Multi-mode air-ground hybrid flying car and control method thereof

Abstract

The invention discloses a multi-mode air-ground hybrid flying car and a control method thereof. Belt speed switching of the flying car between a ground running state and an air flying state is achieved through a pair of liftable and turnable rotor wing wheel systems (A systems) and two pairs of turnable rotor wing wheel systems (B systems); in other words, the flying car can complete mode switching in the ground running process or the air flying process, parking or hovering in the air is not needed, corresponding strategies are made according to possible emergency situations in the air, and the overall operation efficiency and safety of the flying car are greatly improved. Due to the existence of the two systems, the effects of supporting the vehicle, supplementing power and carrying out redundant backup are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of flying cars, and in particular to a multi-mode land-air hybrid flying car and a control method thereof. Background Art

[0002] As traffic congestion becomes increasingly serious in urban areas and people's demand for travel efficiency continues to increase, flying cars have emerged as a new type of transportation with great potential. One of the biggest highlights of flying cars is that they get rid of the dependence of traditional aircraft on runways. At present, most flying cars on the market take off and land in a stationary position.

[0003] Although this stationary take-off and landing mode solves the problem of runway constraints, it has exposed many drawbacks in actual use, seriously affecting its operating efficiency. When a flying car takes off and lands in a stationary position, a series of complex processes are required before and after the take-off and landing action is completed, including the support of the flying car body, the flipping of the flying car tires and rotors, the self-testing, debugging and operation of the power system, etc. This process is time-consuming, resulting in a significant increase in the turnaround time of each trip. Summary of the invention

[0004] In view of the shortcomings in the prior art, the present invention provides a multi-mode land-air hybrid flying car and a control method thereof. Through the mutual cooperation of two power systems, the flying car can achieve normal driving on the ground and normal flight in the air, and can achieve land-air state switching with speed.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A multi-mode hybrid flying car comprises an energy supply system, a lifting / flipping system, a drive system, a rotor wheel system, an electronic control unit, and a power drive unit. The lifting / flipping system, the drive system, and the rotor wheel system form a liftable and flippable rotor wheel system and a flippable rotor wheel system, which are respectively referred to as A system and B system. Among the three pairs of wheels of the flying car, the middle pair of wheels are all A system, and the other two pairs of wheels are all B system.

[0007] The A system includes a lifting mechanism, a lifting / flipping motor, a connecting mechanism and a suspension, a driving motor A, an in-tire transmission structure A, an electromagnetic dual clutch A, a rotor A, an outer tread and a wheel hub A; the lifting / flipping motor is fixedly connected to the chassis of the flying car, and the motor output shaft is connected to the lifting mechanism; the lifting mechanism is rotatably connected to the connecting mechanism and the suspension; the output shaft of the driving motor A is connected to the electromagnetic dual clutch A, the electromagnetic dual clutch A is connected to the outer tread and the wheel hub A through the in-tire transmission structure A, and the electromagnetic dual clutch A is also connected to the rotor A;

[0008] The B system includes a flip motor, a flip mechanism and a suspension, a drive motor B, an in-tire transmission structure B, an electromagnetic double clutch B, a rotor B, an outer tread and a wheel hub B; the flip motor is fixedly connected to the chassis of the flying car, and the motor output shaft is connected to the flip mechanism and the suspension; the output shaft of the drive motor B is connected to the electromagnetic double clutch B, the electromagnetic double clutch B is connected to the outer tread and the wheel hub B through the in-tire transmission structure B, and the electromagnetic double clutch B is also connected to the rotor B;

[0009] The energy supply system is connected to the lifting / flipping motor, the flipping motor, the driving motor A, and the driving motor B;

[0010] The power drive unit includes a lifting / flipping motor controller, a flipping motor controller and a driving motor controller, all of which are controlled by an electronic control unit; the electronic control unit includes a VCU and a BMS.

[0011] In the above technical solution, the lifting mechanism mechanical device includes a lifting mechanism outer shell, a lifting mechanism sun gear, a lifting mechanism first planetary gear, a lifting mechanism first outer gear ring, a lifting mechanism planetary carrier, a lifting mechanism second planetary gear, a lifting mechanism second outer gear ring and a lifting mechanism connecting rod; the lifting mechanism sun gear is connected to the output shaft of the lifting / flipping motor, the lifting mechanism sun gear is located between a pair of lifting mechanism first planetary gears, and meshes with the lifting mechanism first planetary gears, and the lifting mechanism first planetary gears are also meshed with the lifting mechanism first outer gear ring; one end of the lifting mechanism planetary carrier is connected to a pair of lifting mechanism first planetary gears, and the other end is connected to the lifting mechanism second planetary gear; one side of the lifting mechanism connecting rod is fixed It is connected to the second planetary gear of the lifting mechanism, and the other side is fixedly connected to a rotating shaft for connecting with the connecting mechanism and the suspension; the first outer gear ring of the lifting mechanism and the outer gear ring of the lifting mechanism are both fixed on the outer shell of the lifting mechanism, and the first outer gear ring of the lifting mechanism is close to the lifting / flipping motor, and the outer gear ring of the lifting mechanism is far away from the lifting / flipping motor; the planetary carrier of the lifting mechanism rotates following the revolution of a pair of first planetary gears of the lifting mechanism around the first outer gear ring of the lifting mechanism, and the second planetary gear of the lifting mechanism revolves around the second outer gear ring of the lifting mechanism; the connecting rod of the lifting mechanism revolves following the revolution of the second planetary gear of the lifting mechanism around the second outer gear ring of the lifting mechanism, and rotates following the rotation of the second planetary gear of the lifting mechanism.

[0012] A control method for a multi-mode land-air hybrid flying car:

[0013] Step 1), VCU reads the working status information of the A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, and flight joystick signal;

[0014] Step 2), VCU determines whether the vehicle is in the air based on the flight joystick signal read, if yes, proceed to step 14), otherwise proceed to step 3);

[0015] Step 3), the VCU determines whether the vehicle needs to take off according to the read mode switching signal, if yes, proceeds to step 13), otherwise proceeds to step 4);

[0016] Step 4), VCU determines whether the vehicle needs braking based on the brake pedal signal read, if yes, proceed to step 9), otherwise proceed to step 5);

[0017] Step 5), BMS determines whether the battery power meets the SOC <SOC C If not, go to step 6), otherwise go to step 8); where SOC C The charging limit of the battery;

[0018] Step 6), BMS determines whether the battery power meets SOC>SOC H If yes, go to step 7), otherwise go to step 8); where SOC H It is the preset battery charging power warning value;

[0019] Step 7), enter the ground pure electric driving mode, and at the same time enter step 24);

[0020] Step 8), enter the ground hybrid driving mode, and at the same time enter step 24);

[0021] Step 9), BMS determines whether the battery power meets the SOC <SOC H , if yes, go to step 10), otherwise go to step 12);

[0022] Step 10), the VCU calculates the total braking demand torque according to the read vehicle speed and brake pedal signal, and determines whether the regenerative braking force of the currently running motor meets the braking demand. If yes, proceed to step 11), otherwise proceed to step 12);

[0023] Step 11), enter the regenerative braking mode, and simultaneously enter step 24);

[0024] Step 12), enter the normal braking mode, and at the same time enter step 24);

[0025] Step 13), enter the take-off mode with speed, and at the same time enter step 24);

[0026] Step 14), the VCU determines whether the vehicle needs to land according to the read mode switching signal, if yes, proceeds to step 23), otherwise proceeds to step 15);

[0027] Step 15), VCU determines whether the A system is faulty according to the read working status information of the A / B system, if so, proceeds to step 22), otherwise proceeds to step 16);

[0028] Step 16), VCU determines whether the B system is faulty according to the read working status information of the A / B system, if so, proceeds to step 21), otherwise proceeds to step 17);

[0029] Step 17), BMS determines whether the battery power meets the SOC <SOC C , if yes, go to step 20), otherwise go to step 18);

[0030] Step 18), BMS determines whether the battery power satisfies SOC>SOC H , if yes, go to step 19), otherwise go to step 20);

[0031] Step 19), enter the pure electric flight mode in the air, and at the same time enter step 24);

[0032] Step 20), enter the air hybrid flight mode, and simultaneously enter step 24);

[0033] Step 21), enter the air B system failure mode, and simultaneously enter step 24);

[0034] Step 22), enter the air A system failure mode, and simultaneously enter step 24);

[0035] Step 23), enter the belt speed reduction mode, and simultaneously enter step 24);

[0036] Step 24), feed back the working status information to the VCU to form a closed-loop control.

