CN102530060A - Electrombile steering control device - Google Patents
Electrombile steering control device Download PDFInfo
- Publication number
- CN102530060A CN102530060A CN2012100211323A CN201210021132A CN102530060A CN 102530060 A CN102530060 A CN 102530060A CN 2012100211323 A CN2012100211323 A CN 2012100211323A CN 201210021132 A CN201210021132 A CN 201210021132A CN 102530060 A CN102530060 A CN 102530060A
- Authority
- CN
- China
- Prior art keywords
- wheel
- drive
- steering
- variable resistance
- turns
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Power Steering Mechanism (AREA)
Abstract
The invention discloses an electrombile steering control device, which belongs to the field of vehicles and solves the problem that the existing electrombile steering control device is complex in structure, poor in reliability, inconvenient to install and the like. A steering electrical bridge composed of a pair of driving and follow-up variable resistors and two fixed resistors is arranged on each wheel. A steering wheel drives a steering controller driving a steering stepping motor and a steering variable resistor to enable the steering electrical bridge to generate positive voltage signal output to drive the wheels to drive the controller to speed up the wheels, a polarization shaft is led to rotate certain angles, a polarization shaft rotating angle variable resistor is rotated through a gear until a steering electrical bridge recovers to a balance position. Compared with the prior art, the electrombile steering control device can conveniently and flexibly achieve four-wheel independent steering and independent driving.
Description
Technical field
The present invention relates to electrically driven vehicle, belong to vehicular field, specifically, relate to a kind of elec. vehicle steering controlling device.
Background technology
Power-actuated vehicle is as back petroleum times the cleaning vehicle and engine installation efficiently, in the indoor graceful function such as no waste gas discharge that waits under the closed environment, more and more receives people's attention.Advantages such as elec. vehicle is owing to adopt DC machine to drive, and flexible arrangement can conveniently overcome the two-wheel steering (2 ws) mechanism defective that has vehicle now, turns to easy control, and the turn radius of vehicle is little during low speed, and is stable when running at high speed, and the space, required parking stall of stopping is little.
Patent 200710017644.1 discloses a kind of auxiliary steering device of automobile; Comprise wheel drive motors, catch gear, axle of the plummet, controller, storage battery, chassis and wheel; It is characterized in that; Axle of the plummet is connected with wheel drive motors is L-shaped, and the axis of axle of the plummet is not included in the plane of rotation j of wheel the rotation of under the control of controller, locking or unclamping axle of the plummet with catch gear.
When vehicular drive; The propulsive effort of wheel is to the formed rotating torque of steering shaft (patent 200710017644.1 is called axle of the plummet); Patent 200710017644.1 is employed under the control of controller and locks the rotation that prevents steering shaft with catch gear, simultaneously, and in the time of need turning to; Under the control of controller, unclamp axle of the plummet, make its rotation with catch gear.When vehicle need brake, also exist steering shaft moment to need the problem of balance, patent 200710017644.1 to be employed in equally under the control of controller and lock the rotation that prevents steering shaft with catch gear.Therefore, patent 200710017644.1 disclosed steering hardwares are restricted the alerting ability of vehicle and sophisticated functions, can only be used for vehicle near the shift in position under the halted state, can not be applied to the motion control of vehicle under the cruising state.
Patent 200910021065.3 discloses a kind of electric vehicle drive chassis; Catch gear is used in the control of the controller of patent 200710017644.1 down; Change into driving and turn to friction lock and two electromagnet-friction latch mechanisms of drag friction lock; Drive signal and turn sign input are driven the driving winding that turns to friction lock and turn to winding; With speed-slackening signal input brake friction lock, the problem that wheel rotates around steering shaft when having solved acceleration and deceleration does not still solve the problem how bearing circle signal and throttle signal superpose.
