CN103569197B - four-wheel steering system and control method thereof - Google Patents
four-wheel steering system and control method thereof Download PDFInfo
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- CN103569197B CN103569197B CN201310561154.3A CN201310561154A CN103569197B CN 103569197 B CN103569197 B CN 103569197B CN 201310561154 A CN201310561154 A CN 201310561154A CN 103569197 B CN103569197 B CN 103569197B
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Abstract
Present invention is disclosed a kind of four-wheel steering system, system comprises ECU (Electrical Control Unit) and performance element; Described ECU (Electrical Control Unit) comprises controller ECU, and to be installed on steering handwheel steering shaft and turn sign to be delivered to the steering wheel angle sensor of controller ECU; Described performance element comprises the steering gear be provided on each wheel, steer motor and both arms intermediate rod, 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 exports turn signal to steer motor.This steering swivel system is a kind of arrangement convenience, take up room automatically controlled four-wheel steering system that is little, that form primarily of electrical motor etc.
Description
Technical field
The present invention relates to automobile steering system, particularly relate to a kind of automatically controlled 360 degree of 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 is directional balance difference and gradually cannot meet people's requirement more and more higher to vehicle active safety because speed of response is slow, it is dumb to turn to, when running at high speed, and realizes good Vehicular turn safety in the urgent need to a kind of efficient steering swivel system.Under these circumstances, four-wheel steering (Four-Wheel Steering is called for short 4WS) system is arisen at the historic moment.
Its structure of the four-wheel steering system of current use is on rear suspension, be provided with a set of steering hardware, is referred to as rear-axle steering mechanism.When chaufeur rotates steering handwheel, foresteerage gear and the action simultaneously of rear-axle steering mechanism.Adopt 4WS mode, be called that same-phase turns to when trailing wheel is identical with front-wheel steering, when trailing wheel is contrary with front-wheel steering, be called that phase reversal turns to.
The major advantage of four-wheel steering automobile adopts same-phase to turn to and can improve vehicle handling stability, adopts phase reversal to turn to the turn radius that can reduce automobile, make running car more flexible during low speed.
At present 4WS system in, majority is mechanical type 4WS system, this system is due to front and rear wheel steering system mechanical communication, operational forces is large, reliable transmission, but due to the shortcoming existed in structure design and arrangement, and existence is vibrated and causes the defects such as noise in automobile sport process, mechanical type 4WS system is made to 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 realizes a kind of four-wheel steering system that driver comfort is high of can guaranteeing, and can realize the translation of automobile and 360 °, original place turns 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 to be installed on steering handwheel steering shaft and turn sign to be delivered to the steering wheel angle sensor of controller ECU;
Described performance element comprises the steering gear be provided on each wheel, steer motor and both arms intermediate rod, 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 exports turn signal to steer motor.
The steering swivel of described each wheel is equipped with wheel steering angle sensor, and its angular signal exporting 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 or is connected with the car speed sensor being arranged on the rotor side being arranged on car speed mileage table, receives the vehicle speed signal that it exports.
Suspension system is provided with between described wheel and vehicle body or vehicle frame.
Described controller ECU carries telltale in signal to car, and has control button in car.
Four-wheel steering system control method:
After vehicle launch, system works, controller ECU Real-time Collection steering wheel angle signal and vehicle speed signal;
Four-wheel steering system is defined as low gear, mid ranger and high speed gear according to the speed of a motor vehicle by described controller ECU; When vehicle is in described low gear, front-wheel and steering handwheel turn to identical, and trailing wheel and steering handwheel rotate backward; When vehicle is in described mid ranger, front-wheel and steering handwheel turn to identical, and trailing wheel is not with steering wheel rotation, and when vehicle is in described high speed gear, 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.
Collection signal is delivered to controller ECU by wheel steering angle sensor 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 performs whether start four-wheel steering system according to selection.
Four-wheel steering system of the present invention is a kind of arrangement convenience, take up room automatically controlled four-wheel steering system that is little, that form primarily of electrical motor etc., compared with traditional mechanical type four-wheel steering system, has the following advantages:
(1) calculation for layout of car load is conducive to.Because the present invention more employs hydraulic component, decrease mechanical connection, parts are few, lightweight, compact to design, and shared space is relatively little, more can be conducive to the calculation for layout of car load.
(2) travelling comfort of car load is not affected.Do not adopt mechanical drive due to of the present invention, the vibration not having transmission shaft and the vibration causing car load, noise problem, therefore can not affect the travelling comfort of car load.
(3) flexible property.Due to the present invention's four wheels be all furnished with electric steering mechanism therefore four wheels can rotate, translation and the pivot stud that can realize automobile reduce turn radius.Improve the maneuvering performance of automobile.
Accompanying drawing explanation
Mark in the content expressed every width accompanying drawing in specification sheets of the present invention below and figure is 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.
Detailed description of the invention
Four-wheel steering system of the present invention is made up of ECU (Electrical Control Unit) and performance element two parts.
As Fig. 1, 3, shown in 4, performance element comprises the steering gear be provided on each wheel, steer motor and both arms intermediate rod 23, its composition structure is identical, wherein Fig. 3, 4 is for the constructional drawing of off front wheel mechanism, steer motor is stepping motor, be fixed on vehicle body or vehicle frame by bolt of rear end plate, 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, suspension system is provided with between wheel and vehicle body or vehicle frame.
