A multi-mode land-air hybrid flying car and a control method thereof

Abstract

The application discloses a multi-mode land-air hybrid flying automobile and a control method thereof, and realizes speed switching between a ground driving state and an air flight state of the flying automobile through a pair of liftable and reversible rotor wheel systems (A system) and two pairs of reversible rotor wheel systems (B system), that is, the flying automobile can complete mode switching in ground driving or air flight, without stopping or hovering in the air, and corresponding strategies are made for possible emergency situations in the air, so that the overall operation efficiency and safety of the flying automobile are greatly improved. The existence of the two systems plays a supporting vehicle, power supplementing and redundancy backup role.

Description

TECHNICAL FIELD

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

[0002] With the increasingly serious traffic congestion problem in urban areas and the increasing demand for travel efficiency, flying cars as a new type of potential transportation tool have emerged as the times require. One of the biggest highlights of flying cars is to get rid of the dependence on the runway of traditional aircraft. Most flying cars on the market currently adopt the mode of static and original landing.

[0003] Although this static and original landing mode solves the problem of runway constraints, it exposes many drawbacks in actual use, which seriously affects its running efficiency. When the flying car is static and original, a series of complex processes are needed before and after the completion of the landing action, including the support of the flying car body, the turning of the flying car tire rotor, the self-checking and debugging of the power system, and the running, etc. This process takes a long time, resulting in a significant extension of the turnaround time of each trip. SUMMARY

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

[0005] The present application achieves the above technical purposes through the following technical means.

[0006] A multi-mode land-air hybrid flying car, comprising an energy supply system, a lifting / turning system, a driving system, a rotor wheel system, an electronic control unit and a power driving unit. The lifting / turning system, the driving system and the rotor wheel system form a lifting / turning rotor wheel system and a turning rotor wheel system, respectively denoted as A and B systems. Among the three pairs of wheels of the flying car, the middle pair of wheels are A systems, and the other two pairs of wheels are B systems.

[0007] The A system comprises a lifting mechanism mechanical device, a lifting / turning motor, a connecting mechanism and a suspension, a driving motor A, an inner tire transmission structure A, an electromagnetic double clutch A, a rotor A, an outer tire and a hub A. The lifting / turning motor is fixedly connected to the chassis of the flying car, and the motor output shaft is connected to the lifting mechanism mechanical device. The lifting mechanism mechanical device is rotationally connected to the connecting mechanism and the suspension. The output shaft of the driving motor A is connected to the electromagnetic double clutch A. The electromagnetic double clutch A is connected to the outer tire and the hub A through the inner tire transmission structure A. The electromagnetic double clutch A is also connected to the rotor A.

[0008] The B system comprises a turnover motor, a turnover mechanism and a suspension, a driving motor B, an inner tire transmission structure B, an electromagnetic double clutch B, a rotor B, an outer tire and a hub B; the turnover motor is fixedly connected to the flying car chassis, and the motor output shaft is connected with the turnover mechanism and the suspension; the output shaft of the driving motor B is connected with the electromagnetic double clutch B, the electromagnetic double clutch B is connected with the outer tire and the hub B through the inner tire transmission structure B, and the electromagnetic double clutch B is also connected with the rotor B;

[0009] The energy supply system is connected with the lifting / turnover motor, the turnover motor, the driving motor A and the driving motor B.

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

[0011] In the above technical solution, the lifting mechanism mechanical device comprises a lifting mechanism outer housing, a lifting mechanism sun gear, a pair of lifting mechanism first planetary gears, a lifting mechanism first outer gear ring, a lifting mechanism planet 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 with the lifting / turnover motor output shaft, is located in the middle of the pair of lifting mechanism first planetary gears, is engaged with the lifting mechanism first planetary gears, and is further engaged with the lifting mechanism first outer gear ring; one end of the lifting mechanism planet carrier is connected with the pair of lifting mechanism first planetary gears, and the other end is connected with the lifting mechanism second planetary gear; one side of the lifting mechanism connecting rod is fixedly connected to the lifting mechanism second planetary gear, and the other side is fixedly connected to a rotating shaft, which is used to be connected with the connecting mechanism and the suspension; the lifting mechanism first outer gear ring and the lifting mechanism outer gear ring are both fixed on the lifting mechanism outer housing, the lifting mechanism first outer gear ring is close to the lifting / turnover motor side, and the lifting mechanism outer gear ring is away from the lifting / turnover motor side; the lifting mechanism planet carrier rotates around the lifting mechanism first outer gear ring while revolving around the lifting mechanism first outer gear ring, and the lifting mechanism second planetary gear revolves around the lifting mechanism second outer gear ring; the lifting mechanism connecting rod revolves around the lifting mechanism second outer gear ring while revolving around the lifting mechanism second outer gear ring, and rotates around the lifting mechanism second outer gear ring while revolving around the lifting mechanism second planetary gear.

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

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

[0014] Step 2), VCU determines whether the vehicle is in the air according to the read flight control stick signal, if yes, go to step 14), otherwise go to step 3);

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

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

[0017] Step 5), BMS determines whether the battery power meets SOC C , if not, go to step 6), otherwise go to step 8); wherein, SOC C is the charging limit of the battery;

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

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

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

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

[0022] Step 10), VCU calculates the total braking torque demand 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, go to step 11), otherwise go to step 12);

[0023] Step 11), enter the regenerative braking mode, and go to step 24) at the same time;

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

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

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

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

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

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

[0030] Step 18), BMS determines whether the battery power meets SOC H , if yes, enters step 19), otherwise enters step 20);

[0031] Step 19), enters the air pure electric flight mode, and simultaneously enters step 24);

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

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

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

[0035] Step 23), enters the speed landing mode, and simultaneously enters step 24);

[0036] Step 24), feeds back the working state information to VCU to form a closed loop control.

[0037] Further, the ground pure electric driving mode is specifically that VCU receives the working state information of the A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, and flight control lever signal, 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 is in a disabled state, the wheel driving motors M a1 and M a2 , M b1 and M b2 , M b3 and M b4 have three states, which are: the motor M a1 , M a2 is enabled, the motor M a1 , M a2 , Mb1 , M b2 enable, motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 enable, and the three states correspond to the flying car ground pure electric two-wheel drive, flying car ground pure electric four-wheel drive, flying car ground pure electric six-wheel drive, respectively;

[0038] The ground hybrid drive mode is specifically: the VCU receives the working state 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 control lever signal, judges that the flying car is on the ground, does not need to take off, does not need to brake, and the battery SOC is less than SOC C ; at this time, M A , M B are in the disabled state, the wheel drive motors M a1 and M a2 , M b1 and M b2 , M b3 and M b4 have three states, which are: the motor M a1 , M a2 enable, the motor M a1 , M a2 , M b1 , M b2 enable, the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 enable, and the three states correspond to the flying car ground hybrid two-wheel drive, flying car ground hybrid four-wheel drive, flying car ground hybrid six-wheel drive, respectively;

[0039] Among them, M A represents the lifting / turning motor, M B represents the turning motor, M a1 , M a2 represent two A system drive motors A, M b1 , M b2 , M b3 , M b4 represent four B system drive motors B.

[0040] Further, the regenerative braking mode is: the VCU receives the brake pedal signal and detects the SOC value of the battery, if SOC is less than SOCH VCU sends the regenerative braking instruction to the currently running drive motor controller, and drives the currently running drive motor to generate electricity, converting kinetic energy recovery into electrical energy storage in the battery; if SOC≥SOC H , it is determined that the battery is in a power surplus state, and no braking energy recovery is performed.