Patent 200910022569.7 discloses a kind of chassis control device of electric motor car, through on each steering shaft, be provided with one adopt the balance position that Hall element makes sensor, with the position of sensor steering shaft, wheel is quickened or deceleration.Solved the fusion of bearing circle signal and throttle signal, but Hall element adopts inner and outer rotors, has complex structure, poor reliability is not easy to shortcomings such as installation.
Summary of the invention
The objective of the invention is the problems and shortcomings to the prior art existence, the present invention turns to electric bridge through on each wheel, being provided with one, turns to electric bridge to adopt a pair of active and servo-actuated variable resistance and two permanent resistors to form.Output signal with electric bridge turns to wheel acceleration or deceleration, has realized four-wheel individual drive and independent steering function.
Realize the elec. vehicle steering controlling device of foregoing invention purpose technical scheme, it is characterized in that by bias axis drive wheel 1, big gear wheel 2, miniature gears 3, bias axis corner variable resistance 4, turn to drive stepping motor 5, turn to variable resistance 6, steering controller 7, bearing circle 8, turn to electric bridge 9, wheel drive controller 10 and accel control 11 to form;
The steering shaft of described bias axis drive wheel 1 drives bias axis corner variable resistance 4 through big gear wheel 2 and miniature gears 3 and changes resistance;
Described bias axis corner variable resistance 4 and two the adjacent brachium pontis that turn to variable resistance 6 to connect into to turn to electric bridge 9;
Said steering controller 7 with the angular signal of bearing circle 8 distribute be input to each wheel turn to drive stepping motor 5, turn to drive stepping motor 5 to drive and turn to variable resistance 6 to change resistance values;
Described bias axis corner variable resistance 4 is input to wheel drive controller 10 with the drive signal that turns to that turns to electric bridge 9 will need wheel to quicken or slow down that turns to variable resistance 6 to form;
Described wheel drive controller 10 will turn to after the stack of drive signal and throttle drive signal, drive bias axis drive wheel 1 and quicken or slow down, and make to turn to electric bridge 9 to return to be output as zero state of equilibrium.
Described bias axis corner variable resistance 4 is to be output as zero electric balance with electric bridge 9 initial conditions that turn to that turn to variable resistance 6 to connect into, and has through the acceleration of bias axis drive wheel 1 or the function of deceleration automatic recovery state;
Each wheel of described elec. vehicle steering controlling device respectively has a cover bias axis drive wheel 1, big gear wheel 2, miniature gears 3, bias axis corner variable resistance 4, turns to drive stepping motor 5, turns to variable resistance 6, turns to electric bridge 9 and wheel drive controller 10, makes each wheel can individual drive and independent steering.
Principle of work of the present invention is: bearing circle 8 drives steering controller 7; Steering controller 7 drives and turns to stepping motor 5 and turn to variable resistance 6; Make to turn to electric bridge 9 to produce positive voltage signal output, drive wheels driving governor 10 quickens wheel, and bias axis turns over certain angle; Rotate bias axis corner variable resistance 4 through gear, make to turn to electric bridge 9 to return to till the balance position.If bias axis departs from balance position in advance, turn to electric bridge 9 output negative voltage signals, make wheel decelerates, up to turning to electric bridge 9 to return to balance position.
Compared with prior art, elec. vehicle steering controlling device disclosed by the invention can be realized the function of four-wheel independent steering and individual drive easily and flexibly.
Description of drawings
Fig. 1 is the structural representation of one of them wheel of elec. vehicle steering controlling device;
Fig. 2 turns to control bridge circuit scheme drawing.
The meaning that each legend mark is represented respectively in the accompanying drawing is following:
1---the bias axis drive wheel, 2---big gear wheel, 3---miniature gears; 4---bias axis corner variable resistance, 5---turning to drive stepping motor, 6---turn to variable resistance; 7---steering controller, 8---bearing circle, 9---turn to electric bridge; 10---the wheel drive controller, 11---accel control.
The specific embodiment
Further specify the embodiment of elec. vehicle steering controlling device of the present invention below in conjunction with accompanying drawing.
