Electric flying car power system and control method

Abstract

The embodiment of the invention provides an electric flying car power system and a control method. The electric flying car power system comprises a car main controller, a battery system, a motor module, a first disconnection module, a second disconnection module, a first detection module, a second detection module, a transmission module and a flying rotor module. A battery system is arranged to drive a motor module, when a first disconnection module is closed, power of the motor module is transmitted to a vehicle differential through a transmission module to drive a wheel module, and therefore the vehicle can run on the land; power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, the vehicle flies in the air, a land running mode and an air flight mode of the vehicle are met through a set of power system, and a motor of the electric hovercar can release the maximum torque instantly. Whether the vehicle differential mechanism and the flight rotor module are successfully driven is detected, safety guarantee is achieved, the acceleration performance and the driving safety are improved, and meanwhile the cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of flying car power technology, and more specifically, to an electric flying car power system and control method. Background Art

[0002] Flying cars, which can both travel on public roads and soar through the air, are an emerging form of transportation, for which their powertrain and control strategies are crucial. Existing flying cars, helicopters, and aircraft use fuel-powered engines, but these engines suffer from poor acceleration, high costs, and low safety standards. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an electric flying car power system and control method to solve the problems of poor acceleration performance, high cost and low safety of existing flying cars.

[0004] In a first aspect, an embodiment of the present application provides an electric flying car power system, comprising: a vehicle main controller, a battery system, a motor module, a first disconnect module, a second disconnect module, a first detection module, a second detection module, a transmission module, and a flight rotor module; The vehicle main controller is connected to the battery system, the motor module, the first disconnect module, the second disconnect module, the first detection module, the second detection module and the transmission module; the battery system is connected to the motor module, the transmission module is connected to the motor module, the first disconnect module and the second disconnect module, the first disconnect module and the first detection module are connected to the vehicle differential, and the second disconnect module and the second detection module are connected to the flight rotor module; when the first disconnect module is closed, the power of the motor module is transmitted to the vehicle differential through the transmission module to drive the wheel module, and the first detection module is used to detect whether the drive signal is successfully sent to the vehicle main controller; when the second disconnect module is closed, the power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, and the second detection module is used to detect whether the drive signal is successfully sent to the vehicle main controller.

[0005] In the above implementation process, the embodiment of the present application is provided with a battery system to drive the motor module. When the first disconnect module is closed, the power of the motor module is transmitted to the vehicle differential through the transmission module to drive the wheel module, thereby enabling the vehicle to travel on land. When the second disconnect module is closed, the power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, thereby enabling the vehicle to fly in the air. A set of power systems is used to meet the vehicle's land driving mode and air flight mode. The battery system provides power for the drive motor. The motor of the electric flying car can instantly release the maximum torque and simultaneously detect whether the vehicle differential and the flight rotor module are successfully driven, thereby achieving safety assurance, improving acceleration performance and driving safety, and reducing costs.

[0006] Furthermore, the motor module includes a first motor, the first disconnect module includes a first disconnect device, the second disconnect module includes a second disconnect device, and the transmission module includes a first transmission mechanism; the first motor is connected to the battery system, the first transmission mechanism is connected to the first motor, the first disconnect device and the second disconnect device, the first disconnect device is connected to the vehicle differential, and the second disconnect device is connected to the flight rotor module.

[0007] In the above implementation process, when the flight rotor module is a single-rotor structure, a first motor is provided to drive the vehicle differential and the flight rotor module, thereby enabling the flying car to travel on land and fly in the air, thereby reducing costs.