[0041] Further, the normal braking mode is that: VCU receives the brake pedal signal, and detects the SOC value of the battery, if SOC>SOC H , the clutches C1, C2 of the electromagnetic double clutches A and B are released, and pure mechanical braking is adopted; if SOC<SOC H , but the required braking force is greater than the regenerative braking force, the braking force other than the regenerative braking force is realized by mechanical braking.

[0042] Further, the take-off mode with speed is that:

[0043] VCU receives the flight control lever signal of the flying car, the working state information of the A / B system, and the motor current feedback signal, judges the ground driving mode of the current vehicle, and changes the driving mode to the B system takeover driving;

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

[0045] At the same time when the A system is lifted upward, the regenerative braking of the motors M a1 , M a2 stops the rotation of the rotor wheel system of the A system, and locks the wheels;

[0046] After the lifting of the A system is completed, the locker B1 in the lifting mechanism mechanical device is locked, the lifting / turning motor works again, rotates by a certain angle, realizes the turning of the A system, and the flying car turns from the land-air switching state 1 to the land-air switching state 2;

[0047] After the turning is completed, C1 of the electromagnetic double clutch A of the A system is released, C2 is combined, and the motor controller controls the motors M a1 , M a2 to drive the corresponding rotor A, providing lift for the flying car, so that the vehicle completes smooth low-altitude preliminary take-off during driving; subsequently, the motors M b1 , M b2 , M b3 , M b4regenerative braking, so that the tires of the B system complete braking and locking, the battery powers the overturning motor, realizes the overturning of the B system, the C1 of the electromagnetic double clutch B of the B system is released, the C2 is combined, the motor controller controls the motor M a1 a2 b1 b2 b3 b4 drive the corresponding rotor B, so that the vehicle changes from low-altitude two-rotor drive to low-altitude six-rotor drive, realizes smooth transition, and completes the switching of the take-off mode with speed;

[0048] wherein M a1 a2 respectively represent the driving motors A of the two A systems, M b1 b2 b3 b4 respectively represent the driving motors B of the four B systems.

[0049] Further:

[0050] The air pure electric flight mode is: the VCU receives the working state information of the A / B system, vehicle speed, motor current feedback signal, mode switching signal, flight control lever signal, and battery remaining capacity SOC, judges that the flying car is in the air, the driving mechanism is running normally, and detects that the current battery SOC>SOC H A B are in the disabled state, the C1 of the electromagnetic double clutch in the rotor wheel is released, the C2 is combined, the battery powers the motor M a1 a2 b1 b2 b3 b4 ; the power of the motor M a1 a2 b1 b2 b3 b4 is transmitted to the rotor through the C2 end of the electromagnetic double clutch A and the electromagnetic double clutch B, the rotor rotates, and drives the flying car to fly smoothly;

[0051] The air hybrid flight mode is: the VCU receives the working state information of the A / B system, vehicle speed, motor current feedback signal, mode switching signal, flight control lever signal, and battery remaining capacity SOC, judges that the flying car is in the air, the driving mechanism is running normally, and detects that the current battery SOC<SOC H A B ​​​​​​​​​​​​​​​​​​​​​​​In the disabled state, the electromagnetic double clutch C1 is released, C2 is combined, the battery supplies power to the motor M a1 a2 b1 b2 b3 b4 The power supply is provided while the range extender is started; the motor M a1 a2 b1 b2 b3 b4 The power of the motor is transmitted to the rotor through the C2 end of the electromagnetic double clutch A and the electromagnetic double clutch B, the rotor rotates, and drives the flying car to fly smoothly;

[0052] Among them, M A represents the lifting / turning motor, M B represents the turning motor, M a1 , M a2 represent the driving motors A of the two A systems respectively, M b1 , M b2 , M b3 , M b4 represent the driving motors B of the four B systems respectively.

[0053] Further, the air A system failure mode is that the VCU receives the failure signal of the A system, and according to the received current vehicle information, calculates the required torque of each motor for maintaining the current flight state by using the B system alone to drive, and transmits the torque request to the corresponding motor controller to control the motor to drive the rotor B of the B system; at the same time, the rotor A of the A system stops rotating by using the conventional brake; b1 b2 b3 b4 The corresponding motor controller controls the motor to drive the rotor B of the B system; at the same time, the rotor A of the A system stops rotating by using the conventional brake;

[0054] The air B system failure mode is that the VCU receives the failure signal of the B system, and according to the received current vehicle information, calculates the required torque of each motor for maintaining the current flight state by using the A system alone to drive, and transmits the torque request to the corresponding motor controller to control the motor to drive the rotor A of the A system; at the same time, the rotor B of the B system stops rotating by using the conventional brake; a1 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 stops rotating by using the conventional brake;

[0055] Among them, M a1 , M a2 represent the driving motors A of the two A systems respectively, M b1 , M b2 , M b3 , M b4 represent the driving motors B of the four B systems respectively.​​​​​​​​​​​​​​

[0056] Furthermore, the belt-speed descent mode is as follows:

[0057] The VCU receives the landing signal from the flying car and adjusts the flight altitude to low and the flight speed to low.

[0058] Based on the current vehicle information, the VCU calculates the required speed of each motor for system A to maintain the current flight state when driven independently, and transmits the speed request to M. a1 M a2 The corresponding motor controller controls the motor to drive rotor A; simultaneously, rotor B of system B utilizes motor M. b1 M b2 M b3 M b4 The regenerative braking stops rotating; after rotor B stops rotating, C1 of the electromagnetic dual clutch B engages and C2 releases, the battery powers the lift / tilt 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 component of the flying car's air speed along the forward direction of the vehicle's ground travel, as well as the corresponding torque, based on the received vehicle information, and transmits the torque requirements of each motor to motor M. b1 M b2 M b3 M b4 Controller, controls motor M b1 M b2 M b3 M b4 Drive the corresponding wheels to reach the required speed before the vehicle lands, thus achieving a smooth landing;

[0060] After a smooth landing, rotor A of system A utilizes motor M a1 M a2 The regenerative braking stops the rotation; after rotor A stops rotating, C1 of electromagnetic dual clutch A engages and C2 releases, the battery powers the lift / tilt motor, and the motor drives the flying car to flip from land-to-air switching state 2 to land-to-air switching state 1.

[0061] After the flip is completed, 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 second planetary gear of the lifting mechanism returns to the initial position, the lifting / flipping motor stops working.

[0062] As system A descends, the VCU calculates the wheel torque requirement for system A's wheels to touch down based on vehicle information and transmits it to motor M. a1 M a2 Controller, controls motor Ma1 , M a2 Drive the corresponding wheels to reach the required vehicle speed before the wheels touch the ground, complete the speed switching of the flying vehicle from the air-ground switching state 1 to the ground driving state.

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

[0064] (1) The present application can realize the speed switching between the ground driving state and the air flying state of the flying vehicle through two separate systems A and B, and can complete the switching without ground parking or air hovering, can ensure the normal driving of the flying vehicle on the ground, and has good working condition adaptability and can cope with various complex working conditions; due to the design of two separate systems A and B, corresponding strategies are made for possible emergency situations in the air, greatly improving the overall operation efficiency and safety of the flying vehicle, and the multi-mode land-air hybrid vehicle has certain fault tolerance ability.