[0037] Further: the ground pure electric driving mode is specifically as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the accelerator pedal signal, the brake pedal signal, the mode switching signal, and the flight joystick signal, and determines that the flying car is on the ground, does not need to take off, and does not need to brake; at this time, M A 、M B In the disabled state, the wheel drive motor M a1 and M a2 、M b1 and M b2 、M b3 and M b4 These three pairs of motors have three states: motor M a1 、M a2 Enable, motor M a1 、M a2 、Mb1 、M b2 Enable, motor M a1 、M a2 , M b1 、M b2 、M b3 、M b4 Enabled, and these three states correspond to the flying car's ground pure electric two-wheel drive, the flying car's ground pure electric four-wheel drive, and the flying car's ground pure electric six-wheel drive;

[0038] The ground hybrid driving mode is specifically as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the accelerator pedal signal, the brake pedal signal, the mode switching signal, and the flight joystick signal, and determines that the flying car is on the ground, does not need to take off, does not need to brake, and the battery SOC <SOC C At this time, M A 、M B In the disabled state, the wheel drive motor M a1 and M a2 、M b1 and M b2 、M b3 and M b4 These three pairs of motors have three states: motor M a1 、M a2 Enable, motor M a1 、M a2 、M b1 、M b2 Enable, motor M a1 、M a2 , M b1 、M b2 、M b3 、M b4 Enabled, and these three states correspond to the flying car ground hybrid two-wheel drive driving, the flying car ground hybrid four-wheel drive driving, and the flying car ground hybrid six-wheel drive driving;

[0039] Among them, M A Represents the lifting / flipping motor, M B Represents the flip motor, M a1 、M a2 Represents the drive motors A and M of the two A systems respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B of the four B systems respectively.

[0040] Furthermore, the regenerative braking mode is as follows: the VCU receives a brake pedal signal and detects the SOC value of the battery. If the SOC <SOCH , the VCU transmits the regenerative braking command to the currently running drive motor controller, drives the currently running drive motor to generate electricity, and converts the kinetic energy recovery into electrical energy and stores it in the battery; if SOC ≥ SOC H , the battery is judged to be in a fully charged state and braking energy recovery is not performed.

[0041] Furthermore, the conventional braking mode is: the VCU receives the brake pedal signal and detects the SOC value of the battery. If SOC>SOC H , the clutches C1 and C2 of the electromagnetic dual clutch A and the electromagnetic dual clutch B are released, and pure mechanical braking is adopted; if SOC <SOC H However, if the required braking force is greater than the regenerative braking force, the braking force other than the regenerative braking force will be achieved through mechanical braking.

[0042] Furthermore, the speed take-off mode is:

[0043] The VCU receives the flight control stick signal of the flying car, the working status information of the A / B system, and the motor current feedback signal, determines the current ground driving mode of the vehicle, and changes the driving mode to the B system taking over the driving;

[0044] After taking over the drive, the battery supplies power to the lifting / flipping motor, the VCU transmits the lifting demand signal, and the lifting / flipping motor controller controls the lifting / flipping motor to drive the lifting mechanism mechanical device. When the rotor wheel system reaches the maximum lifting height, the lifting / flipping motor temporarily stops working, and the flying car is lifted from the ground driving state to the land-to-air switching state 1;

[0045] While the A system is lifted upward, the motor M a1 、M a2 The regenerative braking stops the rotor wheel system of system A and locks the wheels;

[0046] After the lifting of system A is completed, the lock B1 in the lifting mechanism is locked, the lifting / flipping motor works again, rotates a certain angle, and the flipping of system A is realized. The flying car flips from the land-to-air switching state 1 to the land-to-air switching state 2;

[0047] After the flip is completed, C1 of the electromagnetic dual clutch A of the A system is released and C2 is engaged, and the motor controller controls the motor M a1 、M a2 The corresponding rotor A is driven to provide lift for the flying car, so that the vehicle can complete a smooth low-altitude initial takeoff during driving; then, the motor M is used to b1 、M b2 、M b3 、M b4The regenerative braking of the B system completes the braking and locks the tires. The battery supplies power to the flip motor to realize the flip of the B system. The C1 of the electromagnetic dual clutch B of the B system is released and C2 is engaged. The motor controller controls the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Drive the corresponding rotor B, so that the vehicle changes from low-altitude two-rotor drive to low-altitude six-rotor drive, achieving a smooth transition and completing the switch of the speed-taking takeoff mode;

[0048] Among them, M a1 、M a2 Represents the drive motors A and M of the two A systems respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B of the four B systems respectively.

[0049] Further:

[0050] The pure electric flight mode in the air is as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the mode switching signal, the flight joystick signal, and the battery remaining power SOC, and determines that the flying car is in the air, the driving mechanism is operating normally, and detects that the current battery SOC>SOC H , M A 、M B In the disabled state, the electromagnetic dual clutch C1 in the rotor wheel is released and C2 is engaged, and the battery supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Power supply; Motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor through the electromagnetic double clutch A and the C2 end of the electromagnetic double clutch B, and the rotor rotates to drive the flying car to fly smoothly;

[0051] The hybrid flight mode in the air is as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the mode switching signal, the flight joystick signal, and the battery remaining power SOC, determines that the flying car is in the air, the driving mechanism is operating normally, and detects the current battery SOC <SOC H , M A 、M BIn the disabled state, the electromagnetic dual clutch C1 is released and C2 is engaged, and the battery supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Power supply, while the range extender starts; motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor through the electromagnetic double clutch A and the C2 end of the electromagnetic double clutch B, and the rotor rotates to drive the flying car to fly smoothly;

[0052] Among them, M A Represents the lifting / flipping motor, M B Represents the flip motor, M a1 、M a2 Represents the drive motors A and M of the two A systems respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B of the four B systems respectively.

[0053] Furthermore, the A system failure mode in the air is as follows: the VCU receives the A system failure signal, and based on the received current vehicle information, calculates the required torque of each motor to be driven by the B system alone to maintain the current flight state, and transmits the torque request to the M b1 、M b2 、M b3 、M b4 The corresponding motor controller controls the motor to drive the rotor B of system B; at the same time, the rotor A of system A uses conventional braking to stop its rotation;

[0054] The in-flight B system failure mode is as follows: the VCU receives the fault signal of the B system, and based on the received current vehicle information, calculates the required torque of each motor to maintain the current flight state by using the A system alone to drive, and transmits the torque request to the M a1 、M a2 The corresponding motor controller controls the motor to drive the rotor A of the A system; at the same time, the rotor B of the B system uses conventional braking to stop rotating;

[0055] Among them, M a1 、M a2 Represents the drive motors A and M of the two A systems respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B of the four B systems respectively.

[0056] Furthermore, the belt speed reduction mode is:

[0057] The VCU receives the landing signal of the flying car and adjusts the flight altitude to a low altitude and the flight speed to a low speed;

[0058] Based on the current vehicle information, the VCU calculates the required speed of each motor driven by the A system to maintain the current flight state, and transmits the speed request to the M system. a1 、M a2 The corresponding motor controller controls the motor to drive rotor A; at the same time, rotor B of system B uses motor M b1 、M b2 、M b3 、M b4 The regenerative braking stops the rotation; after the rotor B stops rotating, C1 of the electromagnetic dual clutch B is engaged and C2 is released, the battery supplies energy to the lifting / flipping motor, and the motor drives the flying car to flip from the air flight state to the land-air switching state 2, and the flight altitude continues to decrease;

[0059] Before the flying car lands, the VCU calculates the flying car's air speed and the corresponding torque along the forward direction of the vehicle on the ground based on the received vehicle information, and transmits the torque requirements of each motor to the motor M. b1 、M b2 、M b3 、M b4 Controller, control motor M b1 、M b2 、M b3 、M b4 Drive the corresponding wheels to reach the required speed before the vehicle lands, so as to achieve a smooth landing;

[0060] After landing smoothly, the rotor A of system A uses motor M a1 、M a2 The regenerative braking stops the rotation; after the rotor A stops rotating, C1 of the electromagnetic dual clutch A is engaged and C2 is released, the battery supplies energy to the lifting / flipping motor, and the motor drives the flying car to flip from the land-to-air switching state 2 to the land-to-air switching state 1;

[0061] After the flip is completed, the VCU transmits a lifting demand signal, and the lifting / flipping motor controller controls the lifting / flipping motor to drive the lifting mechanism mechanical device. When the second planetary gear of the lifting mechanism returns to the initial position, the lifting / flipping motor stops working;

[0062] When the A system descends, the VCU calculates the wheel torque required for the A system's wheels to land based on the vehicle information and transmits it to the motor M. a1 、M a2 Controller, control motor Ma1 、M a2 The corresponding wheels are driven to reach the required vehicle speed before the wheels hit the ground, completing the speed switching of the flying car from the land-to-air switching state 1 to the ground driving state.

[0063] The beneficial effects of the present invention are:

[0064] (1) The present invention uses two separate systems, A and B, to achieve speed-controlled switching between the ground driving state and the air flying state of the flying car. The switching can be completed without parking on the ground or hovering in the air, which can ensure that the flying car can drive normally on the ground and has good adaptability to working conditions and can cope with a variety of complex working conditions. Due to the design of two separate systems, A and B, corresponding strategies are made for possible emergencies in the air, which greatly improves the overall operating efficiency and safety of the flying car, and makes the multi-mode land-air hybrid vehicle have a certain fault tolerance capability.