[0008] Furthermore, the motor module further includes a second motor, a third motor, and a fourth motor; the second disconnect module further includes a second disconnect device, a third disconnect device, a fourth disconnect device, a fifth disconnect device, a sixth disconnect device, a seventh disconnect device, and an eighth disconnect device; the flight rotor module includes a first flight rotor, a second flight rotor, a third flight rotor, and a fourth flight rotor; and the wheel module includes a first wheel, a second wheel, a third wheel, and a fourth wheel; The battery system is connected to the second motor, the third motor and the fourth motor, the second motor is connected to the third disconnect device and the fourth disconnect device, the third motor is connected to the fifth disconnect device and the sixth disconnect device, and the fourth motor is connected to the seventh disconnect device and the eighth disconnect device; the first disconnect device is connected to the first wheel, the second disconnect device is connected to the first flight rotor, the third disconnect device is connected to the second flight rotor, the fourth disconnect device is connected to the second wheel, the fifth disconnect device is connected to the third wheel, the sixth disconnect device is connected to the third flight rotor, the seventh disconnect device is connected to the fourth flight rotor, and the eighth disconnect device is connected to the fourth wheel.

[0009] In the above implementation process, when the flight rotor module is a multi-rotor structure, multiple motors are set to drive the vehicle differential and multiple flight rotors to realize the flying car's land driving and air flight, ensure driving force, and improve acceleration performance.

[0010] In a second aspect, an embodiment of the present application provides a power control method for an electric flying car, which is applied to the above-mentioned electric flying car power system, including: After the vehicle is powered on and started, it enters land driving mode; Upon receiving a flight mode activation instruction, the vehicle main controller determines that the battery of the battery system, the first motor, the second disconnect device, and the flight rotor module are all in a normal state, and the power level of the battery of the battery system is greater than a set power value, then switches to flight mode; Upon receiving the start instruction of the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to the set speed value, and then switches to the land driving mode.

[0011] Furthermore, after entering the land driving mode, the method further includes: The first disconnect device is closed, the second disconnect device is opened, and the power of the first motor is transmitted to the vehicle differential through the first transmission mechanism to drive the wheel module; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the first motor is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking demand deceleration is less than the set deceleration value, the vehicle is judged to be in a normal braking state; If the braking demand recovery torque is less than or equal to the maximum generating torque of the first motor, braking energy recovery is performed through the first motor; If the braking demand recovery torque is greater than the maximum power generation torque of the first motor, the maximum torque is used by the first motor to recover braking energy, and the braking energy is recovered in combination with the hydraulic braking system.

[0012] Furthermore, after switching to flight mode, the method further includes: The first disconnecting device is disconnected, the second disconnecting device is closed, and the power of the first motor is transmitted to the flight rotor module through the first transmission mechanism to drive the flight rotor module.

[0013] In a third aspect, an embodiment of the present application provides a power control method for an electric flying car, which is applied to the above-mentioned electric flying car power system, including: After the vehicle is powered on and started, it enters land driving mode; Upon receiving a flight mode activation instruction, the vehicle main controller determines that the battery of the battery system, the motor module, the first disconnect module, the second disconnect module, and the flight rotor module are all in a normal state, and the power level of the battery of the battery system is greater than a set power value, then switches to flight mode; Upon receiving the start instruction of the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to the set speed value, and then switches to the land driving mode.

[0014] Furthermore, after entering the land driving mode, the method further includes: The first disconnecting device and the fourth disconnecting device are disconnected, the fifth disconnecting device and the eighth disconnecting device are closed, the power of the third motor is transmitted to the third wheel and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed by the third motor and the fourth motor to meet the braking requirement torque.

[0015] Furthermore, after entering the land driving mode, the method further includes: The first disconnect device, the fourth disconnect device, the fifth disconnect device, and the eighth disconnect device are all closed, the power of the first motor is transmitted to the first wheel, the power of the second motor is transmitted to the second wheel, the power of the third motor is transmitted to the third wheel, and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed through the first motor, the second motor, the third motor, and the fourth motor to meet the braking requirement torque.

