CN103569197A - Four-wheel steering system and control method thereof - Google Patents
Four-wheel steering system and control method thereof Download PDFInfo
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- CN103569197A CN103569197A CN201310561154.3A CN201310561154A CN103569197A CN 103569197 A CN103569197 A CN 103569197A CN 201310561154 A CN201310561154 A CN 201310561154A CN 103569197 A CN103569197 A CN 103569197A
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Abstract
The invention discloses a four-wheel steering system which comprises an electronic control unit and an executing unit. The electronic control unit comprises a controller ECU and a steering wheel rotation angle sensor, wherein the steering wheel rotation angle sensor is installed on a steering shaft of a steering wheel and is used for transmitting a steering signal to the controller ECU. The executing unit comprises steering transmission mechanisms, a steering motor and a double-arm track rod, wherein the steering transmission mechanisms are arranged on wheels, the steering motor is fixed on a vehicle body or a vehicle frame, an output shaft of the steering motor is provided with a driving gear which is meshed with a driven gear of the steering transmission mechanisms, the top end of a driven gear shaft is fixed on the vehicle body or the vehicle frame through rolling bearings, and the bottom end of the driven gear shaft is connected with the double-arm track rod which is connected with the wheels through a knuckle. The controller ECU outputs the steering signal to the steering motor. The steering system is an electronic control four-wheel steering system which is convenient to arrange and small in occupied space and is mainly composed of the motor and the like.
Description
Technical field
The present invention relates to automobile steering system, relate in particular to a kind of automatically controlled 360 degree four-wheel steering systems.
Background technology
Automobile steering system is the critical component of vehicle, not only affect driver comfort, also be the vitals of drive safety, traditional two-wheel front-axle steering system because speed of response is slow, it is dumb to turn to, while running at high speed directional balance poor and gradually cannot meet the requirement that people are more and more higher to vehicle active safety, in the urgent need to a kind of efficient steering swivel system, realize good Vehicular turn safety.Under these circumstances, four-wheel steering (Four-Wheel Steering is called for short 4WS) system is arisen at the historic moment.
Its structure of four-wheel steering system of using is at present that a set of steering hardware is installed on rear suspension, is referred to as rear-axle steering mechanism.When chaufeur rotates steering handwheel, foresteerage gear and rear-axle steering mechanism move simultaneously.Adopt 4WS mode, trailing wheel is called same-phase when identical with front-wheel steering and turns to, and trailing wheel is called phase reversal when contrary with front-wheel steering and turns to.
The major advantage of four-wheel steering automobile is when high speed, to adopt same-phase to turn to can improve vehicle handling stability, adopts phase reversal to turn to the turn radius that can reduce automobile during low speed, makes running car more flexible.
At present in the 4WS of use system, majority is mechanical type 4WS system, this system is because front and rear wheel steering system machinery is connected, operational forces is large, reliable transmission, but due to the shortcoming existing aspect structure design and arrangement, and exist and vibrate and cause the defects such as noise in automobile sport process, make mechanical type 4WS system be difficult to adapt to the requirement of modern automobile lightweight and travelling comfort aspect.
Summary of the invention
Technical matters to be solved by this invention is to realize a kind of four-wheel steering system that can guarantee that driver comfort is high, and can realize 360 °, the translation of automobile and original place and turn to.
To achieve these goals, the technical solution used in the present invention is: four-wheel steering system, and system comprises ECU (Electrical Control Unit) and performance element;
Described ECU (Electrical Control Unit) comprises controller ECU, and is installed on steering handwheel steering shaft and turn sign is delivered to the steering wheel angle sensor of controller ECU;
Described performance element comprises steering gear, steer motor and the both arms intermediate rod being provided on each wheel, described steer motor is fixed on vehicle body or vehicle frame, its output shaft is provided with driving gear, described driving gear is meshed with the driven gear of steering gear, the top of described driven gear shaft is fixed on vehicle body or vehicle frame by antifriction-bearing box, the bottom of described axle is connected with both arms intermediate rod, and described both arms intermediate rod is connected with wheel by steering swivel;
Described controller ECU output turn signal is to steer motor.
On the steering swivel of each described wheel, be equipped with wheel steering angle sensor, the angular signal of its output wheel is to controller ECU.
Described vehicle body barycenter place is provided with yaw-rate sensor, and it outputs signal to controller ECU.
Described controller ECU is connected with CAN bus or is connected with the car speed sensor that is arranged on the rotor side that is arranged on car speed mileage table, receives the vehicle speed signal of its output.
Between described wheel and vehicle body or vehicle frame, be provided with suspension system.
Described controller ECU carries signal to telltale in car, and in car, has control button.