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

[0066] Figure 1(a) is a schematic diagram of the ground driving state of the multi-mode land-air hybrid vehicle of the present application;

[0067] Figure 1(b) is a schematic diagram of the air flying state of the multi-mode land-air hybrid vehicle of the present application;

[0068] Figure 2 is the A system x view of the multi-mode land-air hybrid flying vehicle and its control system of the present application;

[0069] Figure 3 is the A system y view of the multi-mode land-air hybrid flying vehicle and its control system of the present application;

[0070] Figure 4 is the B system x view of the multi-mode land-air hybrid flying vehicle and its control system of the present application;

[0071] Figure 5 is the B system y view of the multi-mode land-air hybrid flying vehicle and its control system of the present application;

[0072] Figure 6 is a double system schematic diagram of the multi-mode land-air hybrid vehicle in the ground driving state of the present application;

[0073] Figure 7 is a double system schematic diagram of the multi-mode land-air hybrid vehicle in the air-ground mode switching state 1 of the present application;

[0074] Figure 8The double system schematic diagram of the multi-mode land-air hybrid automobile in the land-air mode switching state 2 according to the application;

[0075] Figure 9 The double system schematic diagram of the multi-mode land-air hybrid automobile in the air flight state according to the application;

[0076] Figure 10 The control flow chart of the multi-mode land-air hybrid automobile according to the application;

[0077] The figure mark explanation: 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 planet carrier, 216-lifting mechanism second planetary gear, 217-lifting mechanism second outer gear ring, 218-lifting mechanism connecting rod, 22-lifting / turning motor, 23-connecting mechanism and suspension, 231-axle sleeve A, 232-connecting mechanism connecting rod one, 233-suspension system of A system, 234-connecting mechanism connecting rod two, 235-connecting mechanism connecting rod three, 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 one, 247-suspension system of B system, 248-turning mechanism connecting rod two, 249-turning mechanism planet carrier, 25-air car chassis, 26-turning motor, 3-driving system, 311-driving mechanism positioning device A, 312-fixed assembly A, 313-motor bearing box A, 32-driving motor A, 331-driving mechanism positioning device B, 332-fixed assembly B, 333-motor bearing box, 34-driving motor B, 4-rotor wheel system, 41-tire inner 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 planet carrier A, 42-electromagnetic double clutch A, 43-rotor A, 44-outer tire surface and hub A, 45-tire inner 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 planet carrier B, 46-electromagnetic double clutch B, 47-rotor B, 48-outer tire surface and hub B. DETAILED DESCRIPTION

[0078] The application will be further described in conjunction with the drawings and specific embodiments, but the protection scope of the application is not limited thereto.

[0079] Fig. 1(a), (b) are schematic diagrams of the vehicle body shape of the land-air hybrid flying vehicle in the ground driving state and the air flying state, respectively, the land-air hybrid flying vehicle comprises an energy supply system 1, a lifting / turning system 2, a driving system 3, a rotor wheel system 4, an electronic control unit, a power driving unit, the lifting / turning system 2, the driving system 3 and the rotor wheel system 4 form a lifting / turning rotor wheel system and a turning rotor wheel system, wherein the lifting / turning rotor wheel system is denoted as A system, and the turning rotor wheel system is denoted as B system; with reference to the forward direction of the flying vehicle, among the three pairs of wheels of the flying vehicle, the middle pair of wheels are A system, and the front pair and the rear pair of wheels are B system. Fig. 1(a) is the state of the flying vehicle driving on the ground, and the three pairs of wheels are not turned; Fig. 1(b) is the state of the flying vehicle flying in the air, and the three pairs of wheels are turned.

[0080] Figure 2 and Figure 3 Fig. 2 shows the detailed structure of the A system of the flying vehicle, which comprises a lifting mechanism mechanical device 21, a lifting / turning motor 22 (M A ), a connecting mechanism and a suspension 23, a driving motor A32 (M a ), an inner tire transmission structure A41 (including a rotor wheel sun gear A411, a rotor wheel planetary gear A412, a rotor wheel outer gear ring A413, a rotor wheel planetary carrier A414), an electromagnetic double clutch A42, a rotor A43, an outer tire and a hub A44.

[0081] Specifically: the lifting / turning motor 22 is fixedly connected to the flying car chassis 25, the lifting / turning 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 are engaged with the lifting mechanism sun gear 212 in the middle, the lifting mechanism first outer gear ring 214 is located on the lifting mechanism outer shell 211 and close to the side of the lifting / turning motor 22, and is engaged with the lifting mechanism planetary gear 213. One end of the lifting mechanism planet carrier 215 is connected to a 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 planet carrier 215 can rotate around the lifting mechanism first outer gear ring 214 while rotating with the pair of lifting mechanism first planetary gears 213. The lifting mechanism second planetary gear 216 is affected by the rotation of the lifting mechanism planet carrier 215 and revolves around the lifting mechanism second outer gear ring 217. The lifting mechanism outer gear ring 217 is also fixed on the lifting mechanism outer shell 211 and located away from the side of the lifting / turning motor 22. One side of the lifting mechanism connecting rod 218 is fixedly connected to the lifting mechanism second planetary gear 216 and revolves around the lifting mechanism second outer gear ring 217 while revolving with the lifting mechanism second planetary gear 216. The lifting mechanism connecting rod 218 rotates with the lifting mechanism second planetary gear 216 and maintains the same speed and angular velocity. The other side of the lifting mechanism connecting rod 218 is fixedly connected to a rotating shaft, and the shaft sleeve A231 in the connecting mechanism and suspension 23 is rotatably connected to the rotating shaft. One side of the connecting mechanism connecting rod one 232 is rotatably connected to the shaft sleeve A231, and the other side is rotatably connected to the connecting mechanism connecting rod two 234. The other end of the connecting mechanism connecting rod two 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 three 235. The connecting mechanism connecting rod three 235 is fixedly assembled with the driving mechanism positioning device A311. The driving mechanism positioning device A311 is fixedly connected to the fixed 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 3) is engaged with the rotor wheel sun gear A411, and the rotor wheel planetary gear A412 is rotatably connected to the rotor wheel planet carrier A414; the rotor wheel outer gear ring A413 is engaged with the rotor wheel planetary gear A412, and the rotor wheel outer gear ring A413 is also fixedly connected to the outer tire and 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 lifting mechanism second planetary gear 216 is consistent with the number of teeth of the lifting mechanism second outer gear ring 217, 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 suspension 23.Figure 2 The lock B1 on the side of the lifting mechanism housing 211 is fixedly connected to the lifting mechanism sun gear 212, so as to lock the lifting mechanism sun gear 212, so that the planetary gear train is combined with the lifting mechanism housing 211 to become an integral whole.

[0083] Figure 4 And Figure 5 As shown in the detailed structure of the flying car B system, including: the overturning motor 26 (M B ), the overturning mechanism and suspension 24, the driving motor B 34 (M b ), the tire inner transmission structure B 45 (including the rotor wheel sun gear B 451, the rotor wheel planetary gear B 452, the rotor wheel outer gear ring B 453, the rotor wheel planetary carrier B 454), the electromagnetic double clutch B 46, the rotor B 47, the outer tire and hub B 48.