As Fig. 1 be the present invention be applied to 4 take turns one of them wheel of battery-driven car structural representation, comprise bias axis drive wheel 1, big gear wheel 2, miniature gears 3, bias axis corner variable resistance 4, turn to drive stepping motor 5, turn to variable resistance 6, steering controller 7, bearing circle 8, turn to electric bridge 9, wheel drive controller 10 and accel control 11.Bearing circle 8 drives steering controller 7; Steering controller 7 drives and turns to stepping motor 5 and turn to variable resistance 6; Make to turn to electric bridge 9 to produce positive voltage signal output, drive wheels driving governor 10 quickens wheel, and bias axis turns over certain angle; Rotate bias axis corner variable resistance 4 through gear, make to turn to electric bridge 9 to return to till the balance position.
In going, if condition of road surface changes, shift in position appears in certain wheel bias axis position, if bias axis departs from balance position in advance, turns to electric bridge 9 output negative voltage signals, makes wheel decelerates, up to turning to electric bridge 9 to return to balance position.
Of the present invention except being applied to four wheeler, on other vehicle, also can use.Also can change circuit parameter and physical construction etc. in addition, these all constitute other embodiments of the invention.
Claims (3)
1. elec. vehicle steering controlling device is characterized in that by bias axis drive wheel [1], big gear wheel [2], miniature gears [3], bias axis corner variable resistance [4], turns to drive stepping motor [5], turns to variable resistance [6], steering controller [7], bearing circle [8], turns to electric bridge [9], wheel drive controller [10] and accel control [11] to form; The steering shaft of described bias axis drive wheel [1] drives bias axis corner variable resistance [4] through big gear wheel [2] and miniature gears [3] and changes resistance; Described bias axis corner variable resistance [4] and two the adjacent brachium pontis that turn to variable resistance [6] to connect into to turn to electric bridge [9]; Said steering controller [7] with the angular signal of bearing circle [8] distribute be input to each wheel turn to drive stepping motor [5], turn to drive stepping motor [5] to drive and turn to variable resistance [6] to change resistance value; Described bias axis corner variable resistance [4] and the drive signal that turns to that turns to electric bridge [9] will need wheel to quicken or slow down that turns to variable resistance [6] to form are input to wheel drive controller [10]; Described wheel drive controller [10] will turn to after the stack of drive signal and throttle drive signal, drive bias axis drive wheel [1] and quicken or slow down, and make to turn to electric bridge [9] to return to be output as zero state of equilibrium.
2. elec. vehicle steering controlling device as claimed in claim 1; It is characterized in that described bias axis corner variable resistance [4] and electric bridge [9] initial condition that turns to that turns to variable resistance [6] to connect into are to be output as zero electric balance, and have through the acceleration of bias axis drive wheel [1] or the function of deceleration automatic recovery state.