Four-wheel steering system control method:
After vehicle launch, system works, controller ECU Real-time Collection steering wheel angle signal and vehicle speed signal;
Described controller ECU is defined as low gear, mid ranger and high speed gear according to the speed of a motor vehicle by four-wheel steering system; Vehicle is when described low gear, and it is identical that front-wheel and steering handwheel turn to, and trailing wheel and steering handwheel rotate backward; Vehicle is when described mid ranger, and it is identical that front-wheel and steering handwheel turn to, and trailing wheel does not rotate with steering handwheel, and vehicle is when described high speed gear, and front and back wheel all turns to identical with steering handwheel (10).
The described low gear speed of a motor vehicle is lower than 40km/h, and the described mid ranger speed of a motor vehicle is at 40km/h-60km/h, and the described high speed gear speed of a motor vehicle is higher than 60km/h.
Wheel steering angle sensor is delivered to collection signal controller ECU in real time, and described controller ECU answers gyration and real-turn angle to compare according to wheel, and drives steer motor correction steering angle of wheel.
After vehicle launch, during system works, in car, display system can point out navigating mate to select to start four-wheel steering system or conventional nose wheel steering, and system is according to selecting to carry out whether start four-wheel steering system.
The automatically controlled four-wheel steering system that four-wheel steering system of the present invention is a kind of arrangement convenience, it is little to take up room, mainly consist of electrical motor etc., compares with traditional mechanical type four-wheel steering system, has the following advantages:
(1) be conducive to the calculation for layout of car load.Because the present invention has more used hydraulic pressure components and parts, reduced mechanical connection, parts are few, lightweight, compact to design, and shared space is relatively little, can more be conducive to the calculation for layout of car load.
(2) do not affect the travelling comfort of car load.Due to the mechanical drive that do not adopt of the present invention, the vibration, the noise problem that do not have the vibration of transmission shaft and cause car load, therefore can not affect the travelling comfort of car load.
(3) flexible property.Due to four wheels of the present invention be all furnished with electric steering mechanism therefore four wheels can rotate, translation and the pivot stud that can realize automobile have reduced turn radius.Improved the maneuvering performance of automobile.
Accompanying drawing explanation
Below the content of every width accompanying drawing expression in specification sheets of the present invention and the mark in figure are briefly described:
Fig. 1 is four-wheel steering system general arrangement;
Fig. 2 is four-wheel steering system schematic circuit diagram;
Fig. 3 is the structural representation of four-wheel steering system off front wheel mechanism;
Fig. 4 is the structural representation of four-wheel steering system off front wheel mechanism;
Mark in above-mentioned figure is: 1, the near front wheel; 2, the near front wheel rotary angle transmitter; 3, left front steer motor; 4, the near front wheel steering gear; 5, off front wheel steer motor; 5-1, bolt; 6, off front wheel steering gear; 6-1, antifriction-bearing box; 6-2, driven gear; 6-3, driving gear; 7, off front wheel rotary angle transmitter; 8, off front wheel; 9, steering wheel angle sensor; 10, steering handwheel; 11, car speed sensor; 12, Vehicular yaw angular velocity sensor; 13, controller ECU; 14, left rear wheel; 15, left rear wheel rotary angle transmitter; 16, left back steer motor; 17, left rear wheel steering gear; 18, off hind wheel steer motor; 19, off hind wheel steering gear; 20, off hind wheel rotary angle transmitter; 21, off hind wheel; 22, right front suspension; 23, both arms intermediate rod.
The specific embodiment
Four-wheel steering system of the present invention is comprised of ECU (Electrical Control Unit) and performance element two parts.
As Fig. 1, 3, shown in 4, performance element comprises the steering gear being provided on each wheel, steer motor and both arms intermediate rod 23, it is identical that it forms structure, Fig. 3 wherein, the constructional drawing that 4 Shi Yi off front wheel mechanisms are example, steer motor is stepping motor, by bolt of rear end plate, be fixed on vehicle body or vehicle frame, the driving gear of steer motor is meshed with the driven gear of steering gear, the number of teeth of driving gear is less than the number of teeth of driven gear, driven gear is horizontally disposed with, its axle top is fixed on vehicle body or vehicle frame by antifriction-bearing box, axle bottom is connected with both arms intermediate rod 23, both arms intermediate rod 23 is connected with wheel by steering swivel, between wheel and vehicle body or vehicle frame, be provided with suspension system.