[0084] Specifically: the overturning motor 26 is fixedly connected to the flying car chassis 25, the overturning motor output shaft is rotatably connected to the overturning mechanism housing 241 in the overturning mechanism and suspension 24, and the motor output shaft passes through the overturning mechanism connecting rod one 246 and is rotatably connected to the shaft sleeve B 245 in the overturning mechanism connecting rod one 246; the overturning mechanism sun gear 242 is fixedly connected to the overturning motor output shaft and is in meshing cooperation with the overturning mechanism planetary gear 243; the overturning mechanism planetary gear 243 is also in meshing cooperation with the overturning mechanism outer gear ring 244, the overturning mechanism planetary gear 243 is rotatably connected to the overturning mechanism planetary carrier 249, and the overturning mechanism planetary carrier 249 is fixedly connected to the overturning mechanism housing 241; the overturning mechanism outer gear ring 244 is fixedly connected to the flying car chassis 25. The upper end of the overturning mechanism connecting rod one 246 is fixedly connected to the overturning mechanism housing 241, and the lower end is fixedly connected to the suspension system 247 of the B system. The overturning mechanism connecting rod two 248 is fixedly assembled with the driving mechanism positioning device B 331. The driving mechanism positioning device B 331 is fixedly connected to the fixed assembly B 332 on the side close to the wheel, and the driving motor B 34 is located in the motor bearing box B 333. The output shaft of the driving motor B 34 is connected to the electromagnetic double clutch B 46, the clutch C1 of the electromagnetic double clutch B 46 is connected to the rotor wheel sun gear B 451, the rotor wheel planetary gear B 452 (the number is 3) is in meshing cooperation with the rotor wheel sun gear B 451, and the rotor wheel planetary gear A 412 is rotatably connected to the rotor wheel planetary carrier B 454; the rotor wheel outer gear ring B 453 is in meshing cooperation with the rotor wheel planetary gear B 452, and the rotor wheel outer gear ring B 453 is also fixedly connected to the outer tire and hub B 48; the clutch C2 of the electromagnetic double clutch B 46 is connected to the rotor B 47.

[0085] Unlike the liftable and overturnable rotor wheel system, the rotor wheel of the overturnable rotor wheel system cannot be lifted, but only can be overturned.

[0086] The power supply system 1 comprises a battery 11 and a range extender 12, and the battery 11 is connected with the lifting / turning motor 22, the turning motor 26, the drive motor A 32, the drive motor B 34 and the range extender 12.

[0087] The electronic control unit comprises a VCU and a BMS, wherein the VCU is a vehicle controller, used for controlling and receiving feedback information of the BMS, controlling and receiving feedback information of the lifting / turning motor controller, the turning motor controller and the drive motor controller, receiving pedal stroke sensor signals and controlling brake force distribution, receiving flight control lever sensor signals and identifying take-off or landing requirements of the vehicle; and the BMS is a battery management system, used for controlling and managing battery charging and discharging processes, detecting a remaining battery capacity (SOC) and feeding back the SOC of the battery to the VCU.

[0088] The power drive unit is connected with the VCU of the electronic control unit, and the power drive unit comprises the lifting / turning motor controller, the turning motor controller and the drive motor controller; the motor controller is used for providing electric energy for the corresponding motor, controlling the corresponding motor according to the instruction from the VCU, thereby outputting corresponding torque / speed, and feeding back the state of the motor to the VCU.

[0089] The x, y and z directions of the flying car are set, respectively, as 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] The drive motors of the A system are denoted as M a1 , M a2 , the drive motors of the B system are denoted as M b1 , M b2 , M b3 , M b4 .

[0091] Figure 10 The control method specifically comprises the following steps:

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

[0093] Step 2), the VCU judges whether the vehicle is in the air according to the read flight control lever signal, if yes, enters step 14), otherwise enters step 3);

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

[0095] Step 4), VCU judges whether the vehicle needs to brake according to the read brake pedal signal, if yes, enters step 9), otherwise enters step 5);

[0096] Step 5), BMS judges whether the battery power meets SOC C (SOC C is the preset battery charging power warning value), if yes, enters step 7), otherwise enters step 8);

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

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

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

[0100] Step 9), BMS judges whether the battery power meets SOC H , if yes, enters step 10), otherwise enters step 12);

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

[0102] Step 11), enters the regenerative braking mode, and enters step 24) at the same time;

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

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

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

[0106] Step 15), VCU judges whether the A system is faulty according to the read working state information of A / B system, if yes, enters step 22), otherwise enters step 16);

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

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

[0109] Step 18), BMS determines whether the battery power meets SOC H , if yes, enters step 19), otherwise enters step 20);

[0110] Step 19), enters the air pure electric flight mode, and simultaneously enters step 24);

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

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

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

[0114] Step 23), enters the air speed landing mode, and simultaneously enters step 24);

[0115] Step 24), feeds back the working state information to VCU to form a closed loop control.

[0116] The specific control process is as follows:

[0117] Mode 1), ground pure electric drive mode, VCU receives the working state information of A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, flight control lever signal, 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 is in the disabled state, the wheel drive motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 The three pairs of motor groups have three states, which are, the motor M a1 , M a2 is enabled, the motor M a1 , M a2 , M b1 , M b2 is enabled, the motor M a1 , M a2 , Mb1 M b2 M b3 M b4 The specific enabling states change according to the driver's needs and power requirements. 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, respectively.

[0118] Ground-based pure electric two-wheel drive (motor M) a1 M a2 Enable), enabling the electromagnetic dual clutch A42 corresponding to the motor, C1 engages and C2 disengages, and battery 11 supplies power to motor M. a1 M a2 Power supply: The VCU calculates the vehicle's required torque T based on the real-time vehicle speed v. req Then, based on the planetary gear transmission relationship within the rotor wheel system, the motor M is calculated separately. a1 M a2 The required torque. The motor M is connected via the CAN bus. a1 M a2 The torque request is transmitted to motor M a1 M a2 The controller controls the motors that drive the corresponding rotor wheels; motor M a1 M a2 The power is transmitted to the sun gear 411 of the rotor wheel through the C1 end of the electromagnetic dual clutch A42. The sun gear 411 of the rotor wheel then transmits the power to the outer gear ring 413 of the rotor wheel through the planetary gear 412 of the rotor wheel. The outer gear ring 413 of the rotor wheel is fixedly connected to the wheel hub of the vehicle. By driving the wheel hub to rotate, the entire wheel rotates, realizing pure electric two-wheel drive on the ground.

[0119] Ground-based pure electric four-wheel drive (motor M) a1 M a2 M b1 M b2 Enable), enabling the electromagnetic dual clutches A42 and B46 corresponding to the motor, C1 engages and C2 disengages, and battery 11 supplies power to motor M. a1 M a2 M b1 M b2 Power supply: The VCU calculates the vehicle's required torque T based on the real-time vehicle speed v. req Then, based on the planetary gear transmission relationship within the rotor wheel system 4, the motor M is calculated separately. a1 M a2 M b1 M b2 The required torque. The motor M is connected via the CAN bus. a1 M a2 M b1 Mb2 torque request of the motor M a1 , M a2 , M b1 , M b2 controller, control each motor drive corresponding rotor wheel; motor M a1 , M a2 , M b1 , M b2 power through the electromagnetic double clutch A42 and B46 C1 end is transmitted to the rotor wheel sun gear A411 and B451, rotor wheel sun gear A411 and B451 are respectively through the rotor wheel planetary gear A412 and B452 power transmission to the rotor wheel outer ring gear A413 and B453, rotor wheel outer ring gear A413 and B453 are respectively connected with the wheel hub, through the drive wheel hub rotation makes the whole wheel rotation, realize the ground pure electric four-wheel drive travel.

[0120] ground pure electric six-wheel drive travel (motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 enable), enable motor corresponding electromagnetic double clutch A42 and B46 C1 combination, C2 release, battery 11 to motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 power supply, VCU according to real-time vehicle speed v calculation vehicle demand torque T req , according to the planetary gear train transmission relationship in the rotor wheel system 4 respectively calculate the demand torque of motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 . Through the CAN bus, the torque request of the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 is transmitted to the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 controller, control each motor drive corresponding rotor wheel; 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 double clutches A42 and B46, respectively, and the rotor wheel sun gears A411 and B451 transmit the power to the rotor wheel outer gears A413 and B453 through the rotor wheel planetary gears A412 and B452, respectively, and the rotor wheel outer gears A413 and B453 are fixedly connected with the wheel hubs of the vehicle, and the whole wheel is rotated by driving the wheel hub to rotate, realizing the ground pure electric six-wheel driving.

