阅读说明：本技术 用于平衡具有集成电动机的车轮的方法 (Method for balancing a wheel with an integrated electric motor ) 是由 沃特·詹森 贾宁·马尔科维奇 阿里·约翰尼斯·范·德·哈姆 于 2019-06-03 设计创作，主要内容包括：本发明涉及一种平衡电动汽车的车轮组件的方法,其中,车轮组件包括轮内马达。车轮组件(其上装有轮胎)通过轮内马达自转,不平衡通过车轮上的传感器测量,而角度方位由方位传感器确定。然后,汽车中的控制单元确定平衡车轮所需的位置和重量。(The invention relates to a method of balancing a wheel assembly of an electric vehicle, wherein the wheel assembly comprises an in-wheel motor. The wheel assembly (with the tire mounted thereon) is spun by the in-wheel motor, the imbalance is measured by sensors on the wheel, and the angular orientation is determined by the orientation sensors. The control unit in the car then determines the position and weight required to balance the wheels.)

1. a method for balancing a wheel assembly100、300) The wheel assembly is shown with a rim (102, 304), the wheel assembly comprising:

a tyre (103) mounted on said rim,

at least during the balancing, the wheel assembly is rotated by a balancing motor,

the wheel assembly being in contact with an imbalance sensor for measuring imbalance of the wheel assembly at least during the balancing, and in contact with an orientation sensor for determining orientation of the wheel assembly at least during the balancing,

the balancing includes adding and/or removing one or more weights,

the method comprises repeatedly performing the steps of:

step (504): the rim is made to spin fast by the balancing motor,

step (506): measuring an imbalance using the imbalance sensor while rotating the wheel assembly and the tire mounted thereon by the balancing motor, and measuring an angular orientation of the imbalance using the orientation sensor,

a determination step (508): determining whether the imbalance is below a predetermined level at a preset speed or speed range,

if the result of the determining step (508) is that the imbalance is above a preset level at a preset speed or speed range,

step (510): determining and indicating the mass and position of one or more counterweights using data from the imbalance sensor and the orientation sensor,

step (512): the rotation of the wheel assembly is stopped and,

step (514): adding or removing one or more weights to or from the wheel assembly at the indicated locations of the wheel assembly,

until the result of the determining step (508) is that the imbalance is below a predetermined level at a predetermined speed or speed range and rotation of the wheel assembly ceases, wherein one or more of these steps may show an overlap in time with another step,

it is characterized in that

The wheel assembly includes an in-wheel motor (200) The in-wheel motor is shown with a stator (204) and a rotor (206) connected to the rim (304) or integrated with the rim (304),

the balancing motor is the in-wheel electric motor,

the rotor is free to rotate at least during balancing,

the imbalance sensor (312) is permanently mounted on the stator (204), and

the orientation sensor is permanently mounted to the wheel assembly.

2. The method of claim 1, wherein the imbalance sensor (204) is a sensor selected from the group of a vibration sensor, an acceleration sensor, and a velocity sensor.

3. The method of any preceding claim, wherein the wheel assembly(s) ((R))300) Also included is a braking system (308) selected from the group of disc brakes and drum brakes.

4. A method according to any preceding claim, wherein the orientation sensor is a sensor which derives the angular orientation from electrical signals used to drive the in-wheel motor.

5. The method of any preceding claim, wherein the in-wheel motor is an in-wheel motor selected from an axial flux permanent magnet motor, a radial flux permanent magnet motor, a reluctance motor, an induction motor.

6. An electric automobile equipped with a wheel assembly300) The wheel assembly includes an in-wheel motor (200) Said in-wheel motor exhibiting a rotor (206) and a stator (204),

the method is characterized in that:

the wheel assembly includes an imbalance sensor (312) and an orientation sensor for determining an angular orientation of the wheel assembly,

the vehicle being equipped with a Control Unit (CU), said CU being equipped to power said in-wheel motor and to process data from said imbalance sensor and said orientation sensor, and the vehicle being equipped with a display to provide information to a user,

the CU is programmed to perform the following steps:

step (504): the rotation of the in-wheel motor is accelerated,

step (506): measuring an unbalance using the unbalance sensor and measuring an orientation of the unbalance using the orientation sensor while rotating the wheel assembly by the in-wheel motor,

step (508): determining whether the imbalance is below a preset level at a preset speed or speed range,

if the result of the previous step is that the imbalance is not below the preset level,

step (510): determining and displaying mass and position of one or more counterweights using data from the imbalance sensor and the orientation sensor, or indicating that the imbalance is below a preset level at a preset speed or speed range

