Wheel Drive Module Control with Two Motors and Superimposed Gearing
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Solution Overview
Problem
Existing methods for controlling electric motors that drive and steer a wheel independently result in high computational load and data transmission requirements, especially when multiple wheel drive modules with varying performance data are used, necessitating complex adaptations in the central control unit.
Innovation Solution
A method for controlling two electric motors jointly driving and steering a wheel using superimposed transmission, where control signals are determined from wheel setpoints, allowing the central control system to transmit target values without needing specific module adaptations, and utilizing a central electronics unit to manage motor control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If each wheel is driven and steered by separate electric motors, then the motors can be controlled independently, but the computational load and data transmission requirements increase significantly when multiple wheel drive modules are used
Solution Approach 1:
The patent combines the drive and steering functions into a single wheel drive module where two electric motors work together through a superimposed transmission system. This integration allows the module to function as an independent unit with unified control logic, reducing the overall computational burden on the central control system while maintaining independent control capability.
Solution Approach 2:
The wheel drive module is designed as a universal unit that can be replicated across multiple wheels. The module incorporates both drive and steering functionalities in a standardized configuration, allowing the same module design to be used throughout the vehicle without requiring individual customization, thereby reducing data transmission requirements and computational complexity.
2Adaptability or versatility
If wheel drive modules have different performance data or implement steering and drive functionality differently, then they can be adapted to specific application requirements, but the central control unit must be adapted to each module type
Solution Approach 1:
The control system is segmented into module-level control logic and central control logic. Each wheel drive module contains embedded control logic that handles its own drive and steering operations independently. This segmentation allows the central control unit to send simple command signals without needing to understand or adapt to the specific performance characteristics of each module, thereby reducing central control complexity while maintaining adaptability.
3Adaptability or versatility
If two electric motors jointly drive and steer a wheel through superimposed transmission, then the system integrates drive and steering functions, but controlling the motors requires coordinated computation of control signals from wheel setpoints
Solution Approach 1:
The wheel drive module contains self-contained control logic that automatically computes the control signals for both electric motors based on wheel setpoints. The module independently determines the drive torque distribution and steering angle requirements, then generates the appropriate motor control commands without requiring complex external computation. This self-service capability simplifies the overall control architecture while maintaining integrated functionality.
Data Source
Figure 1~2
AI summary
The invention relates to a method for controlling a first electric motor (M1) and a second electric motor (M2) of a wheel drive module, said wheel drive module comprising a wheel (R) and a speed modulation gearbox (G), and said wheel (R) being drivable about a wheel axis (A) jointly by the first and the second electric motors (M1, M2) by means of the speed modulation gearbox (G) and being steerable about a steering axis (L) which is orthogonal to the wheel axis (A), wherein electric control signals for controlling the first and second electric motors (M1, M2) are determined from wheel reference values, which characterise the driving and/or the steering of the wheel (R).