[0065] (2) The present invention can reasonably control the start and stop of the range extender according to the state of charge (SOC) of the battery, and decide whether to perform braking energy recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] FIG1( a ) is a schematic diagram of the multi-mode land-air hybrid vehicle of the present invention in a ground driving state;

[0067] FIG1( b ) is a schematic diagram of the multi-mode land-air hybrid vehicle of the present invention in an aerial flight state;

[0068] Figure 2 This is an x-direction view of the A system of the multi-mode land-air hybrid flying car and its control system of the present invention;

[0069] Figure 3 A y-direction view of the A system of the multi-mode land-air hybrid flying car and its control system according to the present invention;

[0070] Figure 4 This is an x-direction view of the B system of the multi-mode land-air hybrid flying car and its control system of the present invention;

[0071] Figure 5 This is a y-direction view of the B system of the multi-mode land-air hybrid flying car and its control system of the present invention;

[0072] Figure 6 A schematic diagram of the dual systems of the multi-mode land-air hybrid vehicle of the present invention in a ground driving state;

[0073] Figure 7 It is a schematic diagram of the dual systems of the multi-mode land-air hybrid vehicle of the present invention in land-air mode switching state 1;

[0074] Figure 8It is a schematic diagram of the dual systems of the multi-mode land-air hybrid vehicle of the present invention in land-air mode switching state 2;

[0075] Fig. 9 A schematic diagram of the dual systems of the multi-mode land-air hybrid vehicle of the present invention in an airborne state;

[0076] Fig.10 This is a control flow chart of the multi-mode land-air hybrid vehicle of the present invention;

[0077] Description of reference numerals: 1-energy supply system, 11-battery, 12-range extender, 2-lifting / turning system, 21-lifting mechanism mechanical device, 211-lifting mechanism outer shell, 212-lifting mechanism sun gear, 213-lifting mechanism first planetary gear, 214-lifting mechanism first outer gear ring, 215-lifting mechanism planetary carrier, 216-lifting mechanism second planetary gear, 217-lifting mechanism second outer gear ring, 218-lifting mechanism connecting rod, 22-lifting / turning motor, 2 3-Connecting mechanism and suspension, 231-Axle sleeve A, 232-Connecting mechanism connecting rod 1, 233-A system suspension system, 234-Connecting mechanism connecting rod 2, 235-Connecting mechanism connecting rod 3, 24-Turning mechanism and suspension, 241-Turning mechanism outer shell, 242-Turning mechanism sun gear, 243-Turning mechanism planetary gear, 244-Turning mechanism outer gear ring, 245-Axle sleeve B, 246-Turning mechanism connecting rod 1, 247-B system suspension system, 2 48-turning mechanism connecting rod 2, 249-turning mechanism planetary frame, 25-flying car chassis, 26-turning motor, 3-driving system, 311-driving mechanism positioning device A, 312-fixing component A, 313-motor bearing box A, 32-driving motor A, 331-driving mechanism positioning device B, 332-fixing component B, 333-motor bearing box, 34-driving motor B, 4-rotor wheel system, 41-in-tire transmission structure A, 411-rotor wheel Sun gear A, 412-rotor wheel planetary gear A, 413-rotor wheel outer gear ring A, 414-rotor wheel planetary carrier A, 42-electromagnetic dual clutch A, 43-rotor A, 44-outer tread and wheel hub A, 45-inner tire transmission structure B, 451-rotor wheel sun gear B, 452-rotor wheel planetary gear B, 453-rotor wheel outer gear ring B, 454-rotor wheel planetary carrier B, 46-electromagnetic dual clutch B, 47-rotor B, 48-outer tread and wheel hub B. DETAILED DESCRIPTION

[0078] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0079] Figures 1(a) and (b) are schematic diagrams of the body shape of the land-air hybrid flying car of the present invention when it is in the ground driving state and the air flying state, respectively. The land-air hybrid flying car of the present invention includes an energy supply system 1, a lifting / flipping system 2, a drive system 3, a rotor wheel system 4, an electronic control unit, and a power drive unit. The lifting / flipping system 2, the drive system 3, and the rotor wheel system 4 form a liftable and flippable rotor wheel system and a flippable rotor wheel system, wherein the liftable and flippable rotor wheel system is recorded as system A, and the flippable rotor wheel system is recorded as system B; with the forward direction of the flying car as a reference, among the three pairs of wheels of the flying car, the middle pair of wheels are all system A, and the front pair and the rear pair of wheels in the three pairs of wheels are all system B. Figure 1(a) shows the state of the flying car when it is driving on the ground, and none of the three pairs of wheels have flipped; Figure 1(b) shows the state of the flying car when it is flying in the air, and all of the three pairs of wheels have flipped.

[0080] Figure 2 and Figure 3 The detailed structure of the A system of the flying car is shown, including: a lifting mechanism 21, a lifting / flipping motor 22 (M A )、Connection mechanism and suspension 23、Drive motor A32(M a ), the transmission structure in the tire A41 (including the rotor wheel sun gear A411, the rotor wheel planetary gear A412, the rotor wheel outer ring gear A413, the rotor wheel planetary carrier A414), the electromagnetic dual clutch A42, the rotor A43, the outer tread and the wheel hub A44.

[0081] Specifically, the lifting / flipping motor 22 is fixedly connected to the flying car chassis 25, the lifting / flipping motor output shaft is connected to the lifting mechanism sun gear 212 in the lifting mechanism mechanical device 21, a pair of lifting mechanism first planetary gears 213 mesh with the lifting mechanism sun gear 212 between the two, and the lifting mechanism first outer gear ring 214 is located on the lifting mechanism outer shell 211 and close to the lifting / flipping motor 22, and meshes with the lifting mechanism planetary gear 213. One end of the lifting mechanism planetary carrier 215 is connected to the pair of lifting mechanism first planetary gears 213, and the other end is connected to the lifting mechanism second planetary gear 216. The lifting mechanism planetary carrier 215 can rotate along with the pair of lifting mechanism first planetary gears 213 orbiting around the lifting mechanism first outer gear ring 214. The lifting mechanism second planetary gear 216 is affected by the rotation of the lifting mechanism planetary carrier 215 and orbits around the lifting mechanism second outer gear ring 217. The lifting mechanism outer gear ring 217 is also fixed to the lifting mechanism outer shell 211 and is located away from the lifting / flipping motor 22. One side of the lifting mechanism connecting rod 218 is fixedly connected to the second planetary gear 216 of the lifting mechanism, and revolves with the second planetary gear 216 of the lifting mechanism revolving around the second outer gear ring 217 of the lifting mechanism, and rotates with the second planetary gear 216 of the lifting mechanism, and the rotation speed and angular velocity of the lifting mechanism connecting rod 218 are consistent with those of the second planetary gear 216 of the lifting mechanism; the other side of the lifting mechanism connecting rod 218 is fixedly connected to a rotating shaft, and the sleeve A231 in the connecting mechanism and the suspension 23 is rotatably connected to the rotating shaft. One side of the connecting mechanism connecting rod 1 232 is rotatably connected to the sleeve A231, and the other side is rotatably connected to the connecting mechanism connecting rod 2 234, the other end of the connecting mechanism connecting rod 2 234 is fixedly connected to the suspension system 233 of the A system, and the other end of the suspension system 233 of the A system is fixedly connected to the connecting mechanism connecting rod 3 235, and the connecting mechanism connecting rod 3 235 is fixedly assembled with the driving mechanism positioning device A311. The driving mechanism positioning device A311 is fixedly connected to the fixing assembly A312 near the wheel side, and the driving motor A32 is located in the motor bearing box A313. The output shaft of the driving motor A32 is connected to the electromagnetic double clutch A42, the clutch C1 of the electromagnetic double clutch A42 is connected to the rotor wheel sun gear A411, the rotor wheel planetary gear A412 (number is 3) is meshed with the rotor wheel sun gear A411, and the rotor wheel planetary gear A412 is rotationally connected to the rotor wheel planet carrier A414; the rotor wheel outer gear ring A413 is meshed with the rotor wheel planetary gear A412, and the rotor wheel outer gear ring A413 is also fixedly connected to the outer tread and the wheel hub A44; the clutch C2 of the electromagnetic double clutch A42 is connected to the rotor A43.

[0082] In particular, the number of teeth of the second planetary gear 216 of the lifting mechanism is consistent with the number of teeth of the second outer gear ring 217 of the lifting mechanism, so that the center of the rotating shaft part of the lifting mechanism connecting rod 218 is always located at the center extension line of the connecting mechanism and the suspension 23. Figure 2 One side of the locker B1 is fixedly connected to the lifting mechanism outer shell 211, and the lifting mechanism sun gear 212 can be locked, so that the planetary gear train and the lifting mechanism outer shell 211 are combined into a whole.