Step (512): stopping rotation of the wheel assembly to allow addition or removal of a weight,

until the result of the determining step (508) is that the imbalance is below a predetermined level at a predetermined speed or range of speeds and rotation of the wheel assembly ceases, wherein one or more of these steps may show an overlap in time with another step.

7. The electric vehicle of claim 6, wherein the imbalance sensor (312) is a sensor selected from the group of a vibration sensor, an acceleration sensor, and a speed sensor.

8. The electric vehicle according to claim 6 or 7, wherein the wheel assembly(s) ((R))300) Also included is a braking system (308) selected from the group of disc brakes and drum brakes.

9. The electric vehicle according to any one of claims 6 to 8, wherein the orientation sensor is a sensor that derives an angular orientation from an electric signal used to drive the in-wheel motor.

10. The electric vehicle of any of claims 6-9, wherein the in-wheel motor is an in-wheel motor selected from the group of an axial flux permanent magnet motor, a radial flux permanent magnet motor, a reluctance motor, an induction motor.

Technical Field

The invention relates to a method for balancing a wheel assembly, the wheel assembly exhibiting a rim, the wheel assembly comprising:

a tire mounted on the rim of the wheel,

at least during balancing, the wheel assembly is rotated by the balancing motor,

the wheel assembly is in contact with an imbalance sensor for measuring an imbalance of the wheel assembly, at least during balancing, and the wheel assembly is in contact with an orientation sensor for determining an angular orientation of the wheel assembly, at least during balancing,

balancing includes adding and/or removing one or more weights,

the method comprises repeatedly performing the following steps:

accelerating the rim autorotation through a balancing motor,

a step of measuring unbalance using an unbalance sensor while rotating the wheel assembly and a tire mounted thereon by a balance motor, and measuring the orientation of the unbalance using an orientation sensor,

a step of determining whether the unbalance is below a preset level at a preset rotation speed or rotation speed range,

if the result of the determining step is an unbalanced preset speed or speed range condition above a preset level,

a step of determining and indicating the mass and position of the one or more counterweights using data from the imbalance sensor and the orientation sensor,

the step of stopping the rotation of the wheel assembly,

the step of adding or removing one or more weights to the wheel assembly at the indicated locations,

until the result of the determining step is that the imbalance is below a predetermined level at a predetermined speed or speed range and rotation of the wheel assembly ceases, wherein one or more of these steps may be shown to overlap in time with another step.

Background

When a tire is mounted on a wheel, the combination of the two is generally unbalanced. This is due to asymmetry of the tire and rim, the presence of the tire valve, etc. When such an unbalanced wheel/tire combination is used while driving a car, vibrations, uneven wear of the tire, etc. may result. Therefore, a tired wheel should be balanced after a tire change or after damage (e.g. wheel depression).

Conventional wheels are shown with parts mounted on the axle hub. The axle hub shows several studs on the pitch diameter and the wheel shows several corresponding bolt holes. Although other numbers are known, the number of studs is typically between 4-6 for passenger cars and 10 for trucks. Conventional wheels also exhibit a rim for mounting the tire. The wheel is mounted on the axle hub by a plurality of nuts.

In almost all garages where tires are sold, specialized machinery for balancing conventional wheels with tires installed is readily available. Such a machine is known from European patent application EP0694775(A2) to Rothamel et al [ -1- ]. The machine works as follows: the wheel on which the tyre is mounted on the machine and is spinning by means of a balancing motor (usually an electric motor), and the machine indicates the orientation of the unbalance and of the unbalance. The amount of imbalance is converted into a mass to be mounted on a certain diameter, typically the diameter of the rim. A weight, for example made of a narrow zinc block or of a glued stainless steel block, is mounted on the rim in a specified orientation in a manual manner. This process is repeated until the amount of unbalance is below the set value over a preset speed or range of speeds.