[0016] Furthermore, after switching to flight mode, the method further includes: The first disconnecting device, the fourth disconnecting device, the fifth disconnecting device and the eighth disconnecting device are all disconnected, the second disconnecting device, the third disconnecting device, the sixth disconnecting device and the seventh disconnecting device are all combined, the power of the first motor is transmitted to the first flight rotor, the power of the second motor is transmitted to the second flight rotor, the power of the third motor is transmitted to the third flight rotor, and the power of the fourth motor is transmitted to the fourth flight rotor to drive the flight rotor module. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a schematic diagram of a single-rotor structure of an electric flying car power system provided in an embodiment of the present application; Figure 2 This is a schematic diagram of a multi-rotor structure of an electric flying car power system provided in an embodiment of the present application; Figure 3 This is a flow chart of a power control method for an electric flying car provided in an embodiment of the present application; Figure 4 1 is a schematic diagram of mode switching of a power control method for an electric flying car provided in an embodiment of the present application; Figure 5 This is a flow chart of another electric flying car power control method provided in an embodiment of the present application; Figure 6 1 is a schematic diagram of mode switching of another electric flying car power control method provided in an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application; Among them, 11, the first disconnecting device; 12, the second disconnecting device; 13, the third disconnecting device; 14, the fourth disconnecting device; 15, the fifth disconnecting device; 16, the sixth disconnecting device; 17, the seventh disconnecting device; 18, the eighth disconnecting device; 19, the first transmission mechanism; 21, the first wheel; 22, the second wheel; 23, the third wheel; 24, the fourth wheel. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0020] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0021] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of an electric flying car power system provided in an embodiment of the present application. The electric flying car power system includes: a vehicle main controller, a battery system, a motor module, a first disconnect module, a second disconnect module, a first detection module, a second detection module, a transmission module, and a flight rotor module.

[0022] In which, the vehicle main controller is connected to the battery system, the motor module, the first disconnect module, the second disconnect module, the first detection module, the second detection module and the transmission module; the battery system is connected to the motor module, the transmission module is connected to the motor module, the first disconnect module and the second disconnect module, the first disconnect module and the first detection module are connected to the vehicle differential, and the second disconnect module and the second detection module are connected to the flight rotor module; when the first disconnect module is closed, the power of the motor module is transmitted to the vehicle differential through the transmission module to drive the wheel module, and the first detection module is used to detect whether the drive signal is successfully sent to the vehicle main controller; when the second disconnect module is closed, the power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, and the second detection module is used to detect whether the drive signal is successfully sent to the vehicle main controller.

[0023] As described above, the embodiment of the present application is provided with a battery system to drive the motor module. When the first disconnect module is closed, the power of the motor module is transmitted to the vehicle differential through the transmission module to drive the wheel module, thereby enabling the vehicle to travel on land. When the second disconnect module is closed, the power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, thereby enabling the vehicle to fly in the air. A set of power systems is used to meet the vehicle's land driving mode and air flight mode. The battery system provides power for the drive motor. The motor of the electric flying car can instantly release maximum torque and simultaneously detect whether the vehicle differential and flight rotor module are successfully driven, thereby achieving safety assurance, improving acceleration performance and driving safety, and reducing costs.

[0024] Optionally, the vehicle can be braked by a mechanical hydraulic system in addition to the motor module. It is understood that if it is detected that the vehicle differential or the flight rotor module is not driven successfully, a fault alarm is issued by the vehicle main controller.

[0025] In some embodiments, the motor module includes a first motor, the first disconnect module includes a first disconnect device 11, the second disconnect module includes a second disconnect device 12, and the transmission module includes a first transmission mechanism 19; the first motor is connected to the battery system, the first transmission mechanism is connected to the first motor, the first disconnect device and the second disconnect device, the first disconnect device is connected to the vehicle differential, and the second disconnect device is connected to the flight rotor module.

[0026] Optionally, the first transmission mechanism can be a single-stage reducer or a two-stage reducer. Structurally, it can be a parallel axis gear reducer or a planetary gear reducer.

[0027] It can be understood that the first motor drives the two front wheels of the vehicle, thereby driving the rear wheels to rotate and realize the forward movement of the vehicle.

[0028] Therefore, when the flying rotor module is a single-rotor structure, a first motor is provided to drive the vehicle differential and the flying rotor module, thereby enabling the flying car to travel on land and fly in the air, thereby reducing costs.