[0121] Mode 2), ground hybrid driving mode, the VCU receives the working state information of the A / B system, vehicle speed, motor current feedback signal, accelerator pedal signal, brake pedal signal, mode switching signal, flight control stick signal, judges that the flying car is on the ground, does not need to take off, does not need to brake, and the battery SOC is less than SOC C At this time, M A , M B The wheel driving motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 The three pairs of motor groups have three states, which are, the motor M a1 , M a2 enabled, the motor M a1 , M a2 , M b1 , M b2 enabled, the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 enabled, which changes with the change of the driver's demand and the power demand, and the three states correspond to the flying car ground hybrid two-wheel driving, the flying car ground hybrid four-wheel driving, and the flying car ground hybrid six-wheel driving, respectively.

[0122] Ground hybrid two-wheel driving (the motor M a1 , M a2 enabled), the enabled motor corresponds to the C1 combination and the C2 release of the electromagnetic double clutch A42, and the battery 11 supplies power to the motor M a1 , M a2 , and at the same time, the range extender 12 starts. The range extender 12 is composed of an engine and a generator, and the engine operates to drive the generator to generate electricity; part of the generated power is directly supplied to the motor M b1 , M b2One portion is used to supplement the power required to drive the vehicle, and another portion is used to charge the battery 11 to maintain the battery charge at a reasonable level. The VCU calculates the vehicle's required torque T based on the real-time vehicle speed v. req Then, based on the planetary gear transmission relationship within the rotor wheel system, the motor M is calculated separately. a1 M a2 The required torque. The motor M is connected via the CAN bus. a1 M a2 The torque request is transmitted to motor M a1 M a2 The controller controls the motors that drive the corresponding rotor wheels; motor M a1 M a2 The power is transmitted to the sun gear 411 of the rotor wheel through the C1 end of the electromagnetic dual clutch A42. The sun gear 411 of the rotor wheel then transmits the power to the outer gear ring 413 of the rotor wheel through the planetary gear 412 of the rotor wheel. The outer gear ring 413 of the rotor wheel is fixedly connected to the wheel hub of the vehicle. By driving the wheel hub to rotate, the entire wheel rotates, realizing the ground hybrid two-wheel drive driving.

[0123] Ground hybrid four-wheel drive (motor M) a1 M a2 M b1 M b2 Enable), enabling the electromagnetic dual clutches A42 and B46 corresponding to the motor, C1 engages and C2 disengages, and battery 11 supplies power to motor M. a1 M a2 M b1 M b2 Power is supplied, and the range extender 12 starts simultaneously. The range extender 12 consists of an engine and a generator; the engine drives the generator to produce electricity; a portion of the generated electricity is directly supplied to the motor M. b1 M b2 One portion is used to supplement the power required to drive the vehicle, and another portion is used to charge the battery 11 to maintain the battery charge at a reasonable level. The VCU calculates the vehicle's required torque T based on the real-time vehicle speed v. req Then, based on the planetary gear transmission relationship within the rotor wheel system, the motor M is calculated separately. a1 M a2 M b1 M b2 The required torque. The motor M is connected via the CAN bus. a1 M a2 M b1 M b2 The torque request is transmitted to motor M a1 M a2 M b1 M b2 The controller controls the motors that drive the corresponding rotor wheels; motor Ma1 a2 b1 b2 The power is transmitted to the rotor wheel sun gears A411 and B451 through the C1 ends of the electromagnetic double clutches A42 and B46, respectively, and the rotor wheel sun gears A411 and B451 transmit the power to the rotor wheel outer gears A413 and B453 through the rotor wheel planetary gears A412 and B452, respectively, and the rotor wheel outer gears A413 and B453 are fixedly connected with the wheel hubs of the vehicle, respectively, and the entire wheels are rotated by driving the wheel hubs to realize the ground hybrid six-wheel drive running.

[0124] The ground hybrid six-wheel drive running (the motor M a1 a2 b1 b2 b3 b4 The enabling motor corresponds to the C1 combination and the C2 release of the electromagnetic double clutches A42 and B46, and the battery 11 supplies power to the motor M a1 a2 b1 b2 b3 b4 The power supply, and the range extender 12 is started. The range extender 12 is composed of an engine and a generator, and the engine operates to drive the generator to generate electricity; a part of the generated electricity is directly supplied to the motor M b1 b2 to supplement the required power for driving 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 torque T req of the vehicle according to the real-time vehicle speed v, and then calculates the required torque of the motor M a1 a2 b1 b2 b3 b4 according to the transmission relationship of the planetary gear system in the rotor wheel system. Through the CAN bus, the torque request of the motor M a1 a2 b1 b2 b3 b4 is transmitted to the motor M a1 a2 b1 b2 b3 b4 controller, and the motor M a1 a1 ​​​​​​​​​​​​​​​​​​​​​​​​​​​​​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 double clutches A42 and B46, respectively, and the rotor wheel sun gears A411 and B451 transmit the power to the rotor wheel outer gear rings A413 and B453 through the rotor wheel planetary gears A412 and B452, respectively, and the rotor wheel outer gear rings A413 and B453 are fixedly connected with the wheel hubs of the vehicle, respectively, and the entire wheels are rotated by driving the wheel hubs to rotate, so that the ground hybrid six-wheel drive running is realized.

[0125] Mode 3), regenerative braking mode, the VCU receives the brake pedal signal and detects the SOC value of the battery, if SOC < SOC H , the VCU transmits the regenerative braking instruction to the currently running drive motor controller through the CAN bus, drives the currently running drive motor to generate electricity, the motor is in the power generation state, and the kinetic energy is converted into electrical energy and stored in the battery 11; if SOC ≥ SOC H , it is judged that the battery 11 is in the power surplus state, and the braking energy recovery is not performed.