[0083] Figure 4 and Figure 5 The detailed structure of the flying car B system is shown, including: the flip motor 26 (M B )、Turning mechanism and suspension 24、Drive motor B34(M b ), the transmission structure in the tire B45 (including the rotor wheel sun gear B451, the rotor wheel planetary gear B452, the rotor wheel outer ring gear B453, the rotor wheel planetary carrier B454), the electromagnetic dual clutch B46, the rotor B47, the outer tread and the wheel hub B48.

[0084] Specifically: the flip motor 26 is fixedly connected to the flying car chassis 25, the flip motor output shaft is rotatably connected to the flip mechanism outer shell 241 in the flip mechanism and the suspension 24, and the motor output shaft passes through the flip mechanism connecting rod 1 246 and is rotatably connected to the shaft sleeve B245 in the flip mechanism connecting rod 1 246; the flip mechanism sun gear 242 is fixedly connected to the flip motor output shaft and meshes with the flip mechanism planetary gear 243; the flip mechanism planetary gear 243 is also meshed with the flip mechanism outer gear ring 244, the flip mechanism planetary gear 243 is rotatably connected to the flip mechanism planetary frame 249, the flip mechanism planetary frame 249 is fixedly connected to the flip mechanism outer shell 241; the flip mechanism outer gear ring 244 is fixedly connected to the flying car chassis 25. The upper end of the flip mechanism connecting rod 1 246 is fixedly connected to the flip mechanism outer shell 241, and the lower end is fixedly connected to the suspension system 247 of the B system. The flip mechanism connecting rod 2 248 is fixedly assembled with the driving mechanism positioning device B331. The driving mechanism positioning device B331 is fixedly connected to the fixing assembly B332 near the wheel side, and the driving motor B34 is located in the motor carrying box B333. The output shaft of the driving motor B34 is connected to the electromagnetic double clutch B46, the clutch C1 of the electromagnetic double clutch B46 is connected to the rotor wheel sun gear B451, the rotor wheel planetary gear B452 (number 3) is meshed with the rotor wheel sun gear B451, and the rotor wheel planetary gear A412 is rotationally connected to the rotor wheel planet carrier B454; the rotor wheel outer gear ring B453 is meshed with the rotor wheel planetary gear B452, and the rotor wheel outer gear ring B453 is also fixedly connected to the outer tread and the wheel hub B48; the clutch C2 of the electromagnetic double clutch B46 is connected to the rotor B47.

[0085] Different from the liftable and flippable rotor wheel system, the rotor wheels of the flippable rotor wheel system cannot be lifted and lowered but can only be flipped.

[0086] The energy supply system 1 includes a battery 11 and a range extender 12 . The battery 11 is connected to the lifting / turning motor 22 , the turning motor 26 , the drive motor A32 , the drive motor B34 , and the range extender 12 .

[0087] The electronic control unit includes VCU and BMS. VCU is the vehicle controller, which is used to control BMS and receive its feedback information, control the lifting / flipping motor controller, flipping motor controller, drive motor controller and receive their feedback information, receive pedal travel sensor signals and control the braking force distribution, receive flight control stick sensor signals, and identify the vehicle's takeoff or landing requirements. BMS is a battery management system, which is used to control and manage the battery charging and discharging process and detect the battery's remaining capacity (SOC), and feed back the battery's SOC to VCU.

[0088] The power drive unit is connected to the VCU of the electronic control unit. The power drive unit includes a lifting / flipping motor controller, a flipping motor controller and a driving motor controller; the motor controller is used to provide power to the corresponding motor and control the corresponding motor according to the instructions issued by the VCU, thereby outputting the corresponding torque / speed and feeding back the status of the motor to the VCU.

[0089] The x, y, and z directions of the flying car are set, with the forward direction of the flying car as the x-axis, the lateral direction of the flying car as the y-axis, and the vertical take-off direction of the flying car as the z-axis.

[0090] A pair of drive motors of system A is denoted as M a1 、M a2 , the two pairs of drive motors of system B are denoted as M b1 、M b2 、M b3 、M b4 .

[0091] Fig.10 The control method shown specifically includes the following steps:

[0092] Step 1), VCU reads the working status information of the A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, and flight joystick signal;

[0093] Step 2), VCU determines whether the vehicle is in the air based on the flight joystick signal read, if yes, proceed to step 14), otherwise proceed to step 3);

[0094] Step 3), the VCU determines whether the vehicle needs to take off according to the read mode switching signal, if yes, proceeds to step 13), otherwise proceeds to step 4);

[0095] Step 4), VCU determines whether the vehicle needs braking based on the brake pedal signal read, if yes, proceed to step 9), otherwise proceed to step 5);

[0096] Step 5), BMS determines whether the battery power meets the SOC <SOC C (SOC C is the charging limit of the battery, that is, when the battery power is lower than the charging threshold, the range extender 12 starts to charge the battery 11), if not, proceed to step 6), otherwise proceed to step 8);

[0097] Step 6), BMS determines whether the battery power meets SOC>SOC H (SOC H is the preset battery charging power warning value), if yes, proceed to step 7), otherwise proceed to step 8);

[0098] Step 7), enter the ground pure electric driving mode, and at the same time enter step 24);

[0099] Step 8), enter the ground hybrid driving mode, and at the same time enter step 24);

[0100] Step 9), BMS determines whether the battery power meets the SOC <SOC H , if yes, go to step 10), otherwise go to step 12);

[0101] Step 10), the VCU calculates the total braking demand torque according to the read vehicle speed and brake pedal signal, and determines whether the regenerative braking force of the currently running motor meets the braking demand. If yes, proceed to step 11), otherwise proceed to step 12);

[0102] Step 11), enter the regenerative braking mode, and simultaneously enter step 24);

[0103] Step 12), enter the normal braking mode, and at the same time enter step 24);

[0104] Step 13), enter the take-off mode with speed, and at the same time enter step 24);

[0105] Step 14), the VCU determines whether the vehicle needs to land according to the read mode switching signal, if yes, proceeds to step 23), otherwise proceeds to step 15);

[0106] Step 15), VCU determines whether the A system is faulty according to the read working status information of the A / B system, if so, proceeds to step 22), otherwise proceeds to step 16);

[0107] Step 16), VCU determines whether the B system is faulty according to the read working status information of the A / B system, if so, proceeds to step 21), otherwise proceeds to step 17);

[0108] Step 17), BMS determines whether the battery power meets the SOC <SOC C , if yes, go to step 20), otherwise go to step 18);

[0109] Step 18), BMS determines whether the battery power satisfies SOC>SOC H , if yes, go to step 19), otherwise go to step 20);

[0110] Step 19), enter the pure electric flight mode in the air, and at the same time enter step 24);

[0111] Step 20), enter the air hybrid flight mode, and simultaneously enter step 24);

[0112] Step 21), enter the air B system failure mode, and simultaneously enter step 24);

[0113] Step 22), enter the air A system failure mode, and simultaneously enter step 24);

[0114] Step 23), enter the belt speed reduction mode, and simultaneously enter step 24);

[0115] Step 24), feed back the working status information to the VCU to form a closed-loop control.

[0116] The specific control process is as follows:

[0117] Mode 1), ground pure electric driving mode, VCU receives the working status information of A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, flight joystick signal, and determines that the flying car is on the ground, does not need to take off, and does not need to brake. At this time, M A 、M B In the disabled state, the wheel drive motor M a1 、M a2 、M b1 、M b2 , M b3 、M b4 These three pairs of motors have three states, namely, motor M a1 、M a2 Enable, motor M a1 、M a2 、M b1 、M b2 Enable, motor M a1 、M a2 , Mb1 、M b2 、M b3 、M b4 Enable, specifically changes with the changes in driver demand and power demand. These three states correspond to the flying car's pure electric two-wheel drive on the ground, the flying car's pure electric four-wheel drive on the ground, and the flying car's pure electric six-wheel drive on the ground.

[0118] Ground pure electric two-wheel drive (motor M a1 、M a2 Enable), enable the electromagnetic dual clutch A42 corresponding to the motor C1 engagement, C2 release, battery 11 to the motor M a1 、M a2 Power supply, VCU calculates the vehicle required torque T according to the real-time vehicle speed v req Then, the motor M is calculated according to the transmission relationship of the planetary gear system in the rotor wheel system. a1 、M a2 The motor M a1 、M a2 The torque request is transmitted to the motor M a1 、M a2 The controller controls each motor to drive the corresponding rotor wheel; the motor M a1 、M a2 The power is transmitted to the rotor wheel sun gear 411 through the C1 end of the electromagnetic dual clutch A42, and the rotor wheel sun gear 411 transmits the power to the rotor wheel outer ring gear 413 through the rotor wheel planetary gear 412. The rotor wheel outer ring gear 413 is fixedly connected to the vehicle's wheel hub, and the entire wheel rotates by driving the wheel hub to achieve pure electric two-wheel drive on the ground.

