203293935U CN203293935U CN2013203654520U CN201320365452U CN203293935U CN 203293935 U CN203293935 U CN 203293935U CN 2013203654520 U CN2013203654520 U CN 2013203654520U CN 201320365452 U CN201320365452 U CN 201320365452U CN 203293935 U CN203293935 U CN 203293935U
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- China
- Prior art keywords
- electronic differential
- steering system
- bus
- electrically connected
- electric cleaning
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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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- Retarders (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The utility model discloses an electronic differential steering system of an electric sweeper and belongs to the field of an automobile steering system. The electronic differential steering system of the electric sweeper comprises a sweeper which is provided with a vehicle pedal, a steering wheel, an instrument panel and wheels; the sweeper is also provided with a sensing device, a control device, a driving device and a power device; the sensing device and the driving device are in communication connection with the control device through a CAN (Controller Area Network) bus; the power device is electrically connected with the driving device through a direct current bus; the power device is electrically connected with the control device through a direct current bus; the direct current bus which is arranged between the power device and the driving device is electrically connected with an energy converter; a direct current bus circuit is provided with an energy absorber which is electrically connected with the energy converter. The electronic differential steering system of the electric sweeper has the advantages of being flexible in arrangement and high in transmission system efficiency, improving the low-speed controllability and high-speed stability of a vehicle, providing protection for the integral power supply circuit, enabling maintenance on the integral control system to be rapid and being simple in structure and convenient to use.
Description
Technical field
The utility model relates to the automobile steering system field, particularly a kind of electric cleaning car electronic differential speed steering system.
Background technology
The power that automotive powerplant sends is delivered to the driving wheel by transmission system, transmission system has the function such as differential and shaft space difference speed between deceleration, speed change, reversing, interruption power, wheel, can guarantee automobile normally travelling under various working conditions, and have good dynamic property and economy, mainly by power-transfer clutch, change-speed box, universal-joint, transmission shaft and drive axle etc., formed.
In the regular job of road sweeper, road sweeper travels on square, the residential quarter road of being everlasting, but often occur because of the work of can not entering greatly of place tight turn radius, perhaps because community resident density is large, the driver in steering procedure, because of place less, steering operation inconvenience, with the resident, bump, cause unnecessary dispute.
In the prior art, electronic differential control system can realize that the inorganic of vehicle turns to, improved the control accuracy in the Vehicular turn process, with regard to present technical merit, Electronic differential control is the technical barrier of Vehicular turn. the research of most of Electronic differential controls is in conjunction with steering kinematics Ackerman model, rotating speed or torque to four-wheel hub motor are coordinated to control, while turning to, control separately rotating speed, but can make like this reduction of vehicle degree of freedom, handling variation, also can make the stationarity variation of vehicle simultaneously.
In the electronic differential speed steering system, wheel hub motor and Electronic differential control device, they are very responsive to voltage, often, because of the overtension et out of order, have increased frequency of maintenance, cause the inconvenience of use, have also improved use cost.
The utility model content
Technical problem to be solved in the utility model is to provide the handling and high-speed smooth electronic differential speed steering device of a kind of raising electric cleaning car low speed.
for achieving the above object, the utility model provides following technical scheme: a kind of electric cleaning car electronic differential speed steering system, comprise and be provided with the car pedal, bearing circle, the pickup sweeper of instrument desk and wheel, described pickup sweeper is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected to by DC bus with actuating device, engine installation is electrically connected to by DC bus with control setup, direct current bus bar between engine installation and actuating device is connected with energy converter, on the DC bus circuit, also be provided with energy absorber, energy absorber is electrically connected to energy converter.
Preferably, described actuating device is 4 wheel hub motors that are connected with 4 wheels respectively, comprises front left wheel hub motor, front right wheel hub motor, rear left wheel hub motor and rear right wheel hub motor.
Preferably, described induction installation comprises the rotary angle transmitter that is arranged in the bearing circle rotating shaft and is arranged at the displacement pickup on the car pedal.
Preferably, described control setup is the Electronic differential control device.
Preferably, in described pickup sweeper, be provided with the diff permanent seat, described Electronic differential control device and diff permanent seat removably connect.
Preferably, described engine installation is battery pack.