[0029] In some embodiments, please refer to Figure 2 (The first detection module and the second detection module are not shown), the motor module also includes a second motor, a third motor and a fourth motor, the second disconnection module also includes a second disconnection device, a third disconnection device, a fourth disconnection device, a fifth disconnection device, a sixth disconnection device, a seventh disconnection device and an eighth disconnection device, the flight rotor module includes a first flight rotor, a second flight rotor, a third flight rotor and a fourth flight rotor, and the wheel module includes a first wheel, a second wheel, a third wheel and a fourth wheel.

[0030] In which, the battery system is connected to the second motor, the third motor and the fourth motor, the second motor is connected to the third disconnecting device 13 and the fourth disconnecting device 14, the third motor is connected to the fifth disconnecting device 15 and the sixth disconnecting device 16, and the fourth motor is connected to the seventh disconnecting device 17 and the eighth disconnecting device 18; the first disconnecting device is connected to the first wheel 21, the second disconnecting device is connected to the first flight rotor, the third disconnecting device is connected to the second flight rotor, the fourth disconnecting device is connected to the second wheel 22, the fifth disconnecting device is connected to the third wheel 23, the sixth disconnecting device is connected to the third flight rotor, the seventh disconnecting device is connected to the fourth flight rotor, and the eighth disconnecting device is connected to the fourth wheel 24.

[0031] Optionally, the transmission module also includes a second transmission mechanism, a third transmission mechanism and a fourth transmission mechanism, the second transmission mechanism connects the second motor, the third disconnecting device and the fourth disconnecting device, the third transmission mechanism connects the third motor, the fifth disconnecting device and the sixth disconnecting device, and the fourth transmission mechanism connects the fourth motor, the seventh disconnecting device and the eighth disconnecting device.

[0032] It can be understood that the first motor provides power for the first wheel and the first flight rotor, and the power of the first motor can be output to the wheel through the first disconnect device, and the power of the first motor can be output to the first flight rotor through the second disconnect device; the second motor provides power for the second wheel and the second flight rotor, and the power of the second motor can be output to the wheel through the fourth disconnect device, and the power of the second motor can be output to the second flight rotor through the third disconnect device; the third motor provides power for the third wheel and the third flight rotor, and the power of the third motor can be output to the wheel through the fifth disconnect device, and can also be output to the third flight rotor through the sixth disconnect device; the fourth motor provides power for the fourth wheel and the fourth flight rotor, and the power of the fourth motor can be output to the wheel through the eighth disconnect device, and can also be output to the fourth flight rotor through the seventh disconnect device.

[0033] Therefore, when the flight rotor module is a multi-rotor structure, multiple motors are set to drive the vehicle differential and multiple flight rotors to realize the flying car's land driving and air flight, ensure driving force, and improve acceleration performance.

[0034] In the second aspect, based on the above embodiments, the present application also provides a method for controlling the power of an electric flying car. Figure 3 The electric flying car power control method provided in this embodiment is applied to the electric flying car power system as described above, and specifically includes: 110. After the vehicle is powered on and started, it enters land driving mode.

[0035] 120. Upon receiving a command to turn on the flight mode, the vehicle main controller determines that the battery of the battery system, the first motor, the second disconnect device, and the flight rotor module are all in normal condition, and the power level of the battery of the battery system is greater than a set power value, and then switches to the flight mode.

[0036] 130. Upon receiving a command to start the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to a set speed value, and then switches to the land driving mode.

[0037] Specifically, the electric flying car power system includes two main modes: land driving mode and air flight mode. The switching control method between the two modes can be found in Figure 4 After the vehicle is powered on, it enters land driving mode by default. When the driver activates the flight mode switch (flight mode switch command = 1), the vehicle main controller determines the fault status of the battery system, the first motor, the second disconnect device, and the flight rotor module. If none of these components are faulty and the battery state of charge (SOC) is greater than a set value (specifically calibrated, preferably 50% to 60%), the vehicle switches to flight mode. When the driver activates the land driving mode switch (land driving mode switch command = 1), the vehicle main controller determines the rotor speed. If the rotor speed is less than or equal to the set speed value n_min, the vehicle switches to land driving mode.