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

[0127] Mode 5), take-off mode with speed, the VCU receives the flight control lever signal of the flying vehicle, the working state information of the A / B system, and the motor current feedback signal, judges the ground driving mode of the current vehicle, changes the driving mode to the B system driving, the VCU calculates the required torque of the vehicle according to the real-time vehicle speed, and then calculates the required torque of the motors M b1 , M b2 , M b3 , M b4 , M b1 , M b2 , M b3 , M b4 corresponding to the motor controller, controls the corresponding motor to drive the corresponding wheel, and the C1 combination and the C2 release of the corresponding electromagnetic double clutch B46, the motor M b1 , M b2 , M b3, M b4 The corresponding rotor wheels are driven to take over the driving of the ground. After taking over the driving, the battery 11 supplies power to the lifting / turning motor 22, the VCU transmits the lifting demand signal through the CAN bus, the lifting / turning motor controller controls the lifting / turning motor to drive the lifting mechanism mechanical device 21, the power is transmitted from the output shaft of the lifting / turning 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 planet carrier 215 revolves with the revolution of the lifting mechanism first 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 by a certain angle, when the rotor wheel system reaches the maximum lifting height, the lifting / turning motor 22 temporarily stops working, the flying car is lifted from the ground driving state in Figure 6 to the air-ground switching state 1 in Figure 7 . At the same time when the A system is lifted upward, the regenerative braking of the motors M a1 , M a2 stops the rotation of the rotor wheel system of the A system, and locks the wheels. At this time, the lifting of the A system is completed. After the lifting of the A system is completed, the lock B1 in the lifting system is locked, the lifting / turning motor 22 works again to rotate by a certain angle, realizes the turning of the A system, and the flying car is turned from the air-ground switching state 1 in Figure 7 to the air-ground switching state 2 in Figure 8 . After the turning is completed, the C1 of the electromagnetic double clutch A42 of the A system is released, the C2 is combined, the VCU calculates the demand rotation angle of the wheels of the A system under the two rotors and the corresponding demand rotation speed of the motors M a1 , M a2 according to the current vehicle information (the working state information of the A / B systems, the vehicle speed, the motor current feedback signal, the flying control lever signal), transmits the demand rotation angle and the demand rotation speed of the motors M a1 , M a2 to the motor controller of the A system through the CAN bus, and the motor controller controls the motors M b1 , M b2 , M b3 , M b4 to drive the corresponding rotors A43, so as to provide lift for the flying car, and make the vehicle complete smooth preliminary take-off in low altitude during driving; then, the regenerative braking of the motors M b1 , M b2 , M b3 , M b4 makes the tires of the B system complete braking and locking, the battery 11 supplies power to the turning motor 26 to realize the turning of the B system, and the C1 of the electromagnetic double clutch B46 of the B system is released and the C2 is combined. The VCU calculates the demand rotation speed of each motor under the operation of the six rotors according to the current vehicle information, transmits the demand rotation speed to the motor controllers of the A system and the B system through the CAN bus, and the motor controllers control the motors Ma1 , M a2 , M b1 , M b2 , M b3 , M b4 The corresponding rotor B47 is driven, the lift is provided for the flying car, the vehicle is changed from low-altitude two-rotor driving to low-altitude six-rotor driving, smooth transition is realized, and switching of the take-off mode with speed is completed.

[0128] The land-air switching state 1 is that the A system of the flying car is in a lifting completion state, is spaced apart from the ground by a certain height, so that no interference with the ground is realized during turning over, and the B system of the flying car maintains the original state to drive the flying car to drive on the ground; the land-air switching state 2 is that the A system of the flying car is turned over, drives the flying car to take off and maintain a low-altitude flight state, and the B system of the flying car interrupts power output.

[0129] Mode 6), the pure electric flight mode in the air, the VCU receives the working state 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 capacity SOC, judges that the flying car is located in the air, the driving mechanism is normal, and the current battery SOC is greater than SOC H , M A , M B is in a disabled state, the C1 release and the C2 combination of the electromagnetic double clutch 42, 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 rotating speed of each rotor of the vehicle according to the vehicle speed, the height signal, the attitude angle signal and the like, transmits the rotating speed request of the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 to the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 controller, controls the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 drives the corresponding rotor; the motor M a1 , M a2 , M b1 , Mb2 , M b3 , M b4 The power is transmitted to the rotors through the C2 end of the electromagnetic double clutch A42 and B46, the rotors rotate to drive the air car to fly smoothly. In this mode, the air car switches to the air pure electric flight mode by detecting the battery SOC, so that the battery SOC of the air car can always be maintained at a normal level, and the battery capacity is sufficient to cope with unexpected situations.

[0130] Mode 7), air hybrid flight mode, VCU receives A / B system working state information, vehicle speed, motor current feedback signal, mode switching signal, flight control lever signal, battery remaining capacity SOC, judges that the air car is in the air, the driving mechanism is normal, and detects the SOC value of the current battery, SOC H , M A , M B In the disabled state, the C1 release and C2 combination of the electromagnetic double clutch 42, the battery 11 supplies power to the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 , and the range extender 12 starts at the same time. The range extender 12 is composed of an engine and a generator, and the engine operates to drive the generator to generate electricity; part of the generated power 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 capacity at a reasonable level. VCU calculates the required speed of each rotor of the vehicle according to the vehicle speed, height signal, attitude angle signal, etc., and transmits the speed request of the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 to the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 controller, controls the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 drives the corresponding rotor; the motor M a1, M a2 , M b1 , M b2 , M b3 , M b4 Power is transmitted to the rotors through the C2 end of the electromagnetic double clutch A42 and B46, and the rotors rotate to drive the air car to fly smoothly. In this mode, the air car's air hybrid flight mode is switched by detecting the battery SOC, so that the battery SOC of the air car can always be maintained at a normal level, keeping the battery power sufficient to cope with unexpected situations.

[0131] Mode 8, air A system failure mode, VCU receives the fault signal of A system (i.e. motor current feedback signal), and according to the received current vehicle information, calculates the required torque of each motor in the current flight state using B system alone driving, and transmits the torque request to the corresponding motor controller M b1 , M b2 , M b3 , M b4 The corresponding motor controller controls the rotor of the B system. At the same time, the rotor of the A system is stopped by using the conventional brake. Complete the single drive of the B system.

[0132] Mode 9, air B system failure mode, VCU receives the fault signal of B system, and according to the received current vehicle information, calculates the required torque of each motor in the current flight state using A system alone driving, and transmits the torque request to the corresponding motor controller M a1 , M a2 The corresponding motor controller controls the rotor of the A system. At the same time, the rotor of the B system is stopped by using the conventional brake. Complete the single drive of the A system.

[0133] Mode 10, speed descent mode, VCU receives the landing signal of the air car, and the flight height is adjusted to low altitude and the flight speed is adjusted to low speed. VCU calculates the required speed of each motor in the current flight state using A system alone driving according to the current vehicle information, and transmits the speed request to the corresponding motor controller M a1 , M a2 The corresponding motor controller controls the rotor A43 driven by the motor. At the same time, the rotor of system B is stopped by using the regenerative brake of the motor M b1 , M b2 , M b3 , M b4 The rotor B47 stops rotating. After the rotor B47 stops rotating, the C1 of the electromagnetic double clutch B46 of the B system is combined and the C2 is released, the battery 11 supplies power to the reversing motor 26, and the motor drives the air car to reverse from the air flight state in Figure 9 Figure 8 ​The vehicle enters a land-to-air transition state 2, with its flight altitude continuously decreasing. Before the flying car lands, the VCU calculates the component of the flying car's air speed along the ground front and the corresponding torque based on received vehicle information (A / B system operating status information, vehicle speed, motor current feedback signal, mode switching signal, and flight control stick signal), and transmits the torque requirements of each motor to motor M. b1 M b2 M b3 M b4 Controller, controls motor M b1 M b2 M b3 M b4 The corresponding wheels are driven to reach the required speed before the vehicle lands, ensuring a smooth landing. After a smooth landing, system A uses motor M... a1 M a2 Regenerative braking causes rotor A43 to stop rotating. After rotor A43 stops rotating, C1 of the electromagnetic clutch A42 of system A engages and C2 disengages, battery 11 powers lift / tilt motor 22, which then drives the flying car from... Figure 8 The land-air switching state 2 is flipped to Figure 7 The land-to-air switching state 1. After the flip is completed, the VCU transmits the lifting demand signal via the CAN bus. The lifting / flipping motor controller controls the lifting / flipping motor 22 to drive the lifting mechanism mechanical device. Power is transmitted from the output shaft of the lifting / flipping motor 22 to the sun gear 212 of the lifting mechanism. The sun gear 212 of the lifting mechanism drives the first planetary gear 213 of the lifting mechanism to revolve within the first external gear ring 214 of the lifting mechanism. The planet carrier 215 of the lifting mechanism rotates along with the revolution of the planetary gear 213 of the lifting mechanism, driving the second planetary gear 216 of the lifting mechanism on the other side to revolve around the second external gear ring 217 of the lifting mechanism. The second planetary gear 216 of the lifting mechanism revolves around the second external gear ring 217 of the lifting mechanism at a certain angle. When the second planetary gear 216 of the lifting mechanism returns to its original position (returning to the initial position, located at the bottom of the entire gear ring, see...), Figure 3 The lifting / tilting motor 22 stops working. Simultaneously with the descent of system A, the VCU calculates the required wheel torque for system A's wheels to touch down based on vehicle information (operating status information of systems A / B, vehicle speed, and motor current feedback signal), and transmits the torque request to motor M via the CAN bus. a1 M a2 Controller, controls motor M a1 M a2 Drive the corresponding wheels to reach the required speed before the wheels touch the ground, completing the flying car's transition from... Figure 7 The land-air switching state 1 to Figure 6 The belt speed switch for ground driving mode is now complete. This completes the belt speed descent mode.