Preferably, described instrument desk is provided with the fault detector that is connected with the communication of Electronic differential control device.
adopt the beneficial effect of above technical scheme to be: the induced signal that the electronic differential speed steering system of the utility model structure is sent by the inductor on bearing circle and car pedal, the Electronic differential control device is through inner calculating, through the CAN bus, to 4 wheel hub motors, send dtc signal, realizing that Electronic differential control is electrodeless turns to, this system has been cancelled change-speed box, retarder, diff and steering hardware, flexible arrangement, transmission system efficiency is high. improve the handling and high-speed smooth of vehicle low speed, this electronic differential speed steering system adopts battery pack, energy-conserving and environment-protective, low energy consumption, battery pack is powered to energy converter, again by energy converter to the DC dynamo bussed supply, whole bus voltage is played a protective role, when bus voltage surpasses limits value, energy absorber work, absorb unnecessary energy.
On the instrument desk of pickup sweeper, be provided with the fault detector that is connected with the communication of Electronic differential control device, when system makes a mistake or break down, the Electronic differential control device detects by control path, obtain rapidly failure message, and be presented on fault detector, help the maintainer to keep in repair rapidly, the navigating mate of pickup sweeper also can keep in repair according to failure message, discharge rapidly fault, improved work efficiency.
This electronic differential speed steering system control path adopts the CAN bus, the CAN bus adopts the non-destructive arbitration technique, when two nodes simultaneously when transmitting data on network, the node that priority is low initiatively stops data and sends, and the high node of priority can unaffected continuation transmit data, has effectively avoided bus collision, node is in the situation that mistake is serious, function with automatic pass closed bus, cut off contacting of it and bus, so that on bus, other operations are unaffected; Adopt the two-wire serial communication mode, error detecing capability is strong, after the information of transmission is destroyed, can automatically retransmit the high reliability that the CAN bus has and good error detection capability.
This electronic differential speed steering system power supply circuit adopts DC bus, DC bus adopts independent rectification/feedback device, the direct supply of certain power is provided for system, controls the high precision of speed governing system, the renewable sources of energy that simultaneously system produced in braking procedure are rationally utilized and are reclaimed.
The accompanying drawing explanation
Fig. 1 is control path figure of the present utility model;
Fig. 2 is structural representation of the present utility model.
Wherein, 1--instrument desk, 2--fault detector, 3--rotary angle transmitter, 4--bearing circle, 5--car pedal, 6--displacement pickup, 7--front left wheel hub motor, 8--front right wheel hub motor, 9--Electronic differential control device, 10--diff permanent seat, 11--battery pack, 12--rear left wheel hub motor, 13--rear right wheel hub motor, 14--energy converter, 15--pickup sweeper.
The specific embodiment
Below in conjunction with accompanying drawing, describe preferred implementation of the present utility model in detail.
Fig. 1 shows the specific embodiment of the present utility model: a kind of electric cleaning car electronic differential speed steering system, comprise and be provided with car pedal 5, bearing circle 4, the pickup sweeper 15 of instrument desk 1 and wheel, pickup sweeper 15 is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected to by DC bus with actuating device, engine installation is electrically connected to by DC bus with control setup, direct current bus bar between engine installation and actuating device is connected with energy converter, on the DC bus circuit, also be provided with energy absorber 14, energy absorber 14 is electrically connected to energy converter, actuating device is 4 wheel hub motors that are connected with 4 wheels respectively, comprise front left wheel hub motor 7, front right wheel hub motor 8, rear left wheel hub motor 12 and rear right wheel hub motor 13, induction installation comprises the rotary angle transmitter 3 that is arranged in bearing circle 4 rotating shafts and is arranged at the displacement pickup 6 on car pedal 5, control setup is Electronic differential control device 9, in pickup sweeper, be provided with diff permanent seat 19, Electronic differential control device 9 removably connects with diff permanent seat 10, engine installation is battery pack 11, instrument desk 1 is provided with the fault detector 2 that is connected with 9 communications of Electronic differential control device.
the present embodiment, battery pack 11 gives energy converter 14 power supplies, by energy converter 14, give DC bus powered again, when bus voltage surpasses limits value, energy absorber work, absorb unnecessary energy, the signal of the displacement that the angular signal that Electronic differential control device 9 sends according to bearing circle 4 corner inductors 3 and car pedal 5 displacement sensors 6 send, calculate the speed of a motor vehicle and deflection angle, in the speed that calculates respectively four-wheel steering angle and four-wheel, by CAN bus left wheel hub motor 7 forward, front right wheel hub motor 8, rear left wheel hub motor 12 and rear right wheel hub motor 13 send dtc signal, control respectively the torque of 4 driving wheels, realizing that the vehicle electric differential control is electrodeless turns to.