[0038] In some embodiments, after entering the land driving mode, the method further includes: The first disconnect device is closed, the second disconnect device is opened, and the power of the first motor is transmitted to the vehicle differential through the first transmission mechanism to drive the wheel module; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the first motor is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking demand deceleration is less than the set deceleration value, the vehicle is judged to be in a normal braking state; If the braking demand recovery torque is less than or equal to the maximum generating torque of the first motor, braking energy recovery is performed through the first motor; If the braking demand recovery torque is greater than the maximum power generation torque of the first motor, the maximum torque is used by the first motor to recover braking energy, and the braking energy is recovered in combination with the hydraulic braking system.

[0039] Specifically, the first disconnecting device is closed and the second disconnecting device is disconnected, and the flight rotor module does not work, thereby reducing the drag resistance of the rotor and improving the vehicle's land driving economy.

[0040] During driving, the driving torque demand is determined based on the driver's accelerator pedal opening, with the first motor driving the vehicle alone. During braking, the brake master cylinder pressure determines the brake torque demand and brake deceleration demand. When the brake deceleration demand exceeds a set deceleration value (e.g., 5 m / s²), emergency braking is considered. To ensure safety, the first motor does not participate in brake energy recovery, and braking is performed by the mechanical hydraulic system. When the brake deceleration demand is less than the set deceleration value (e.g., 5 m / s²), normal braking is considered. When the brake regenerative torque demand is less than or equal to the first motor's maximum generating torque, the first motor participates in brake energy recovery. When the brake regenerative torque demand exceeds the first motor's maximum generating torque capacity, the first motor uses its maximum torque for regeneration, and the remaining braking demand is provided by the hydraulic braking system.

[0041] In some embodiments, after switching to the flight mode, the method further includes: The first disconnecting device is disconnected, the second disconnecting device is closed, and the power of the first motor is transmitted to the flight rotor module through the first transmission mechanism to drive the flight rotor module.

[0042] It can be understood that the first disconnecting device is disconnected to reduce the resistance consumption of the wheels and half-axles, and the second disconnecting device is closed, and the first motor drives the rotor, thereby improving the utilization efficiency of the first motor and ensuring the power and economy of the flight.

[0043] In the third aspect, based on the above embodiments, the present application also provides a method for controlling the power of an electric flying car. Figure 5 The electric flying car power control method provided in this embodiment is applied to the electric flying car power system as described above, and specifically includes: 210. After the vehicle is powered on and started, it enters land driving mode.

[0044] 220. Upon receiving a command to turn on the flight mode, the vehicle main controller determines that the battery of the battery system, the motor module, the first disconnect module, the second disconnect module and the flight rotor module are all in normal condition, and the power level of the battery of the battery system is greater than the set power value, then switches to the flight mode.

[0045] 230. Upon receiving a command to start the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to a set speed value, and then switches to the land driving mode.

[0046] Specifically, the electric flying car power system includes two main modes: land driving mode and air flight mode. The switching control method of the two modes is described in Figure 6 As shown, after the vehicle is powered on and started, it enters the land driving mode by default. When the driver activates the air flight mode switch (flight mode switch command = 1), the vehicle main controller determines the fault status of the battery, four motors, eight disconnect devices, and four flight rotors. When the power battery, four motors, four flight rotors, the second disconnect device, the third disconnect device, the sixth disconnect device, and the seventh disconnect device are all fault-free, and the battery capacity (SOC) is greater than the set capacity value SOC_min (specifically calibrated, preferably 50%~60%), it switches to the air flight mode; when the driver activates the land driving mode switch (land driving mode switch command = 1), the vehicle main controller determines the rotational speed of the four flight rotors. When the rotational speeds of the four flight rotors are all less than the set rotational speed value n_min, it switches to the land driving mode.