Note that the unbalance sensor may be, for example, a vibration sensor, a speed sensor, or an acceleration sensor. The orientation sensor may be part of an odometer or may be a dedicated, stand-alone sensor or the like.

When using an in-wheel motor, this means that the motor should fit within the diameter of the rim. Such in-wheel motors are known, for example, from its M700 motor by Elaphe Propulsion Technologies Ltd. (http:// in-wheel. com/product-machinery /). Such in-wheel motors have a stator, a rotor, and usually a brake system (a disc brake or a drum brake). The electrical coils generate a rotating electromagnetic field on the stator, while the rotor has a number of permanent magnets. The interaction between the rotating electromagnetic field and the permanent magnets exerts a torque on the rotor, resulting in rotation of the wheel assembly. In-wheel motors are very heavy, which means that the "unsprung mass" (the mass disposed between the ground and the suspension system) is very high, requiring a more complex suspension system and/or a heavier suspension system than would be required using a conventional wheel assembly (without an in-wheel motor). In-wheel motors still have several advantages such as high efficiency, making such motors a prime candidate for use in, for example, all-electric vehicles.

When an in-wheel motor is used, the rotor typically extends to the outer diameter of the in-wheel motor. To reduce the unsprung mass, it is known to mount the rim of the wheel assembly directly on the rotor, thereby eliminating all other parts for connecting the rim to the axle hub. Such wheels without parts connecting the wheel to the axle hub are otherwise known as "rim-wheels". The parts omitted from the in-wheel motor are the disc or at least the spokes for the centering of the rim, and the masses associated with the disc or spokes (which must exhibit structural strength with respect to the static and dynamic forces acting on the wheel assembly). It also eliminates the disc or spoke on the rim-wheel that is attached to the rim and forms the central portion with the bolt holes, which also shows structural strength against static and dynamic forces acting on the wheel assembly. The elimination of these parts that exhibit structural strength can in turn lead to a reduction in the so-called "unsprung" mass of the wheel assembly.

Note that a cover covering the entire diameter of the rim-wheel may be required to shield the inside of the in-wheel motor from dust, moisture, and the like. However, this may be a lighter weight cover, as it need not exhibit structural strength to static and dynamic forces acting on the wheel assembly.

It should also be noted that the rim in a rim-wheel may be mounted on the rotor with several bolts, or the rim may be integral with the rotor.

Problems arise when balancing such rim-wheels: most garage stores do not have balancing machines equipped to accept such rim-wheels.

One solution is to mount an adapter on the car on which the rim is mounted and to show the device to be mounted on the axle hub (provided that the rim is not integral with the rotor). This would allow the rim-wheel to be mounted on a conventional balancing machine. However, such adapters take up space, weight, etc.

Another problem is that conventional balancing methods balance a combination of wheel and tire (in the case of an adapter: a rim-wheel, tire and adapter combination) rather than a rim-wheel, tire and in-wheel motor combination.

Lu, J. et al, "real-time tire imbalance detection using ABS wheel speed sensor" in SAE int.J. Mater.Manuf.4(1):1036-https://doi.org/10.4271/2011-01-0981)[-2-]In the above, a method of detecting a tire unbalance in a running state by detecting vibration by an ABS sensor is described. The signals of the ABS sensors are filtered and compared with each other. While this approach may help to understand the degree of imbalance, the disclosure does not mention how it is converted to the mass and orientation of the counterweight.

Disclosure of Invention

The present invention has been made in view of the above-mentioned prior art and the problems occurring when the prior art is combined with a wheel assembly having a rim-wheel and an in-wheel motor.

To address this problem, the present invention provides a method and vehicle to overcome these problems.

To this end, the method according to the invention is characterized in that:

the wheel assembly includes an in-wheel motor, shown with a stator and a rotor, attached to or integrated with a rim,

the balancing motor is an in-wheel electric motor,

the rotor is free to rotate at least during the balancing,

the unbalance sensor is permanently mounted on the stator, and

the orientation sensor is permanently mounted to the wheel assembly.

By using the in-wheel motor as the balancing motor and the built-in unbalance sensor and orientation sensor, all balancing can be performed in a state where the rim with the tire mounted thereon is mounted on the automobile. This means that what is balanced is the combination of the tire and wheel assembly (including the in-wheel motor), which is an advantage over conventional approaches.