Wheel hub motor comprises motor, electromechanical transducer and electric machine controller, bearing circle 4 corners and the proportional relation of pickup sweeper 14 actual steering angle, the corresponding chaufeur expectation of bearing circle 4 corner displacement signals deflection angle, bearing circle 4 rotation angle ranges [+60
0,-60
0], the corresponding chaufeur desired speed of car pedal 5 displacement signals, car pedal 5 angular misalignment scopes [0 ,+45
0], according to the speed of a motor vehicle and deflection angle, Electronic differential control device 9 calculates the deflection angle speed of 4 wheel hub motors, with the actual steering cireular frequency of the rotor-position sensor collection of 4 motors, compare in real time again, Electronic differential control device 9 is controlled the speed error of motor, and produce the torque reference of 4 motors, by the CAN bus, to 4 electric machine controllers, distribute in real time.
Adopt the beneficial effect of above technical scheme to be: the electronic differential speed steering system of the utility model structure; flexible arrangement, transmission system efficiency are high. improve the handling and high-speed smooth of vehicle low speed; to whole supply line, provide protection; and can whole control system overhaul fast, simple in structure easy to use.
Above-described is only preferred implementation of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite that does not break away from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (7)
1. electric cleaning car electronic differential speed steering system, comprise and be provided with the car pedal, bearing circle, the pickup sweeper of instrument desk and wheel, it is characterized in that: described pickup sweeper is provided with induction installation, control setup, actuating device and engine installation, induction installation is connected with the control setup communication respectively by the CAN bus with actuating device, engine installation is electrically connected to by DC bus with actuating device, engine installation is electrically connected to by DC bus with control setup, direct current bus bar between engine installation and actuating device is connected with energy converter, on the DC bus circuit, also be provided with energy absorber, energy absorber is electrically connected to energy converter.
2. electric cleaning car electronic differential speed steering system according to claim 1, it is characterized in that: described actuating device comprises 4 wheel hub motors that are connected with 4 wheels respectively.
3. electric cleaning car electronic differential speed steering system according to claim 1 is characterized in that: described induction installation comprises the rotary angle transmitter that is arranged in the bearing circle rotating shaft and is arranged at the displacement pickup on the car pedal.
4. electric cleaning car electronic differential speed steering system according to claim 1, it is characterized in that: described control setup is the Electronic differential control device.
5. electric cleaning car electronic differential speed steering system according to claim 4, it is characterized in that: in described pickup sweeper, be provided with the diff permanent seat, described Electronic differential control device and diff permanent seat removably connect.
6. electric cleaning car electronic differential speed steering system according to claim 1, it is characterized in that: described engine installation is battery pack.
7. electric cleaning car electronic differential speed steering system according to claim 1, it is characterized in that: described instrument desk is provided with the fault detector that is connected with the communication of Electronic differential control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203654520U CN203293935U (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203654520U CN203293935U (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203293935U true CN203293935U (en) | 2013-11-20 |
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ID=49569969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203654520U Expired - Fee Related CN203293935U (en) | 2013-06-25 | 2013-06-25 | Electronic differential steering system of electric sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203293935U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303368A (en) * | 2013-06-25 | 2013-09-18 | 芜湖爱瑞特环保科技有限公司 | Electronic differential steering system of electric sweeper |
| CN104386125A (en) * | 2014-11-06 | 2015-03-04 | 上海电机学院 | Driving motor control method of electric vehicle |
-
2013
- 2013-06-25 CN CN2013203654520U patent/CN203293935U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303368A (en) * | 2013-06-25 | 2013-09-18 | 芜湖爱瑞特环保科技有限公司 | Electronic differential steering system of electric sweeper |
| CN104386125A (en) * | 2014-11-06 | 2015-03-04 | 上海电机学院 | Driving motor control method of electric vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131120 Termination date: 20210625 |