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

[0135] The above embodiments are preferred embodiments of the application, but the application is not limited to the above embodiments, and any obvious improvements, replacements or modifications made by those skilled in the art without departing from the essential content of the application shall fall within the protection scope of the application.

Claims

1. A multi-mode land-air hybrid flying car, characterized in that, The system comprises a power supply system (1), a lifting / turning system (2), a driving system (3), a rotor wheel system (4), an electronic control unit, and a power driving unit; the lifting / turning system (2), the driving system (3) and the rotor wheel system (4) form a lifting / turning rotor wheel system and a turning rotor wheel system, which are respectively denoted as A and B systems; in the three pairs of wheels of the flying car, the middle pair of wheels are A systems, and the other two pairs of wheels are B systems; 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 inner tire transmission structure A (41), an electromagnetic double clutch A (42), a rotor A (43), an outer tire and a 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 clutch C1 of the electromagnetic double clutch A (42) is connected to the outer tire and the hub A (44) through the inner tire transmission structure A (41), and the clutch C2 of the electromagnetic double clutch A (42) is connected to the rotor A (43); The B system comprises a turning motor (26), a turning mechanism and a suspension (24), a driving motor B (34), an inner tire transmission structure B (45), an electromagnetic double clutch B (46), a rotor B (47), an outer tire and a hub B (48); the turning motor (26) is fixedly connected to the flying car chassis (25), and the motor output shaft is connected to the turning mechanism and the suspension (24); the output shaft of the driving motor B (34) is connected to the electromagnetic double clutch B (46), the clutch C1 of the electromagnetic double clutch B (46) is connected to the outer tire and the hub B (48) through the inner tire transmission structure B (45), and the clutch C2 of the electromagnetic double clutch B (46) is connected to the rotor B (47); The power 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 driving unit comprises a lifting / turning motor controller, a turning motor controller and a driving motor controller, which are all controlled by the electronic control unit; the electronic control unit comprises a VCU and a BMS. 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 planet 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 with the output shaft of the lifting / turning motor (22), the lifting mechanism sun gear (212) is located in the middle of a pair of lifting mechanism first planetary gears (213) and is in mesh with the lifting mechanism first planetary gears (213), and the lifting mechanism first planetary gears (213) are also in mesh with the lifting mechanism first outer gear ring (214); one end of the lifting mechanism planet carrier (215) is connected with a pair of lifting mechanism first planetary gears (213), and the other end is connected with the lifting mechanism second planetary gear (216); one side of the lifting mechanism connecting rod (218) is fixed on the lifting mechanism second planetary gear (216), and the other side is fixed on a rotating shaft, which is used for being connected with the connecting mechanism and the suspension (23); the lifting mechanism first outer gear ring (214) and the lifting mechanism second outer gear ring (217) are both fixed on the lifting mechanism outer shell (211), and the lifting mechanism first outer gear ring (214) is close to one side of the lifting / turning motor (22), and the lifting mechanism second outer gear ring (217) is away from the other side of the lifting / turning motor (22); the lifting mechanism planet carrier (215) rotates around the lifting mechanism first outer gear ring (214) while revolving with a pair of lifting mechanism first planetary gears (213), and the lifting mechanism second planetary gear (216) revolves around the lifting mechanism second outer gear ring (217); the lifting mechanism connecting rod (218) revolves around the lifting mechanism second outer gear ring (217) while revolving with the lifting mechanism second planetary gear (216), and rotates around the lifting mechanism second outer gear ring (217) while rotating with the lifting mechanism second planetary gear (216).

2. A control method for the multi-mode land-air hybrid flying car according to claim 1, characterized in that: Step 1), the VCU reads the working state information of the A / B system, the vehicle speed, the motor current feedback signal, the acceleration pedal signal, the brake pedal signal, the mode switching signal, and the flight control stick signal; Step 2), the VCU determines whether the vehicle is in the air according to the read flight control stick signal, and if so, proceeds to step 14), otherwise proceeds to step 3); Step 3), the VCU determines whether the vehicle needs to take off according to the read mode switching signal, and if so, proceeds to step 13), otherwise proceeds to step 4); Step 4), the VCU determines whether the vehicle needs to brake according to the read brake pedal signal, and if so, proceeds to step 9), otherwise proceeds to step 5); Step 5), BMS determines whether the battery power meets SOC < SOC C If not, go to Step 6), otherwise go to Step 8); wherein SOC C is the charge 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); wherein, SOC H is a preset battery charging power warning value; Step 7), enter the ground pure electric driving mode, and simultaneously enter step 24); Step 8), enter the ground hybrid driving mode, and simultaneously enter step 24); Step 9), BMS determines whether the battery power meets SOC < SOC H If yes, go to Step 10), otherwise go to Step 12); Step 10), VCU calculates the total braking torque demand 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, go to step 11), otherwise go to step 12); Step 11), enter the regenerative braking mode, and go to step 24); Step 12), enter the conventional braking mode, and go to step 24); Step 13), enter the take-off mode with speed, and go to step 24); Step 14), VCU determines whether the vehicle needs to land according to the read mode switching signal. If yes, go to step 23), otherwise go to step 15); Step 15), VCU determines whether the A system is faulty according to the read working state information of the A / B system. If yes, go to step 22), otherwise go to step 16); Step 16), VCU determines whether the B system is faulty according to the read working state information of the A / B system. If yes, go to step 21), otherwise go to step 17); Step 17), BMS determines whether the battery power meets SOC < SOC C If yes, go to Step 20), otherwise go to Step 18); Step 18), BMS determines whether the battery power meets 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 go to step 24); Step 20), enter the hybrid flight mode in the air, and go to step 24); Step 21), enter the B system fault mode in the air, and go to step 24); Step 22), enter the A system fault mode in the air, and go to step 24); Step 23), enter the landing mode with speed, and go to step 24); Step 24), feedback the working state information to VCU to form a closed-loop control; The take-off mode with speed is: VCU receives the flight control lever signal of the flying car, the working state 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 B system takeover driving; After takeover driving, the battery (11) supplies power to the lifting / turning motor (22), VCU transmits the lifting demand signal, the lifting / turning motor controller controls the lifting / turning motor (22) to drive the lifting mechanism mechanical device (21), when the rotor wheel system reaches the maximum lifting height, the lifting / turning motor (22) temporarily stops working, and the flying car is lifted from the ground driving state to the land-air switching state 1; At the same time as the A system is lifted upwards, the rotor wheel system of the A system is stopped from rotating and the wheels are locked by means of the regenerative braking of the motor M a1 , M a2 ​ After completing the lifting of the A system, the lock B1 in the lifting mechanism mechanical device (21) is locked, the lifting / turning motor (22) works again, rotates by a certain angle, realizes the turning of the A system, and the flying car is turned from the land-air switching state 1 to the land-air switching state 2; After the turnover is completed, the C1 of the electromagnetic double clutch A (42) of the A system is released, the C2 is combined, the motor controller controls the motor M a1 , a2 drives the corresponding rotor A (43), provides the lift for the flying car, and makes the vehicle complete smooth low-altitude preliminary take-off in the driving process; subsequently, the regenerative braking of the motor M b1 , b2 , b3 , b4 makes the tire of the B system complete braking and locking, the battery (11) supplies power to the turnover motor (26), the turnover of the B system is realized, the C1 of the electromagnetic double clutch B (46) of the B system is released, the C2 is combined, the motor controller controls the motor M a1 , a2 , b1 , b2 , b3 , b4 drives the corresponding rotor B (47), so that the vehicle changes from low-altitude two-rotor driving to low-altitude six-rotor driving, realizes smooth transition, and completes the switching of the take-off mode with speed; wherein M a1 , M a2 represent the drive motor A (32) of the two A systems, respectively b1 , M b2 , M b3 , M b4 represent the drive motor B (34) of the four B systems, respectively 3. The control method according to claim 2, characterized in that: The ground pure electric driving mode is specifically: the VCU receives the working state 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 control lever signal, judges 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 is in the disabled state, the wheel driving motors M a1 , M a2 , M b1 , M b2 , M b3 , and M b4 have three states, which are: the motor M a1 , M a2 is enabled, the motor M a1 , M a2 , M b1 , M b2 is enabled, the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 is enabled, and the three states correspond to the flying car ground pure electric two-wheel driving, the flying car ground pure electric four-wheel driving, and the flying car ground pure electric six-wheel driving, respectively. The ground hybrid driving mode is specifically: the VCU receives the working state 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 control lever signal, judges that the flying car is on the ground, does not need to take off, does not need to brake, and the battery SOC is less than SOC C ; at this time, M A , M B are in the disabled state, the wheel driving motors M a1 and M a2 , M b1 and M b2 , M b3 and M b4 have three states, respectively: the motor M a1 , M a2 is enabled, the motor M a1 , M a2 , M b1 , M b2 is enabled, the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 is enabled, and the three states correspond to the flying car ground hybrid two-wheel driving, the flying car ground hybrid four-wheel driving, and the flying car ground hybrid six-wheel driving, respectively. wherein M A represents the lifting / tilting motor (22), M B represents the tilting motor (26).