[0047] In some embodiments, after entering the land driving mode, the method further includes: The first disconnecting device and the fourth disconnecting device are disconnected, the fifth disconnecting device and the eighth disconnecting device are closed, the power of the third motor is transmitted to the third wheel and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed by the third motor and the fourth motor to meet the braking requirement torque.

[0048] Specifically, in economic mode: the first and fourth disconnecting devices are both disconnected, which can eliminate the rotation loss of the first and second motors. The fifth and eighth disconnecting devices are both engaged. During driving, the third and fourth motors drive the vehicle, and the driving demand torque T_drive_dmd is determined according to the driver's throttle opening. This torque is met by the third and fourth motors, and the torques of the two motors are both T_drive_dmd / 2. At this time, the first and second motors are both stopped, and the two motors are driven separately, which improves driving efficiency and economy. During braking, the fifth and eighth disconnecting devices are both engaged, the third and fourth motors provide braking recovery torque, the first and second motors are both stopped, and the braking torque demand T_brake_dmd and braking deceleration demand are determined according to the brake master cylinder pressure. When the braking deceleration demand is greater than the set deceleration value (for example, 5m / s^2), it is considered an emergency braking. To ensure safety, all motors do not participate in brake energy recovery, and braking is achieved by the mechanical hydraulic system. When the braking deceleration demand is less than the set deceleration value (for example, 5 m / s²), normal braking is considered, and the braking torque demand is met by both the third and fourth motors, with braking torques of T_brake_dmd / 2. Both the first and fourth disconnect mechanisms are disengaged, and only two motors participate in braking, which improves regenerative braking efficiency and fuel economy.

[0049] In some embodiments, after entering the land driving mode, the method further includes: The first disconnect device, the fourth disconnect device, the fifth disconnect device, and the eighth disconnect device are all closed, the power of the first motor is transmitted to the first wheel, the power of the second motor is transmitted to the second wheel, the power of the third motor is transmitted to the third wheel, and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed through the first motor, the second motor, the third motor, and the fourth motor to meet the braking requirement torque.

[0050] Specifically, in Comfort mode, the first, fourth, fifth, and eighth disconnect devices are all engaged. During driving, the required drive torque, T_drive_dmd, is determined based on the driver's accelerator pedal position. The first, second, third, and fourth motors simultaneously drive the vehicle, each with a drive torque of T_drive_dmd / 4. During braking, the brake master cylinder pressure determines the required brake torque, T_brake_dmd, and the required braking deceleration. When the required braking deceleration exceeds a set deceleration value (e.g., 5 m / s²), emergency braking is considered. To ensure safety, all motors disengage from brake energy recovery, and braking is performed by the mechanical hydraulic system. When the required braking deceleration is less than the set deceleration value (e.g., 5 m / s²), normal braking is considered, and the braking torque is met simultaneously by the first, second, third, and fourth motors, each with a value of T_brake_dmd / 4. In Comfort mode, all four motors participate in both driving and braking, improving acceleration.

[0051] It can be understood that, regardless of economic mode or sports mode, in land driving mode, the second disconnect device, the third disconnect device, the sixth disconnect device, and the seventh disconnect device are all separated, reducing the drag resistance of the rotor. At the same time, the rotor does not work, thereby improving the vehicle's land driving economy.

[0052] In some embodiments, after switching to the flight mode, the method further includes: The first disconnecting device, the fourth disconnecting device, the fifth disconnecting device and the eighth disconnecting device are all disconnected, the second disconnecting device, the third disconnecting device, the sixth disconnecting device and the seventh disconnecting device are all combined, the power of the first motor is transmitted to the first flight rotor, the power of the second motor is transmitted to the second flight rotor, the power of the third motor is transmitted to the third flight rotor, and the power of the fourth motor is transmitted to the fourth flight rotor to drive the flight rotor module.

[0053] Among them, the first disconnecting device, the fourth disconnecting device, the fifth disconnecting device and the eighth disconnecting device are all disconnected to reduce the drag resistance of the wheels, and the second disconnecting device, the third disconnecting device, the sixth disconnecting device and the seventh disconnecting device are all combined, and the four motors drive the four flight rotors at the same time to ensure the power of flight.