[0119] Ground pure electric four-wheel drive (motor M a1 、M a2 、M b1 、M b2 Enable), enable the electromagnetic dual clutch A42 and B46 corresponding to the motor, C1 is engaged, C2 is released, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 Power supply, VCU calculates the vehicle required torque T according to the real-time vehicle speed v req , and then calculate the motor M according to the transmission relationship of the planetary gear system in the rotor wheel system 4 a1 、M a2 、M b1 、M b2 The motor M a1 、M a2 、M b1 、Mb2 The torque request is transmitted to the motor M a1 、M a2 、M b1 、M b2 The controller controls each motor to drive the corresponding rotor wheel; the motor M a1 、M a2 、M b1 、M b2 The power is transmitted to the rotor wheel sun gears A411 and B451 through the C1 ends of the electromagnetic dual clutches A42 and B46 respectively. The rotor wheel sun gears A411 and B451 then transmit the power to the rotor wheel outer gear rings A413 and B453 through the rotor wheel planetary gears A412 and B452 respectively. The rotor wheel outer gear rings A413 and B453 are respectively fixed to the vehicle's wheel hubs, and the entire wheel rotates by driving the wheel hubs to achieve pure electric four-wheel drive on the ground.

[0120] Ground pure electric six-wheel drive (motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Enable), enable the electromagnetic dual clutch A42 and B46 corresponding to the motor, C1 is engaged, C2 is released, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Power supply, VCU calculates the vehicle required torque T according to the real-time vehicle speed v req , and then calculate the motor M according to the transmission relationship of the planetary gear system in the rotor wheel system 4 a1 、M a2 、M b1 、M b2 、M b3 、M b4 The motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The torque request is transmitted to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The controller controls each motor to drive the corresponding rotor wheel; the motor M a1 、M a2 、M b1、M b2 、M b3 、M b4 The power is transmitted to the rotor wheel sun gears A411 and B451 through the C1 ends of the electromagnetic dual clutches A42 and B46 respectively. The rotor wheel sun gears A411 and B451 then transmit the power to the rotor wheel outer gear rings A413 and B453 through the rotor wheel planetary gears A412 and B452 respectively. The rotor wheel outer gear rings A413 and B453 are respectively fixed to the vehicle's wheel hubs, and the entire wheel rotates by driving the wheel hubs to achieve pure electric six-wheel drive on the ground.

[0121] Mode 2), ground hybrid driving mode, VCU receives the working status information of A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, flight joystick signal, and determines that the flying car is on the ground, does not need to take off, does not need to brake, and battery SOC <SOC C At this time, M A 、M B In the disabled state, the wheel drive motor M a1 、M a2 、M b1 、M b2 , M b3 、M b4 These three pairs of motors have three states, namely, motor M a1 、M a2 Enable, motor M a1 、M a2 、M b1 、M b2 Enable, motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Enable, specifically changing with the changes in driver demand and power demand. These three states correspond to the flying car's ground hybrid two-wheel drive, the flying car's ground hybrid four-wheel drive, and the flying car's ground hybrid six-wheel drive.

[0122] Ground hybrid two-wheel drive (motor M a1 、M a2 Enable), enable the electromagnetic dual clutch A42 corresponding to the motor C1 engagement, C2 release, battery 11 to the motor M a1 、M a2 The range extender 12 is powered and started. The range extender 12 is composed of an engine and a generator. The operation of the engine drives the generator to generate electricity; part of the generated electricity is directly supplied to the motor M. b1 、M b2, to supplement the power required to drive the vehicle, and the other part is used to charge the battery 11 to maintain the battery power at a reasonable level. The VCU calculates the vehicle demand torque T according to the real-time vehicle speed v req Then, the motor M is calculated according to the transmission relationship of the planetary gear system in the rotor wheel system. a1 、M a2 The motor M a1 、M a2 The torque request is transmitted to the motor M a1 、M a2 The controller controls each motor to drive the corresponding rotor wheel; the motor M a1 、M a2 The power is transmitted to the rotor wheel sun gear 411 through the C1 end of the electromagnetic dual clutch A42, and the rotor wheel sun gear 411 transmits the power to the rotor wheel outer ring gear 413 through the rotor wheel planetary gear 412. The rotor wheel outer ring gear 413 is fixedly connected to the vehicle's wheel hub, and the entire wheel rotates by driving the wheel hub to achieve ground hybrid two-wheel drive.

[0123] Ground hybrid four-wheel drive (motor M a1 、M a2 、M b1 、M b2 Enable), enable the electromagnetic dual clutch A42 and B46 corresponding to the motor C1 is engaged, C2 is released, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 The range extender 12 is powered and started. The range extender 12 is composed of an engine and a generator. The operation of the engine drives the generator to generate electricity; part of the generated electricity is directly supplied to the motor M. b1 、M b2 , to supplement the power required to drive the vehicle, and the other part is used to charge the battery 11 to maintain the battery power at a reasonable level. The VCU calculates the vehicle demand torque T according to the real-time vehicle speed v req Then, the motor M is calculated according to the transmission relationship of the planetary gear system in the rotor wheel system. a1 、M a2 、M b1 、M b2 The motor M a1 、M a2 、M b1 、M b2 The torque request is transmitted to the motor M a1 、M a2 、M b1 、M b2 The controller controls each motor to drive the corresponding rotor wheel; the motor Ma1 、M a2 、M b1 、M b2 The power is transmitted to the rotor wheel sun gears A411 and B451 through the C1 ends of the electromagnetic dual clutches A42 and B46 respectively. The rotor wheel sun gears A411 and B451 then transmit the power to the rotor wheel outer gear rings A413 and B453 through the rotor wheel planetary gears A412 and B452 respectively. The rotor wheel outer gear rings A413 and B453 are respectively fixed to the vehicle's wheel hubs, and the entire wheel rotates by driving the wheel hubs to achieve ground hybrid four-wheel drive.

[0124] Ground hybrid six-wheel drive (motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Enable), enable the electromagnetic dual clutch A42 and B46 corresponding to the motor C1 is engaged, C2 is released, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The range extender 12 is powered and started. The range extender 12 is composed of an engine and a generator. The operation of the engine drives the generator to generate electricity; part of the generated electricity is directly supplied to the motor M. b1 、M b2 , to supplement the power required to drive the vehicle, and the other part is used to charge the battery 11 to maintain the battery power at a reasonable level. The VCU calculates the vehicle demand torque T according to the real-time vehicle speed v req Then, the motor M is calculated according to the transmission relationship of the planetary gear system in the rotor wheel system. a1 、M a2 、M b1 、M b2 、M b3 、M b4 The motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The torque request is transmitted to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The controller controls each motor to drive the corresponding rotor wheel; the motor M a1 、Ma2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor wheel sun gears A411 and B451 through the C1 ends of the electromagnetic dual clutches A42 and B46 respectively. The rotor wheel sun gears A411 and B451 then transmit the power to the rotor wheel outer gear rings A413 and B453 through the rotor wheel planetary gears A412 and B452 respectively. The rotor wheel outer gear rings A413 and B453 are respectively fixed to the vehicle's wheel hubs, and the entire wheel rotates by driving the wheel hubs to achieve ground hybrid six-wheel drive.

[0125] Mode 3), regenerative braking mode, the VCU receives the brake pedal signal and detects the battery SOC value. If the SOC <SOC H , the VCU transmits the regenerative braking command to the currently running drive motor controller through the CAN bus, driving the currently running drive motor to generate electricity. The motor is in a power generation state, converting kinetic energy recovery into electrical energy and storing it in the battery 11; if SOC ≥ SOC H , it is determined that the battery 11 is in a fully charged state and braking energy recovery is not performed.

[0126] Mode 4), normal braking mode, VCU receives the brake pedal signal and detects the battery SOC value. If SOC>SOC H , C1 and C2 of electromagnetic dual clutch A42 and B46 are released, and pure mechanical braking is adopted; if SOC <SOC H However, if the required braking force is greater than the regenerative braking force, the braking force other than the regenerative braking force will be achieved through mechanical braking.