3. elec. vehicle steering controlling device as claimed in claim 1; Each wheel that it is characterized in that described elec. vehicle steering controlling device respectively has cover bias axis drive wheel [1], big gear wheel [2], miniature gears [3], a bias axis corner variable resistance [4], turns to drive stepping motor [5], turns to variable resistance [6], turns to electric bridge [9] and wheel drive controller [10], makes each wheel can individual drive and independent steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100211323A CN102530060A (en) | 2012-01-19 | 2012-01-19 | Electrombile steering control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100211323A CN102530060A (en) | 2012-01-19 | 2012-01-19 | Electrombile steering control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102530060A true CN102530060A (en) | 2012-07-04 |
Family
ID=46338422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100211323A Pending CN102530060A (en) | 2012-01-19 | 2012-01-19 | Electrombile steering control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102530060A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054159A (en) * | 2017-05-04 | 2017-08-18 | 陈明福 | A kind of pure electric automobile wheel driving control system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010013441A1 (en) * | 2000-02-14 | 2001-08-16 | Honda Giken Kogyo Kabushiki Kaisha | Rear wheel steering apparatus |
| JP2007074831A (en) * | 2005-09-07 | 2007-03-22 | Jtekt Corp | Motor controller and steering unit for vehicle using the same |
| CN101480968A (en) * | 2009-02-06 | 2009-07-15 | 西北农林科技大学 | Electric vehicle drive chassis |
| CN101524968A (en) * | 2008-03-05 | 2009-09-09 | 刘进玉 | Four-wheel drive mechanism |
| CN101554883A (en) * | 2009-05-18 | 2009-10-14 | 西北农林科技大学 | Chassis control device of electric motor car |
| CN202413906U (en) * | 2012-01-19 | 2012-09-05 | 西北农林科技大学 | Steering control device of electric vehicle |
-
2012
- 2012-01-19 CN CN2012100211323A patent/CN102530060A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010013441A1 (en) * | 2000-02-14 | 2001-08-16 | Honda Giken Kogyo Kabushiki Kaisha | Rear wheel steering apparatus |
| JP2007074831A (en) * | 2005-09-07 | 2007-03-22 | Jtekt Corp | Motor controller and steering unit for vehicle using the same |
| CN101524968A (en) * | 2008-03-05 | 2009-09-09 | 刘进玉 | Four-wheel drive mechanism |
| CN101480968A (en) * | 2009-02-06 | 2009-07-15 | 西北农林科技大学 | Electric vehicle drive chassis |
| CN101554883A (en) * | 2009-05-18 | 2009-10-14 | 西北农林科技大学 | Chassis control device of electric motor car |
| CN202413906U (en) * | 2012-01-19 | 2012-09-05 | 西北农林科技大学 | Steering control device of electric vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107054159A (en) * | 2017-05-04 | 2017-08-18 | 陈明福 | A kind of pure electric automobile wheel driving control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203832404U (en) | Electric automobile integrating drive-by-wire control technology and wheel hub motor driving technology | |
| CN107627900B (en) | Differential torque control system and control method for double-wheel-side motor of electric vehicle | |
| CN104648596B (en) | Electric bicycle and its control method | |
| CN101298257B (en) | Electric automobile transversal travel and clockwise counter-clockwise rotation body steering mechanical drive technology | |
| CN103930303B (en) | Electronlmobil | |
| JP2000324612A (en) | Front and rear wheel drive vehicle | |
| CN203254979U (en) | Four-wheel driving and four-wheel steering electronic differential control equipment of electric automobile | |
| CN110091914B (en) | Distributed automobile multi-working-condition identification differential steering method and system | |
| CN104443008B (en) | Electric boosting steering system | |
| CN103223940A (en) | Electric car coordination control system | |
| CN203482076U (en) | Magnetic field modulated magnetic gear decelerator | |
| CN104386184A (en) | Front and rear wheel transport tool balancing system based on single-frame control moment gyroscopes | |
| CN110194209A (en) | Drive steering mechanism, car body train driving device and control method, vehicle | |
| CN205890972U (en) | Electric automobile intelligence corner drive arrangement | |
| CN203496596U (en) | Electric vehicle without hub | |
| CN207607340U (en) | Automatic Pilot all-terrain vehicle chassis platform | |
| CN204567346U (en) | Two-wheel hub electric four-wheel vehicle electric bridge differential control system | |
| CN202413906U (en) | Steering control device of electric vehicle | |
| WO2019053680A1 (en) | Spin-control system and method of performing spin-control for electrical vehicles | |
| CN203581090U (en) | Four-wheel steering system | |
| CN101480968B (en) | Electric vehicle drive chassis | |
| CN102530060A (en) | Electrombile steering control device | |
| CN101554883B (en) | Chassis control device of electric motor car | |
| CN205292898U (en) | Electric bicycle | |
| Eder et al. | Design of an experimental platform for an x-by-wire car with four-wheel steering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20120704 |