In an embodiment of the method of the invention, the unbalance sensor (5) is a sensor selected from the group of a vibration sensor, an acceleration sensor and a velocity sensor.

In another embodiment of the method of the present invention, the wheel assembly further comprises a brake system selected from the group of disc brakes and drum brakes.

In a vehicle using an electric motor, electric braking is generally used to recover kinetic energy at the time of braking. However, in law, a plurality of wheels are required to be equipped with a braking system: the brake system also functions as a brake when the vehicle is not in motion, such as a conventional drum brake or a conventional disc brake. For passenger vehicles, the number of wheels that should have such a conventional brake system is at least four. Since this is typically the number of wheels that a passenger car has, all wheels require a conventional braking system on the electric braking system.

In a further embodiment of the method of the invention, the orientation sensor is a sensor that derives the angular orientation from electrical signals used to drive the in-wheel motor.

In yet another embodiment of the method of the present invention, the in-wheel motor is an in-wheel motor selected from the group consisting of an axial flux permanent magnet motor, a radial flux permanent magnet motor, a reluctance motor, and an induction motor

In one aspect of the invention, an electric vehicle is equipped with a wheel assembly that includes an in-wheel motor exhibiting a rotor and a stator,

the method is characterized in that:

the wheel assembly includes an imbalance sensor and an orientation sensor for determining an angular orientation of the wheel assembly,

the vehicle is equipped with a Control Unit (CU), which is equipped to power the in-wheel motor and process data from the imbalance sensor and the orientation sensor, and a display to provide information to the user,

the CU is programmed to perform the following steps:

accelerating the rotation of the in-wheel motor,

a step of measuring unbalance using an unbalance sensor and measuring the orientation of the unbalance using an orientation sensor while rotating the wheel assembly by the in-wheel motor,

a step of determining and displaying the mass and position of one or more counterweights using data from the imbalance sensor and the orientation sensor, or indicating that the imbalance is below a preset level at a preset speed or speed range,

data from the imbalance sensor and the orientation sensor is used for quality processing,

the step of stopping the rotation of the wheel assembly,

in an embodiment of the vehicle according to the invention, the imbalance sensor is a sensor selected from the group of a vibration sensor, an acceleration sensor and a speed sensor.

In another embodiment of the vehicle according to the invention, the wheel assembly further comprises a brake system selected from the group of disc brakes and drum brakes.

In yet another embodiment of the vehicle according to the invention, the orientation sensor derives the angle information from an electrical signal for driving the in-wheel motor.

In yet another embodiment of the vehicle according to the invention, the in-wheel motor is an in-wheel motor selected from the group consisting of an axial flux permanent magnet motor, a radial flux permanent magnet motor, a reluctance motor and an induction motor.

Drawings

The invention will now be elucidated using the figures, in which like reference numerals indicate corresponding features. Therefore, the method comprises the following steps:

figure 1 schematically shows a cross-section of a conventional wheel with a tyre mounted thereon,

figure 2 shows schematically a cross-section of an axial flux permanent magnet machine,

figure 3 schematically shows a cross-section of an in-wheel motor with a rim-wheel,

FIG. 4 schematically shows a flow chart of a conventional balancing method, an

Fig. 5 schematically shows a flow chart of a method according to the invention.

Detailed Description

Fig. 1 schematically shows a cross section of a conventional wheel having a tire mounted thereon. Fig. 1 schematically shows a conventional wheel100Is shown with a rim 102 on which a tire 103 is mounted. For example, such wheels are used in automobiles having a central motor (such as an internal combustion engine), and in most hybrid automobiles equipped with a combustion engine and a central electric motor. The wheel is mounted on the vehicle by a plurality of nuts 104-i which are bolted to corresponding studs 105-i extruded from the axle hub 106. Although other numbers of stud bolts and nuts are known, the number of stud bolts and hence nuts varies from four to six for passenger cars and is typically equal to ten for trucks.

The wheel may be a disk wheel, shown as a plate with a plurality of vents, or a spoked wheel, where the rim is connected to the center of the wheel via a plurality of spokes.

Note that conventional wheels do not need to have a braking system, as braking can be done at another location in the drive train. In most cases, the brake system is placed on a (rotatable) axle hub.