4. The control method according to claim 2, characterized by The regenerative braking mode is: the VCU receives the brake pedal signal, and detects the SOC value of the battery, if SOC < SOC H , the VCU transmits the regenerative braking instruction 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 , it is determined that the battery is in a surplus state, and the brake energy recovery is not performed.

5. The control method according to claim 2, characterized by, The normal braking mode is: VCU receives brake pedal signal, and detects SOC value of battery, if SOC > SOC H , clutches C1, C2 of electromagnetic double clutch A (42) and electromagnetic double clutch B (46) are released, and pure mechanical braking is adopted; if SOC < SOC H , but demand braking force is greater than regenerative braking force, braking force other than regenerative braking force is realized by mechanical braking.

6. The control method according to claim 2, characterized in that: The air pure electric flight mode is: VCU receives the working state information of A / B system, vehicle speed, motor current feedback signal, mode switching signal, flight control lever signal, battery remaining capacity SOC, judges that the flying car is in the air, the driving mechanism operates normally, and detects that the current battery SOC>SOC H , M A , M B is in the disabled state, C1 of the electromagnetic double clutch A (42) in the rotor wheel is released, C2 is combined, the battery (11) supplies power for the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 ; the power of the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 is transmitted to the rotor through C2 end of the electromagnetic double clutch A (42) and the electromagnetic double clutch B (46), the rotor rotates, and the flying car flies stably; The air hybrid flight mode is: the VCU receives the working state information of the A / B system, the vehicle speed, the motor current feedback signal, the mode switching signal, the flight control lever signal, the battery remaining capacity SOC, judges that the flying car is in the air, the driving mechanism is normal, and the SOC of the current battery is less than the SOC H , M A , M B is in the disabled state, C1 of the electromagnetic double clutch A (42) is released, C2 is combined, the battery (11) supplies power to the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 , and the range extender (12) starts at the same time; the power of the motor M a1 , M a2 , M b1 , M b2 , M b3 , M b4 is transmitted to the rotor through C2 of the electromagnetic double clutch A (42) and the electromagnetic double clutch B (46), the rotor rotates, and the flying car flies smoothly; wherein M A represents the lifting / tilting motor (22), M B represents the tilting motor (26).

7. The control method according to claim 2, characterized by, The air A system failure mode is: VCU receives the failure signal of A system, and according to the received current vehicle information, calculates the required torque of each motor in the current flight state by using B system alone driving, transmits the torque request to M b1 、M b2 、M b3 、M b4 The corresponding motor controller controls the rotor B (47) of the motor driving B system; at the same time, the rotor A (43) of the system A stops rotating by using conventional brake; The air B system failure mode is: VCU receives the failure signal of B system, and according to the received current vehicle information, calculates the required torque of each motor for maintaining the current flight state by using A system alone, transmits the torque request to M a1 , M a2 The corresponding motor controller controls the rotor A (43) of the motor driving A system; at the same time, the rotor B (47) of the B system stops rotating by using conventional brake.

8. The control method according to claim 2, characterized by, The landing mode with speed is: VCU receives the landing signal of the flying car, adjusts the flight height to low altitude and the flight speed to low speed; VCU calculates the required speed of each motor of the A system according to the current vehicle information, and transmits the speed request to the M a1 , M a2 The corresponding motor controller controls the motor to drive the rotor A (43); at the same time, the rotor B (47) of the B system stops rotating by using the regenerative braking of the motor M b1 , M b2 , M b3 , M b4 After the rotor B (47) stops rotating, the C1 of the electromagnetic double clutch B (46) is engaged and the C2 is released, the battery supplies power to the turnover motor (26), the motor drives the aerial vehicle to turn over from the flight state to the land-air switching state 2, and the flight height is continuously reduced; Before the flying car lands, the VCU calculates the speed of the flying car in the air along the forward direction of the vehicle on the ground and the corresponding torque according to the received vehicle information, and transmits the torque requirement of each motor M to the motor M b1 b2 b3 b4 Controller, control motor M b1 b2 b3 b4 Drive the corresponding wheels to reach the required rotating speed before the vehicle lands, and complete a smooth landing.​​​​​​ After steady landing, the rotor A (43) of the A system stops rotating by the regenerative braking of the motor M a1 , M a2 ; after the rotor A (43) stops rotating, the C1 of the electromagnetic double clutch A (42) is engaged and the C2 is released, the battery powers the lifting / turning motor (22), and the motor drives the flying car to turn from the land-air switching state 2 to the land-air switching state 1; After turning, VCU transmits the lifting demand signal, the lifting / turning motor controller controls the lifting / turning motor (22) to drive the lifting mechanism mechanical device (21), and when the second planetary wheel (216) of the lifting mechanism returns to the initial position, the lifting / turning motor (22) stops working; While the A system is descending, the VCU calculates the wheel demand torque of the A system wheel landing according to the vehicle information and transmits to the motor M a1 、 a2 The controller controls the motor M a1 、 a2 Drive the corresponding wheel to reach the required speed before the wheel lands, complete the speed switching of the flying car from the air-ground switching state 1 to the ground driving state.

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