[0054] The above steps are not to be performed in a strict order as described in the numbers, but should be understood as an overall solution.

[0055] The electric flying car power system provided in the embodiments of the present application can be used to execute the electric flying car power control method provided in the above embodiments, and has corresponding functions and beneficial effects.

[0056] Fourthly, an embodiment of the present application further provides an electronic device that can integrate the electric flying car power system provided in an embodiment of the present application. Figure 7 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 7 The electronic device includes: an input device 73, an output device 74, a memory 72, and one or more processors 71; the memory 72 is used to store one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 71 implement the electric flying car power control method provided in the above embodiment. The input device 73, the output device 74, the memory 72, and the processor 71 can be connected by a bus or other means. Figure 7 The bus connection is taken as an example.

[0057] The processor 71 executes the software programs, instructions and modules stored in the memory 72 to perform various functional applications and data processing of the device, that is, to implement the above-mentioned electric flying car power control method.

[0058] The electronic device provided above can be used to execute the electric flying car power control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0059] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the electric flying car power control method as described above, and can achieve the same beneficial effects as the above-mentioned method.

[0060] Of course, the computer-executable instructions of the storage medium provided in the embodiment of the present application are not limited to the above-mentioned electric flying car power control method, and can also execute the relevant operations in the electric flying car power control method provided in any embodiment of the present application.

[0061] The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired or wireless method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0062] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0063] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0064] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling an electronic device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0065] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0066] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0067] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. An electric flying car power system, characterized in that: include: Vehicle main controller, battery system, motor module, first disconnect module, second disconnect module, first detection module, second detection module, transmission module and flight rotor module; The vehicle main controller is connected to the battery system, the motor module, the first disconnect module, the second disconnect module, the first detection module, the second detection module and the transmission module; the battery system is connected to the motor module, the transmission module is connected to the motor module, the first disconnect module and the second disconnect module, the first disconnect module and the first detection module are connected to the vehicle differential, and the second disconnect module and the second detection module are connected to the flight rotor module; When the first disconnect module is closed, the power of the motor module is transmitted to the vehicle differential through the transmission module to drive the wheel module, and the first detection module detects whether a drive signal is successfully sent to the vehicle main controller; when the second disconnect module is closed, the power of the motor module is transmitted to the flight rotor module through the transmission module to drive the flight rotor module, and the second detection module detects whether a drive signal is successfully sent to the vehicle main controller.

2. The electric flying car power system according to claim 1, characterized in that: The motor module includes a first motor, the first disconnect module includes a first disconnect device, the second disconnect module includes a second disconnect device, and the transmission module includes a first transmission mechanism; the first motor is connected to the battery system, the first transmission mechanism is connected to the first motor, the first disconnect device and the second disconnect device, the first disconnect device is connected to the vehicle differential, and the second disconnect device is connected to the flight rotor module.

3. The electric flying car power system according to claim 2, characterized in that: The motor module further includes a second motor, a third motor, and a fourth motor; the second disconnect module further includes a second disconnect device, a third disconnect device, a fourth disconnect device, a fifth disconnect device, a sixth disconnect device, a seventh disconnect device, and an eighth disconnect device; the flight rotor module includes a first flight rotor, a second flight rotor, a third flight rotor, and a fourth flight rotor; and the wheel module includes a first wheel, a second wheel, a third wheel, and a fourth wheel; The battery system is connected to the second motor, the third motor, and the fourth motor; the second motor is connected to the third disconnect device and the fourth disconnect device; the third motor is connected to the fifth disconnect device and the sixth disconnect device; and the fourth motor is connected to the seventh disconnect device and the eighth disconnect device; The first disconnecting device is connected to the first wheel, the second disconnecting device is connected to the first flying rotor, the third disconnecting device is connected to the second flying rotor, the fourth disconnecting device is connected to the second wheel, the fifth disconnecting device is connected to the third wheel, the sixth disconnecting device is connected to the third flying rotor, the seventh disconnecting device is connected to the fourth flying rotor, and the eighth disconnecting device is connected to the fourth wheel.