Fig. 2 schematically shows a cross section of an Axial Flux Permanent Magnet Motor (AFPMM). FIG. 2 schematically shows an AFPMM200. Such an AFPMM is known, for example, from european patent publication EP3245718a 1. Such a machine shows a fixed axis 202 about which the stator 204 extends and about which the rotor 206 may surroundThe wire 202 rotates. The stator and rotor are mounted to each other by bearings 208-1 and 208-2, and the bearings 208-1 and 208-2 must withstand forces along the axis 204 and perpendicular to the axis 204. In the stator, a series of electromagnets 212-i are mounted. These electromagnets are magnetized (excited) by coils 214-i. The pole pieces of the electromagnets are made of a laminated stack of, for example, grain-oriented silicon iron. Grain-oriented Si-Fe was chosen based on its magnetic properties. The lamination is required because the frequency of the coil magnetic field oriented in the axial direction is about 1 kHz. A large pole piece, such as nickel iron (nickel iron), can exhibit losses due to eddy currents. Rotor 206 is shown with a plurality of permanent magnets 210-j. The attraction and repulsion of the (varying) electromagnet 212-i and the permanent magnet 210-j results in a torque of the rotor relative to the stator.

Note that the number of electromagnets is not equal to (twice) the number of permanent magnets.

Although the stator is shown as a massive disk extending from the axis to the electromagnet, this need not be the case: the stator may be locally reduced in thickness or provided with holes or, advantageously, a part of the stator is non-metallic to avoid eddy currents in the vicinity of the permanent magnets. It is known to embed an electromagnet in a ring, for example made of nylon, which ring has a cut-out in which the electromagnet is fixed. The fixation may be achieved with glue or resin.

Many alternatives for this motor (AFPMM) are known, and other motor types are known (e.g. radial flux permanent magnet motors, reluctance motors, etc.), all of which are equally feasible with the present invention.

Fig. 3 schematically shows a cross section of an in-wheel motor with a rim-wheel. Fig. 3 can be considered to be derived from fig. 2. It schematically shows a cross section of the in-wheel motor shown in fig. 2 with a rim-wheel. The rim-wheel is reduced to a plurality of studs 302 to which a rim 304 is bolted with bolts 306. The tire 103 is mounted on a rim. The rim cannot be balanced using a conventional balancing machine because the pitch and number of bolts are very different from the pitch and number of bolts that mount a conventional wheel on the axle hub (see fig. 1).

One solution is to equip each car with an adapter. However, this will always mean extra mass and space for the car, and it will be the combination of in-wheel motor, rim-wheel and adapter that will be balanced, not the combination of in-wheel motor, rim-wheel and tyre.

Since braking cannot be performed elsewhere in the drive train, the brake disc 308 is mounted on the rotor 206 by a plurality of bolts 310. A locking pawl (not shown) may be mounted on the stator.

It should be noted that the rim shown here may be separate from the rotor, although the two may be integrated together. However, this would make it more difficult to replace the tire, and may mean that the wheel and in-wheel motor are removed only for tire replacement.

Fig. 4 schematically shows a flow chart of a conventional balancing method. Such techniques using conventional balancing machines are well known and almost every garage in which a tire is repaired or replaced has such a balancing machine. The balancing machine has at least a motor (in most cases an electric motor) to spin up and spin down the wheel, an imbalance sensor, an orientation sensor, and a processor for determining from the signals of these sensors and the manual input state (in particular, the radius on which the weight is mounted).

In step 400, tire 103 is mounted on a wheel100(the rim 102). Note that this is a normal input, but sometimes this step is skipped, which is not necessary for the invention. The tire may be a new tire, a repaired tire, or a recycled tire. It is also possible to replace the tire with a tire having other rubber compounds (for different temperature ranges) or having other profiles.

At step 402, a wheel having a tire mounted thereon is mounted on a conventional balancing machine. This is a well known technique and does not require further explanation.

At step 404, the wheel is spun up until it rotates at a predetermined speed. Firstly, the rotation speed is low in order to avoid dangerous vibrations of the wheels, which may overload the mounting between the wheels and the balancing machine, leading to dangerous situations. Typically, the speed is increased in steps, and measurements are taken after each step to determine if the situation is outside of safe handling.