[0127] Mode 5), take-off mode with speed, VCU receives the flight joystick signal of the flying car, the working status information of the A / B system, and the motor current feedback signal, determines the current ground drive mode of the vehicle, and changes the drive mode to the B system to take over the drive. VCU calculates the vehicle demand torque according to the real-time vehicle speed, and then calculates the motor M according to the transmission relationship of the planetary gear system in the rotor wheel system. b1 、M b2 、M b3 、M b4 The torque request is sent to the M via the CAN bus. b1 、M b2 、M b3 、M b4 The corresponding motor controller controls the corresponding motor to drive the corresponding wheel. At the same time, the C1 of the corresponding electromagnetic dual clutch B46 is engaged and C2 is released, and the motor M b1 、M b2 、M b3、M b4 Drive the corresponding rotor wheel, thereby taking over the ground drive. After taking over the drive, the battery 11 supplies power to the lifting / flipping motor 22, the VCU transmits the lifting demand signal through the CAN bus, the lifting / flipping motor controller controls the lifting / flipping motor to drive the lifting mechanism mechanical device 21, and the power is transmitted from the output shaft of the lifting / flipping motor 22 to the lifting mechanism sun gear 212, the lifting mechanism sun gear 212 drives the lifting mechanism first planetary gear 213 to revolve in the lifting mechanism first outer gear ring 214, the lifting mechanism planetary carrier 215 rotates along with the revolution of the lifting mechanism planetary gear 213, and drives the lifting mechanism second planetary gear 216 on the other side to revolve around the lifting mechanism second outer gear ring 217, the lifting mechanism second planetary gear 216 revolves around the lifting mechanism second outer gear ring 217 at a certain angle, when the rotor wheel system reaches the maximum lifting height, the lifting / flipping motor 22 temporarily stops working, and the flying car moves from Figure 6 The ground driving state in the Figure 7 The ground-to-air switching state 1. While the A system is lifted upward, the motor M a1 、M a2 The regenerative braking stops the rotor wheel system of system A and locks the wheels. At this point, the lifting of system A is completed. After the lifting of system A is completed, the lock B1 in the lifting system is locked, and the lifting / flipping motor 22 starts working again and rotates a certain angle to achieve the flipping of system A. The flying car is lifted from Figure 7 The land-air switching state 1 in the Figure 8 After the flip is completed, C1 of the electromagnetic dual clutch A42 of the A system is released and C2 is engaged. The VCU calculates the required turning angle of the wheels of the A system under the two rotors and the motor M according to the current vehicle information (the working status information of the A / B system, the vehicle speed, the motor current feedback signal, and the flight joystick signal). a1 、M a2 The corresponding required speed is transmitted to the motor controller of system A through the CAN bus, and the motor controller controls the motor M a1 、M a2 The corresponding rotor A43 is driven to provide lift for the flying car, so that the vehicle can complete a smooth low-altitude initial takeoff during driving; then, the motor M b1 、M b2 、M b3 、M b4 The regenerative braking of the tires of the B system completes the braking and locks, the battery 11 supplies power to the flip motor 26 to realize the flip of the B system, and the C1 of the electromagnetic dual clutch B46 of the B system is released and C2 is engaged. The VCU calculates the required speed of each motor under the operation of the six-rotor according to the current vehicle information, and transmits it to the motor controllers of the A system and the B system through the CAN bus. The motor controller controls the motor Ma1 、M a2 、M b1 、M b2 、M b3 、M b4 The corresponding rotor B47 is driven to provide lift for the flying car, allowing the vehicle to change from low-altitude two-rotor drive to low-altitude six-rotor drive, achieving a smooth transition and completing the switch to the speed-taking take-off mode.

[0128] Among them, the land-to-air switching state 1 is: the flying car's A system is in a lifted state, and is separated from the ground by a certain height to achieve no interference with the ground during flipping, and the flying car's B system maintains its original state to drive the flying car on the ground; the land-to-air switching state 2 is: the flying car's A system has flipped over, driving the flying car to take off and maintain a low-altitude flight state, and the flying car's B system interrupts power output.

[0129] Mode 6), pure electric flight mode in the air, VCU receives the working status information of the A / B system, vehicle speed, motor current feedback signal, mode switching signal, flight joystick signal, battery remaining power SOC, determines that the flying car is in the air, the drive mechanism is operating normally, and detects that the current battery SOC>SOC H , M A 、M B In the disabled state, C1 of the electromagnetic dual clutch 42 is released and C2 is engaged, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The VCU calculates the required speed of each rotor of the vehicle based on the vehicle speed, altitude signal, attitude angle signal, etc., and controls the motor M through the CAN bus. a1 、M a2 、M b1 、M b2 、M b3 、M b4 The speed request is transmitted to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Controller, control motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Drive the corresponding rotor; motor M a1 、M a2 、M b1 、Mb2 、M b3 、M b4 The power is transmitted to the rotor through the C2 end of the electromagnetic dual clutch A42 and B46, and the rotor rotates to drive the flying car to fly smoothly. In this mode, the flying car's pure electric flight mode is switched in the air by detecting the battery SOC, so that the battery SOC of the flying car can always be maintained at a normal level and keep the battery power sufficient to deal with emergencies.

[0130] Mode 7), air hybrid flight mode, VCU receives the working status information of A / B system, vehicle speed, motor current feedback signal, mode switching signal, flight joystick signal, battery remaining power SOC, determines that the flying car is in the air, the driving mechanism is operating normally, and detects the current battery SOC value to obtain SOC <SOC H , M A 、M B In the disabled state, C1 of the electromagnetic dual clutch 42 is released and C2 is engaged, and the battery 11 supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The range extender 12 is powered and started. The range extender 12 is composed of an engine and a generator. The operation of the engine drives the generator to generate electricity; part of the generated electricity is directly supplied to the motor M. a1 、M a2 、M b1 、M b2 、M b3 、M b4 , to supplement the power required to drive the vehicle, and the other part is used to charge the battery 11 to maintain the battery power at a reasonable level. The VCU calculates the required speed of each rotor of the vehicle based on the vehicle speed, altitude signal, attitude angle signal, etc., and controls the motor M through the CAN bus. a1 、M a2 、M b1 、M b2 、M b3 、M b4 The speed request is transmitted to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Controller, control motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Drive the corresponding rotor; motor M a1、M a2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor through the C2 end of the electromagnetic dual clutch A42 and B46, and the rotor rotates to drive the flying car to fly smoothly. In this mode, the flying car's air hybrid flight mode is switched by detecting the battery SOC, so that the flying car's battery SOC can always be maintained at a normal level and keep the battery power sufficient to cope with emergencies.

[0131] Mode 8), in the mid-air A system failure mode, the VCU receives the A system failure signal (i.e., the motor current feedback signal), and based on the current vehicle information received, calculates the required torque of each motor to be driven by the B system alone to maintain the current flight state, and transmits the torque request to the M through the CAN bus. b1 、M b2 、M b3 、M b4 The corresponding motor controller controls the motor to drive the rotor of system B. At the same time, the rotor of system A is stopped by conventional braking, thus completing the independent driving of system B.

[0132] Mode 9), in the mid-air B system failure mode, the VCU receives the fault signal of the B system, and based on the current vehicle information received, calculates the required torque of each motor to maintain the current flight state by using the A system alone, and transmits the torque request to the M through the CAN bus. a1 、M a2 The corresponding motor controller controls the motor to drive the rotor of system A. At the same time, the rotor of system B uses conventional braking to stop rotating, thus completing the independent driving of system A.

[0133] Mode 10), speed landing mode, VCU receives the landing signal of the flying car, adjusts the flight altitude to low altitude, and adjusts the flight speed to low speed. VCU calculates the required speed of each motor under the current vehicle information when the A system drives alone to maintain the current flight state, and transmits the speed request to M through the CAN bus. a1 、M a2 The corresponding motor controller controls the motor to drive the rotor A43. At the same time, the rotor of system B uses the motor M b1 、M b2 、M b3 、M b4 The regenerative braking stops the rotor B47 from rotating. After the rotor B47 stops rotating, C1 of the electromagnetic dual clutch B46 of the B system is engaged and C2 is released, and the battery 11 supplies energy to the flip motor 26, which drives the flying car from Fig. 9 The airborne state in the Figure 8Before the flying car lands, the VCU calculates the speed of the flying car in the air and the corresponding torque along the forward direction of the vehicle on the ground based on the received vehicle information (A / B system working status information, vehicle speed, motor current feedback signal, mode switching signal, flight joystick signal), and transmits the torque requirements of each motor to the motor M. b1 、M b2 、M b3 、M b4 Controller, control motor M b1 、M b2 、M b3 、M b4 Drive the corresponding wheels to reach the required speed before the vehicle lands, and complete a smooth landing. After the vehicle lands smoothly, system A uses motor M a1 、M a2 The regenerative braking stops the rotor A43 from rotating. After the rotor A43 stops rotating, the C1 of the electromagnetic clutch A42 of the A system is engaged and the C2 is released, and the battery 11 supplies energy to the lifting / flipping motor 22, which drives the flying car from Figure 8 The land-air switching state 2 in the Figure 7 The land-air switching state 1 in the figure. After the flip is completed, the VCU transmits the lifting demand signal through the CAN bus, and the lifting / flipping motor controller controls the lifting / flipping motor 22 to drive the lifting mechanism mechanical device. The power is transmitted from the output shaft of the lifting / flipping motor 22 to the lifting mechanism sun gear 212. The lifting mechanism sun gear 212 drives the lifting mechanism first planetary gear 213 to revolve in the lifting mechanism first outer gear ring 214. The lifting mechanism planetary carrier 215 rotates along with the revolution of the lifting mechanism planetary gear 213, driving the lifting mechanism second planetary gear 216 on the other side to revolve around the lifting mechanism second outer gear ring 217. The lifting mechanism second planetary gear 216 revolves around the lifting mechanism second outer gear ring 217 at a certain angle. When the lifting mechanism second planetary gear 216 returns to its original position (returns to the initial position, located directly below the entire gear ring, see Figure 3 ), the lifting / turning motor 22 stops working. While the A system is descending, the VCU calculates the wheel torque required for the landing of the A system wheel based on the vehicle information (the working status information of the A / B system, the vehicle speed, and the motor current feedback signal), and transmits the torque request to the motor M through the CAN bus. a1 、M a2 Controller, control motor M a1 、M a2 Drive the corresponding wheels to reach the required speed before the wheels hit the ground, completing the flight of the flying car from Figure 7 The land-air switching state 1 to Figure 6 The belt speed is switched to the ground driving state. At this point, the belt speed drop mode is completed.