4. A power control method for an electric flying car, applied to the electric flying car power system according to claim 2, characterized in that: include: After the vehicle is powered on and started, it enters land driving mode; Upon receiving a flight mode activation instruction, the vehicle main controller determines that the battery of the battery system, the first motor, the second disconnect device, and the flight rotor module are all in a normal state, and the power level of the battery of the battery system is greater than a set power value, then switches to flight mode; Upon receiving the start instruction of the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to the set speed value, and then switches to the land driving mode.

5. The electric flying car power control method according to claim 4, characterized in that: After entering the land driving mode, the method further includes: The first disconnect device is closed, the second disconnect device is opened, and the power of the first motor is transmitted to the vehicle differential through the first transmission mechanism to drive the wheel module; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the first motor is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking demand deceleration is less than the set deceleration value, the vehicle is judged to be in a normal braking state; If the braking demand recovery torque is less than or equal to the maximum generating torque of the first motor, braking energy recovery is performed through the first motor; If the braking demand recovery torque is greater than the maximum power generation torque of the first motor, the maximum torque is used by the first motor to recover braking energy, and the braking energy is recovered in combination with the hydraulic braking system.

6. The electric flying car power control method according to claim 4, characterized in that: After switching to the flight mode, the method further includes: The first disconnecting device is disconnected, the second disconnecting device is closed, and the power of the first motor is transmitted to the flight rotor module through the first transmission mechanism to drive the flight rotor module.

7. A power control method for an electric flying car, applied to the electric flying car power system according to claim 3, characterized in that: include: After the vehicle is powered on and started, it enters land driving mode; Upon receiving a flight mode activation instruction, the vehicle main controller determines that the battery of the battery system, the motor module, the first disconnect module, the second disconnect module, and the flight rotor module are all in a normal state, and the power level of the battery of the battery system is greater than a set power value, then switches to flight mode; Upon receiving the start instruction of the land driving mode, the vehicle main controller determines that the rotor speed of the flight rotor module is less than or equal to the set speed value, and then switches to the land driving mode.

8. The electric flying car power control method according to claim 7, characterized in that: After entering the land driving mode, the method further includes: The first disconnecting device and the fourth disconnecting device are disconnected, the fifth disconnecting device and the eighth disconnecting device are closed, the power of the third motor is transmitted to the third wheel and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed by the third motor and the fourth motor to meet the braking requirement torque.

9. The electric flying car power control method according to claim 7, characterized in that: After entering the land driving mode, the method further includes: The first disconnect device, the fourth disconnect device, the fifth disconnect device, and the eighth disconnect device are all closed, the power of the first motor is transmitted to the first wheel, the power of the second motor is transmitted to the second wheel, the power of the third motor is transmitted to the third wheel, and the power of the fourth motor is transmitted to the fourth wheel, so as to drive the vehicle; When the vehicle is in a braking state, the braking demand torque and the braking demand deceleration are determined according to the brake master cylinder pressure; When the braking demand deceleration reaches the set deceleration value, it is determined that the vehicle is in an emergency braking state, the motor module is controlled not to brake, and the mechanical hydraulic system is controlled to brake; When the braking requirement deceleration is less than the set deceleration value, it is determined that the vehicle is in a normal braking state, and braking is performed through the first motor, the second motor, the third motor, and the fourth motor to meet the braking requirement torque.

10. The electric flying car power control method according to claim 7, characterized in that: After switching to the flight mode, the method further includes: The first disconnecting device, the fourth disconnecting device, the fifth disconnecting device and the eighth disconnecting device are all disconnected, the second disconnecting device, the third disconnecting device, the sixth disconnecting device and the seventh disconnecting device are all combined, the power of the first motor is transmitted to the first flight rotor, the power of the second motor is transmitted to the second flight rotor, the power of the third motor is transmitted to the third flight rotor, and the power of the fourth motor is transmitted to the fourth flight rotor to drive the flight rotor module.

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