At step 406, the imbalance is measured. It should be noted that as previously described, the rotational speed of step 404 will typically be increased if the combination of rotational speed and imbalance is below certain values.

At step 408, it is determined whether the imbalance is within specification requirements. If the imbalance is within specification requirements, no further balancing is required and the next step is step 416, otherwise the method continues with step 410.

In step 410, the measured imbalance is converted into a mass of a weight and an angular position that must be set on a certain radius (typically the rim radius), and this information is displayed for the mechanic to select a weight and attach it by, for example, crimping or gluing.

At step 412, the wheel spin is slowed so that operation can proceed.

At step 414, a weight is added having a mass and orientation as shown by the balancing machine. Typically, a return is then made to step 404 to check for balance.

At step 416, this step is reached after determining that the imbalance is within the preset limits, and the wheels are stopped.

At step 418, the wheel is removed from the balancing machine.

The wheel is then mounted on the vehicle at step 420. Balance is now checked, but defects are noted.

Note that in this exemplary process, the steps are depicted as separate steps. However, these steps may be performed overlapping and/or simultaneously. For example, step 410 and step 412 may well be performed simultaneously. It should also be noted that steps 404 and 412 and 416 are performed by the balancing machine (the control unit of which it is a part).

Fig. 5 schematically shows a flow chart of a method according to the invention.

In fig. 5, a schematic flow chart of the method according to the invention is shown. Figure 5 can be considered to be derived from figure 4.

At step 500, similar to step 400, a tire is mounted on a rim-wheel.

At step 502, similar to step 402, a rim-wheel with a tire mounted thereon is mounted on a rotor of an in-wheel motor.

At step 504, the rim-wheel spinning is accelerated by the in-wheel motor, similar to step 404. It is to be noted that in order to make this possible, the wheels must be disengaged from the "ground" and be free to rotate.

At step 506, similar to step 406, data from the imbalance sensor 312 is used to measure imbalance. This may be a vibration sensor, an acceleration sensor or a velocity sensor. The signals of the imbalance sensors have to be correlated with the angular position, so that orientation sensors are also required to determine the angular orientation. This may be, for example, a magnetic sensor, in which one part comprising the magnet is mounted on the rotor and the other part is mounted on the stator, or vice versa. Alternatively, the angular orientation may be derived from (or generated by) the electrical signal used to drive the in-wheel motor.

At step 508, similar to step 408, it is determined whether the imbalance is within specification requirements. If the imbalance is within specification requirements, no further balancing is required and the next step is step 516, else the process continues with step 510.

At step 510, the measured imbalance is converted to a mass and angular position and displayed, similar to step 410.

At step 512, similar to step 412, the wheel spin is slowed so that operation can proceed.

At step 514, similar to step 414, a weight is added having a mass and orientation as displayed by the balancing machine. Then, it is usual to return to step 404 to check the balance. It is to be noted that the weight does not have to be placed (crimped, glued) on the rim, but may also take the form of, for example, screwing a weight, such as a screw having a predetermined mass, in the rotor. For this purpose, the rotor may be equipped with a plurality of screw holes at different radii.

At step 516, the wheel is stopped, similar to step 416, and the method ends.

Note that in addition to step 514, steps 504-516 are preferably performed by a Control Unit (CU) in the vehicle, the CU being equipped to power the in-wheel motors, and to process data from the imbalance and orientation sensors, and to derive an imbalance condition based on data derived from the sensors.

Although the invention has been described with respect to embodiments, it will be understood that many other possible modifications and variations could be made without departing from the scope of the invention. It is, therefore, contemplated that the appended claims will cover such modifications and variations as fall within the true scope of the invention. In particular, the order and possible temporal overlap of the program steps of the invention may be varied without departing from the scope of the invention.

Citations

European patent application EP0694775 [ -1- ] Rothamel et al (A2)

[-2-]SAE int.J.Mater.Manuf.4(1):1036-1047,2011, Lu, J., Filev, D, and Johnson, L, "Real-time Tire Imbalance Detection Using ABS Wheel Speed sensor" (Real-time Tire impedance Detection Using ABS Wheel Speed Sensors) ",https://doi.org/10.4271/ 2011-01-0981