[0134] In summary, the multi-mode hybrid flying car and its control system provided by the present invention can realize the ground driving, air flight and speed switching between the land and air of the flying car by controlling the flying car energy supply system 1, lifting / flipping system 2, driving system 3 and rotor wheel system 4, thereby greatly improving the actual operation efficiency of the flying car. Moreover, in the air flight state, certain response strategies are made for potential fault conditions, thereby improving the overall safety.

[0135] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A multi-mode land-air hybrid flying car, characterized in that: The invention comprises an energy supply system (1), a lifting / turning system (2), a drive system (3), a rotor wheel system (4), an electronic control unit, and a power drive unit. The lifting / turning system (2), the drive system (3), and the rotor wheel system (4) form a liftable and turnable rotor wheel system and a turnable rotor wheel system, which are respectively referred to as system A and system B. Among the three pairs of wheels of the flying car, the middle pair of wheels are all system A, and the other two pairs of wheels are all system B. The A system comprises a lifting mechanism mechanical device (21), a lifting / turning motor (22), a connecting mechanism and a suspension (23), a driving motor A (32), an in-tire transmission structure A (41), an electromagnetic double clutch A (42), a rotor A (43), an outer tread and a wheel hub A (44); the lifting / turning motor (22) is fixedly connected to the flying car chassis (25), and the motor output shaft is connected to the lifting mechanism mechanical device (21); the lifting mechanism mechanical device (21) is rotationally connected to the connecting mechanism and the suspension (23); the output shaft of the driving motor A (32) is connected to the electromagnetic double clutch A (42), the electromagnetic double clutch A (42) is connected to the outer tread and the wheel hub A (44) through the in-tire transmission structure A (41), and the electromagnetic double clutch A (42) is also connected to the rotor A (43); The B system comprises a flip motor (26), a flip mechanism and a suspension (24), a drive motor B (34), an in-tire transmission structure B (45), an electromagnetic double clutch B (46), a rotor B (47), an outer tread and a wheel hub B (48); the flip motor (26) is fixedly connected to the flying car chassis (25), and the motor output shaft is connected to the flip mechanism and the suspension (24); the output shaft of the drive motor B (34) is connected to the electromagnetic double clutch B (46), the electromagnetic double clutch B (46) is connected to the outer tread and the wheel hub B (48) through the in-tire transmission structure B (45), and the electromagnetic double clutch B (46) is also connected to the rotor B (47); The energy supply system (1) is connected to the lifting / turning motor (22), the turning motor (26), the driving motor A (32), and the driving motor B (34); The power drive unit includes a lifting / flipping motor controller, a flipping motor controller and a driving motor controller, all of which are controlled by an electronic control unit; the electronic control unit includes a VCU and a BMS.

2. The multi-mode land-air hybrid flying car according to claim 1, characterized in that: The lifting mechanism mechanical device (21) comprises a lifting mechanism outer shell (211), a lifting mechanism sun gear (212), a lifting mechanism first planetary gear (213), a lifting mechanism first outer gear ring (214), a lifting mechanism planetary carrier (215), a lifting mechanism second planetary gear (216), a lifting mechanism second outer gear ring (217) and a lifting mechanism connecting rod (218); the lifting mechanism sun gear (212) is connected to the output shaft of the lifting / flipping motor (22); the lifting mechanism sun gear (212) is located between a pair of lifting mechanism first planetary gears (213) and meshes with the lifting mechanism first planetary gears (213); the lifting mechanism first planetary gears (213) are also meshed with the lifting mechanism first outer gear ring (214); one end of the lifting mechanism planetary carrier (215) is connected to the pair of lifting mechanism first planetary gears (213), and the other end is connected to the lifting mechanism second planetary gear (216); the lifting mechanism connecting rod (218) is connected to the lifting mechanism first planetary gear (216) and the lifting mechanism second outer gear ring (218) is connected to the lifting mechanism second planetary gear (216). One side of the lifting mechanism is fixedly connected to the second planetary gear (216) of the lifting mechanism, and the other side is fixedly connected to a rotating shaft for connecting with the connecting mechanism and the suspension (23); the first outer gear ring (214) and the outer gear ring (217) of the lifting mechanism are both fixed on the outer shell (211) of the lifting mechanism, and the first outer gear ring (214) of the lifting mechanism is close to the side of the lifting / turning motor (22), and the outer gear ring (217) of the lifting mechanism is far away from the side of the lifting / turning motor (22); the planetary carrier (215) of the lifting mechanism rotates along with the revolution of a pair of first planetary gears (213) of the lifting mechanism around the first outer gear ring (214) of the lifting mechanism, and the second planetary gear (216) of the lifting mechanism revolves around the second outer gear ring (217) of the lifting mechanism; the connecting rod (218) of the lifting mechanism revolves along with the revolution of the second planetary gear (216) of the lifting mechanism around the second outer gear ring (217) of the lifting mechanism, and rotates along with the rotation of the second planetary gear (216) of the lifting mechanism.

3. A control method for a multi-mode land-air hybrid flying car according to any one of claims 1-2, characterized in that: Step 1), VCU reads the working status information of the A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, and flight joystick signal; Step 2), VCU determines whether the vehicle is in the air based on the flight joystick signal read, if yes, proceed to step 14), otherwise proceed to step 3); Step 3), the VCU determines whether the vehicle needs to take off according to the read mode switching signal, if yes, proceeds to step 13), otherwise proceeds to step 4); Step 4), VCU determines whether the vehicle needs braking based on the brake pedal signal read, if yes, proceed to step 9), otherwise proceed to step 5); Step 5), BMS determines whether the battery power meets the SOC <SOC C , if not, go to step 6), otherwise go to step 8); Among them, SOC C The charging limit of the battery; Step 6), BMS determines whether the battery power meets SOC>SOC H If yes, go to step 7), otherwise go to step 8); where SOC H It is the preset battery charging power warning value; Step 7), enter the ground pure electric driving mode, and at the same time enter step 24); Step 8), enter the ground hybrid driving mode, and at the same time enter step 24); Step 9), BMS determines whether the battery power meets the SOC <SOC H , if yes, go to step 10), otherwise go to step 12); Step 10), the VCU calculates the total braking demand torque according to the read vehicle speed and brake pedal signal, and determines whether the regenerative braking force of the currently running motor meets the braking demand. If yes, proceed to step 11), otherwise proceed to step 12); Step 11), enter the regenerative braking mode, and simultaneously enter step 24); Step 12), enter the normal braking mode, and at the same time enter step 24); Step 13), enter the take-off mode with speed, and at the same time enter step 24); Step 14), the VCU determines whether the vehicle needs to land according to the read mode switching signal, if yes, proceeds to step 23), otherwise proceeds to step 15); Step 15), VCU determines whether the A system is faulty according to the read working status information of the A / B system, if so, proceeds to step 22), otherwise proceeds to step 16); Step 16), VCU determines whether the B system is faulty according to the read working status information of the A / B system, if so, proceeds to step 21), otherwise proceeds to step 17); Step 17), BMS determines whether the battery power meets the SOC <SOC C , if yes, go to step 20), otherwise go to step 18); Step 18), BMS determines whether the battery power satisfies SOC>SOC H , if yes, go to step 19), otherwise go to step 20); Step 19), enter the pure electric flight mode in the air, and at the same time enter step 24); Step 20), enter the air hybrid flight mode, and simultaneously enter step 24); Step 21), enter the air B system failure mode, and simultaneously enter step 24); Step 22), enter the air A system failure mode, and simultaneously enter step 24); Step 23), enter the belt speed reduction mode, and simultaneously enter step 24); Step 24), feed back the working status information to the VCU to form a closed-loop control.