As Fig. 1, shown in 2, ECU (Electrical Control Unit) comprises: controller ECU13, be installed on the steering wheel angle sensor 9 on steering handwheel 10 steering shafts, it can adopt induction type angle displacement sensor, be arranged on the wheel steering angle sensor on each wheel steering joint, be installed on the yaw-rate sensor 12 at vehicle body barycenter place, it can adopt piezoelectric fluidic angular rate sensors, all the sensors passes through wire transmission collection signal to controller ECU13, with Time Controller ECU13, be connected with CAN bus or be connected with the car speed sensor 11 that is arranged on the rotor side that is arranged on car speed mileage table, receive the vehicle speed signal of its output, car speed sensor 11 can adopt photo-electric car speed sensor.Controller ECU13 output turn signal is to steer motor, thereby corresponding two transverse arm pull bars 23 motions of driving make four wheels produce the deflection of certain angle.Controller ECU13 is 16 micro controller systems with 256 byte RAM, adopts the 80C196KB micro controller system of the MCS-96 of Intel Company series, extends out 27128EPROM program store.Whole system is by external power source, i.e. Vehicular accumulator cell.
Controller ECU13 is the core of whole system, 80C196KB micro controller system, EPROM, signal conditioning circuit, interior power supply circuit, motor drive circuit, display output circuit etc., partly consists of.Controller ECU13 is also built-in with the self-diagnostic function of the system failure, and diagnostic result can be shown by failure screen, with this, informs chaufeur.
Controller ECU13 carries signal to telltale in car, and in car, there is control button, can control system optionally enter two kinds and turn to pattern, and turn to Pattern Select Switch and turn to mode switch indicator lamp, chaufeur can select traditional 2WS to turn to pattern, also can select 4WS to turn to pattern, micro controller system plug-in can be according to breakdown signal automatically to turning to mode switch to select, when four-wheel steering system breaks down, automatically steering swivel system is converted to 2WS pattern by 4WS pattern.
Control method based on four-wheel steering system is as follows:
After vehicle launch, system works, in car, display system can point out navigating mate to select to start four-wheel steering system or conventional nose wheel steering, and system is according to selecting to carry out whether start four-wheel steering system;
Controller ECU13 Real-time Collection steering handwheel 10 angular signals and vehicle speed signal;
Controller ECU13 is defined as low gear, mid ranger and high speed gear according to the speed of a motor vehicle by four-wheel steering system; Vehicle is when described low gear, and it is identical that front-wheel and steering handwheel 10 turn to, and trailing wheel and steering handwheel 10 rotate backward; Vehicle is when described mid ranger, and it is identical that front-wheel and steering handwheel turn to, and trailing wheel does not rotate with steering handwheel 10, and vehicle is when described high speed gear, and front and back wheel all turns to identical with steering handwheel 10.This is that the speed of a motor vehicle changes very fast (turning is all attended by moderating process conventionally) during due to automobile turning in actual travel, so the control policy adopting is that front and back wheel rotates backward, and middling speed state, rear-axle steering mechanism is almost motionless, at fast state, front and back wheel rotating in same direction, the size and Orientation of action is determined according to the corner ideal value of setting.
Above-mentioned each gear speed range can according to circumstances be preset, and for example, the low gear speed of a motor vehicle is lower than 40km/h, and the mid ranger speed of a motor vehicle is at 40km/h-60km/h, and the high speed gear speed of a motor vehicle is higher than 60km/h.
In addition, wheel steering angle sensor is delivered to collection signal controller ECU13 in real time, and controller ECU13 answers gyration and real-turn angle to compare according to wheel, and drives steer motor correction steering angle of wheel.
By reference to the accompanying drawings the present invention is exemplarily described above; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as adopted the improvement of the various unsubstantialities that method of the present invention design and technical scheme carry out; or without improving, design of the present invention and technical scheme are directly applied to other occasion, all within protection scope of the present invention.
Claims (10)
1. four-wheel steering system, is characterized in that: system comprises ECU (Electrical Control Unit) and performance element;
Described ECU (Electrical Control Unit) comprises controller ECU(13), and be installed on steering handwheel (10) steering shaft and by wheel real-turn angle signal be delivered to controller ECU(13) steering wheel angle sensor (9);
Described performance element comprises steering gear, steer motor and the both arms intermediate rod (23) being provided on each wheel, described steer motor is fixed on vehicle body or vehicle frame, its output shaft is provided with driving gear, described driving gear is meshed with the driven gear of steering gear, the top of described driven gear shaft is fixed on vehicle body or vehicle frame by antifriction-bearing box, the bottom of described axle is connected with both arms intermediate rod (23), and described both arms intermediate rod (23) is connected with wheel by steering swivel;
Described controller ECU(13) output turn signal is to steer motor.
2. four-wheel steering system according to claim 1, is characterized in that: on the steering swivel of each described wheel, be equipped with wheel steering angle sensor, its output wheel steering signal is to controller ECU(13).
3. four-wheel steering system according to claim 1, is characterized in that: described vehicle body barycenter place is provided with yaw-rate sensor (12), and it outputs signal to controller ECU(13).
4. four-wheel steering system according to claim 1, it is characterized in that: described controller ECU(13) be connected with CAN bus or be connected with the car speed sensor (11) that is arranged on the rotor side that is arranged on car speed mileage table, receive the vehicle speed signal of its output.
5. four-wheel steering system according to claim 1, is characterized in that: between described wheel and vehicle body or vehicle frame, be provided with suspension system.
6. four-wheel steering system according to claim 1, is characterized in that: described controller ECU(13) carry signal to telltale in car, and in car, have control button.
7. four-wheel steering system control method, is characterized in that:
After vehicle launch, system works, controller ECU(13) Real-time Collection steering handwheel (10) angular signal and vehicle speed signal;
Described controller ECU(13) according to the speed of a motor vehicle, four-wheel steering system is defined as to low gear, mid ranger and high speed gear; Vehicle is when described low gear, and it is identical that front-wheel and steering handwheel (10) turn to, and trailing wheel and steering handwheel (10) rotate backward; Vehicle is when described mid ranger, and it is identical that front-wheel and steering handwheel turn to, and trailing wheel does not rotate with steering handwheel (10), and vehicle is when described high speed gear, and front and back wheel all turns to identical with steering handwheel (10).
8. four-wheel steering system control method according to claim 7, is characterized in that: the described low gear speed of a motor vehicle is lower than 40km/h, and the described mid ranger speed of a motor vehicle is at 40km/h-60km/h, and the described high speed gear speed of a motor vehicle is higher than 60km/h.
9. according to the four-wheel steering system control method described in claim 7 or 8, it is characterized in that: wheel steering angle sensor is delivered to collection signal controller ECU(13 in real time), described controller ECU(13) according to wheel, answer gyration and real-turn angle to compare, and drive steer motor correction steering angle of wheel.
10. four-wheel steering system control method according to claim 9, it is characterized in that: after vehicle launch, during system works, in car, display system can point out navigating mate to select to start four-wheel steering system or conventional nose wheel steering, and system is according to selecting to carry out whether start four-wheel steering system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310561154.3A CN103569197B (en) | 2013-11-12 | 2013-11-12 | four-wheel steering system and control method thereof |
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| CN201310561154.3A CN103569197B (en) | 2013-11-12 | 2013-11-12 | four-wheel steering system and control method thereof |
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| CN103569197A true CN103569197A (en) | 2014-02-12 |
| CN103569197B CN103569197B (en) | 2015-08-26 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104175873A (en) * | 2014-08-11 | 2014-12-03 | 安徽工程大学 | Chassis driving system for four-wheel drive electromobile and control method of chassis driving system |
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
| CN106043426A (en) * | 2016-08-11 | 2016-10-26 | 杭州天爵舞台工程有限公司 | Car and wheel steering system |
| CN106741166A (en) * | 2016-12-16 | 2017-05-31 | 中国重汽集团柳州运力科迪亚克机械有限责任公司 | Snow sweeper four-wheel steering system |
| CN107458457A (en) * | 2017-07-06 | 2017-12-12 | 江苏速度智能科技有限公司 | Low damage control system and 360 degree of low damage body chassis and its control method |
| CN111301515A (en) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | Control method of rear wheel linear control electro-hydraulic steering system |
| US11305814B2 (en) | 2016-08-11 | 2022-04-19 | Abosi Automobile Hangzhou Co., Ltd. | Automobile and wheel steering system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175873A (en) * | 2014-08-11 | 2014-12-03 | 安徽工程大学 | Chassis driving system for four-wheel drive electromobile and control method of chassis driving system |
| CN105882741A (en) * | 2016-05-24 | 2016-08-24 | 辽宁工业大学 | Independent drive and steering type modularized automobile wheel assembly and rear wheel steering control method |
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| US11305814B2 (en) | 2016-08-11 | 2022-04-19 | Abosi Automobile Hangzhou Co., Ltd. | Automobile and wheel steering system |
| CN106741166A (en) * | 2016-12-16 | 2017-05-31 | 中国重汽集团柳州运力科迪亚克机械有限责任公司 | Snow sweeper four-wheel steering system |
| CN107458457A (en) * | 2017-07-06 | 2017-12-12 | 江苏速度智能科技有限公司 | Low damage control system and 360 degree of low damage body chassis and its control method |
| CN111301515A (en) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | Control method of rear wheel linear control electro-hydraulic steering system |
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