4. The control method according to claim 3, characterized in that: The ground pure electric driving mode is specifically as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the accelerator pedal signal, the brake pedal signal, the mode switching signal, and the flight joystick signal, and determines that the flying car is on the ground, does not need to take off, and does not need to brake; at this time, the M A 、M B In the disabled state, the wheel drive motor M a1 and M a2 、M b1 and M b2 、M b3 and M b4 These three pairs of motors have three states: motor M a1 、M a2 Enable, motor M a1 、M a2 、M b1 、M b2 Enable, motor M a1 、M a2 , M b1 、M b2 、M b3 、M b4 Enabled, and these three states correspond to the flying car's ground pure electric two-wheel drive, the flying car's ground pure electric four-wheel drive, and the flying car's ground pure electric six-wheel drive; The ground hybrid driving mode is specifically as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the accelerator pedal signal, the brake pedal signal, the mode switching signal, and the flight joystick signal, and determines that the flying car is on the ground, does not need to take off, does not need to brake, and the battery SOC <SOC C At this time, M A 、M B In the disabled state, the wheel drive motor M a1 and M a2 、M b1 and M b2 、M b3 and M b4 These three pairs of motors have three states: motor M a1 、M a2 Enable, motor M a1 、M a2 、M b1 、M b2 Enable, motor M a1 、M a2 , M b1 、M b2 、M b3 、M b4 Enabled, and these three states correspond to the flying car ground hybrid two-wheel drive driving, the flying car ground hybrid four-wheel drive driving, and the flying car ground hybrid six-wheel drive driving; Among them, M A Represents the lifting / flipping motor (22), M B represents the flip motor (26), M a1 、M a2 Represent the two drive motors A(32) and M of the A system respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B (34) of the four B systems respectively.

5. The control method according to claim 3, characterized in that: The regenerative braking mode is as follows: the VCU receives the brake pedal signal and detects the SOC value of the battery. <SOC H , the VCU transmits the regenerative braking command to the currently running drive motor controller, drives the currently running drive motor to generate electricity, and converts the kinetic energy recovery into electrical energy and stores it in the battery; If SOC ≥ SOC H , the battery is judged to be in a fully charged state and braking energy recovery is not performed.

6. The control method according to claim 3, characterized in that: The conventional braking mode is: the VCU receives the brake pedal signal and detects the SOC value of the battery. If SOC>SOC H , the clutches C1 and C2 of the electromagnetic dual clutch A (42) and the electromagnetic dual clutch B (46) are released, and pure mechanical braking is adopted; if SOC <SOC H However, if the required braking force is greater than the regenerative braking force, the braking force other than the regenerative braking force will be achieved through mechanical braking.

7. The control method according to claim 3, characterized in that: The speed take-off mode is: The VCU receives the flight control stick signal of the flying car, the working status information of the A / B system, and the motor current feedback signal, determines the current ground driving mode of the vehicle, and changes the driving mode to the B system taking over the driving; After taking over the drive, the battery (11) supplies power to the lifting / flipping motor (22), the VCU transmits a lifting demand signal, and the lifting / flipping motor controller controls the lifting / flipping motor (22) to drive the lifting mechanism mechanical device (21). When the rotor wheel system reaches the maximum lifting height, the lifting / flipping motor (22) temporarily stops working, and the flying car is lifted from the ground driving state to the land-air switching state 1; While the A system is lifted upward, the motor M a1 、M a2 The regenerative braking stops the rotor wheel system of system A and locks the wheels; After the lifting of system A is completed, the lock B1 in the lifting mechanism mechanical device (21) is locked, and the lifting / flipping motor (22) starts working again and rotates a certain angle to realize the flipping of system A, and the flying car flips from the land-air switching state 1 to the land-air switching state 2; After the flip is completed, C1 of the electromagnetic dual clutch A (42) of the A system is released and C2 is engaged, and the motor controller controls the motor M a1 、M a2 driving the corresponding rotor A (43) to provide lift for the flying car, so that the vehicle can complete a smooth low-altitude initial take-off during driving; Then, the motor M b1 、M b2 、M b3 、M b4 The regenerative braking of the system B completes the braking and locks the tires of the system B, the battery (11) supplies power to the flip motor (26) to realize the flip of the system B, the C1 of the electromagnetic dual clutch B (46) of the system B is released and the C2 is engaged, and the motor controller controls the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Drive the corresponding rotor B (47) so that the vehicle changes from low-altitude two-rotor drive to low-altitude six-rotor drive, achieving a smooth transition and completing the switch of the speed-taking takeoff mode; Among them, M a1 、M a2 Represent the two drive motors A(32) and M of the A system respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B (34) of the four B systems respectively.

8. The control method according to claim 3, characterized in that: The pure electric flight mode in the air is as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the mode switching signal, the flight joystick signal, and the battery remaining power SOC, and determines that the flying car is in the air, the driving mechanism is operating normally, and detects that the current battery SOC>SOC H , M A 、M B In the disabled state, C1 of the electromagnetic dual clutch (42) in the rotor wheel is released and C2 is engaged, and the battery (11) supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Power supply: Motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor through the C2 end of the electromagnetic double clutch A (42) and the electromagnetic double clutch B (46), and the rotor rotates to drive the flying car to fly smoothly; The hybrid flight mode in the air is as follows: the VCU receives the working status information of the A / B system, the vehicle speed, the motor current feedback signal, the mode switching signal, the flight joystick signal, and the battery remaining power SOC, determines that the flying car is in the air, the driving mechanism is operating normally, and detects the current battery SOC <SOC H , M A 、M B In the disabled state, C1 of the electromagnetic dual clutch (42) is released and C2 is engaged, and the battery (11) supplies power to the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 Power is supplied, and the range extender (12) is started; the motor M a1 、M a2 、M b1 、M b2 、M b3 、M b4 The power is transmitted to the rotor through the C2 end of the electromagnetic double clutch A (42) and the electromagnetic double clutch B (46), and the rotor rotates to drive the flying car to fly smoothly; Among them, M A Represents the lifting / flipping motor (22), M B represents the flip motor (26), M a1 、M a2 Represent the two drive motors A(32) and M of the A system respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B (34) of the four B systems respectively.

9. The control method according to claim 6, characterized in that: The A system failure mode in the air is as follows: the VCU receives the A system failure signal, and based on the received current vehicle information, calculates the required torque of each motor to maintain the current flight state by using the B system alone to drive, and transmits the torque request to the M b1 、M b2 、M b3 、M b4 The corresponding motor controller controls the motor to drive the rotor B (47) of the B system; at the same time, the rotor A (43) of the A system is stopped by conventional braking; The in-flight B system failure mode is as follows: the VCU receives the fault signal of the B system, and based on the received current vehicle information, calculates the required torque of each motor to maintain the current flight state by using the A system alone to drive, and transmits the torque request to the M a1 、M a2 The corresponding motor controller controls the motor to drive the rotor A (43) of the A system; at the same time, the rotor B (47) of the B system is stopped by conventional braking; Among them, M a1 、M a2 Represent the two drive motors A(32) and M of the A system respectively. b1 、M b2 、M b3 、M b4 They represent the drive motors B (34) of the four B systems respectively.

10. The control method according to claim 3, characterized in that: The belt speed drop mode is: The VCU receives the landing signal of the flying car and adjusts the flight altitude to a low altitude and the flight speed to a low speed; Based on the current vehicle information, the VCU calculates the required speed of each motor driven by the A system to maintain the current flight state, and transmits the speed request to the M system. a1 、M a2 The corresponding motor controller controls the motor to drive rotor A (43); at the same time, rotor B (47) of system B uses motor M b1 、M b2 、M b3 、M b4 After the rotor B (47) stops rotating, C1 of the electromagnetic dual clutch B (46) is engaged and C2 is released, and the battery supplies energy to the lifting / flipping motor (26), and the motor drives the flying car to flip from the air flight state to the ground-to-air switching state 2, and the flight altitude continues to decrease; Before the flying car lands, the VCU calculates the flying car's air speed and the corresponding torque along the forward direction of the vehicle on the ground based on the received vehicle information, and transmits the torque requirements of each motor to the motor M. b1 、M b2 、M b3 、M b4 Controller, control motor M b1 、M b2 、M b3 、M b4 Drive the corresponding wheels to reach the required speed before the vehicle lands, so as to achieve a smooth landing; After landing smoothly, the rotor A (43) of the A system uses the motor M a1 、M a2 After the rotor A (43) stops rotating, C1 of the electromagnetic dual clutch A (42) is engaged and C2 is released, and the battery supplies energy to the lifting / flipping motor (22), and the motor drives the flying car to flip from the land-to-air switching state 2 to the land-to-air switching state 1; After the flipping is completed, the VCU transmits a lifting demand signal, and the lifting / flipping motor controller controls the lifting / flipping motor (22) to drive the lifting mechanism mechanical device (21), and when the second planetary gear (216) of the lifting mechanism returns to the initial position, the lifting / flipping motor (22) stops working; When the A system descends, the VCU calculates the wheel torque required for the A system's wheels to land based on the vehicle information and transmits it to the motor M. a1 、M a2 Controller, control motor M a1 、M a2 The corresponding wheels are driven to reach the required vehicle speed before the wheels hit the ground, completing the speed switching of the flying car from the land-to-air switching state 1 to the ground driving state.

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