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 shaft, 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, be connected with CAN with Time Controller ECU13 or be connected with the car speed sensor 11 being arranged on the rotor side being arranged on car speed mileage table, receive the vehicle speed signal that it exports, car speed sensor 11 can adopt photo-electric car speed sensor.Controller ECU13 exports turn signal to steer motor, thus drives corresponding two transverse arm pull bar 23 to move, and makes 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 Intel Company MCS-96 series, extends out 27128EPROM program store.Whole system by external power source, i.e. Vehicular accumulator cell.
Controller ECU13 is the core of whole system, is made up of parts such as 80C196KB micro controller system, EPROM, signal conditioning circuit, interior power supply circuit, motor drive circuit, display output circuits.Controller ECU13 is also built-in with the self-diagnostic function of the system failure, and diagnostic result can be shown by failure screen, informs chaufeur with this.
Controller ECU13 carries telltale in signal to car, and in car, there is control button, control system optionally can 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 4WS can be selected to turn to pattern, micro controller system plug-in can according to breakdown signal automatically to turning to mode switch to select, namely, when four-wheel steering system breaks down, be 2WS pattern by steering swivel system by 4WS patten transformation automatically.
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 performs whether start four-wheel steering system according to selection;
Controller ECU13 Real-time Collection steering handwheel 10 angular signal and vehicle speed signal;
Four-wheel steering system is defined as low gear, mid ranger and high speed gear according to the speed of a motor vehicle by controller ECU13; When vehicle is in described low gear, front-wheel turns to identical with steering handwheel 10, and trailing wheel and steering handwheel 10 rotate backward; When vehicle is in described mid ranger, front-wheel and steering handwheel turn to identical, and trailing wheel does not rotate with steering handwheel 10, and when vehicle is in described high speed gear, front and back wheel all turns to identical with steering handwheel 10.This is due to speed of a motor vehicle change very fast (usual turning is all attended by moderating process) during automobile turning in actual travel, so the control policy adopted 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 then determined according to the corner ideal value of setting.
Each gear speed range above-mentioned can according to circumstances be preset, and such as, 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, collection signal is delivered to controller ECU13 by wheel steering angle sensor 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.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
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 to be installed on steering handwheel (10) steering shaft and wheel real-turn angle signal be delivered to controller ECU(13) steering wheel angle sensor (9);
Described performance element comprises the steering gear be provided on each wheel, steer motor and both arms intermediate rod (23), described steer motor is fixed on vehicle body or vehicle frame, the output shaft of described steer motor is provided with driving gear, described driving gear is meshed with the driven gear of steering gear, the top of the axle of described driven gear is fixed on vehicle body or vehicle frame by antifriction-bearing box, the bottom of the axle of described driven gear 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) export turn signal to steer motor.
2. four-wheel steering system according to claim 1, is characterized in that: the steering swivel of described each wheel is equipped with wheel steering angle sensor, and described wheel steering angle sensor exports wheel steering signal 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 described yaw-rate sensor (12) 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 or be connected with the car speed sensor (11) being arranged on the rotor side being arranged on car speed mileage table, receive the vehicle speed signal that car speed sensor (11) exports.
5. four-wheel steering system according to claim 1, is characterized in that: be provided with suspension system between described wheel and vehicle body or vehicle frame.
6. four-wheel steering system according to claim 1, is characterized in that: described controller ECU(13) carry telltale in signal to car, and in car, there is control button.
7., based on the control method of the four-wheel steering system described in any one of claim 1-6, it 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 low gear, mid ranger and high speed gear; When vehicle is in described low gear, front-wheel turns to identical with steering handwheel (10), and trailing wheel and steering handwheel (10) rotate backward; When vehicle is in described mid ranger, front-wheel and steering handwheel turn to identical, and trailing wheel does not rotate with steering handwheel (10), and when vehicle is in described high speed gear, 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. the four-wheel steering system control method according to claim 7 or 8, it is characterized in that: collection signal is delivered to controller ECU(13 by wheel steering angle sensor in real time), described controller ECU(13) answer gyration and real-turn angle to compare according to wheel, 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 performs whether start four-wheel steering system according to selection.
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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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| 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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| CN103569197A CN103569197A (en) | 2014-02-12 |
| CN103569197B true CN103569197B (en) | 2015-08-26 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175873B (en) * | 2014-08-11 | 2016-08-24 | 安徽工程大学 | A kind of four-wheel driving electric vehicle chassis drive system and control method thereof |
| CN105882741B (en) * | 2016-05-24 | 2018-06-05 | 辽宁工业大学 | A kind of independent vehicular modular wheel set and rear-axle steering control method driven with turning to |
| CN106043426B (en) * | 2016-08-11 | 2018-12-28 | 杭州天爵舞台工程有限公司 | A kind of automobile and wheel steering system |
| EP3483037B1 (en) | 2016-08-11 | 2021-04-07 | 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4970646A (en) * | 1987-11-12 | 1990-11-13 | Nissan Motor Co., Ltd. | Vehicle having secondarily steered front and rear wheels |
| JP2937742B2 (en) * | 1994-04-26 | 1999-08-23 | 日産ディーゼル工業株式会社 | Steering device for all-wheel steering |
| CN100467327C (en) * | 2004-07-29 | 2009-03-11 | 上海燃料电池汽车动力系统有限公司 | Fault control system of independent steering motor |
| CN202098458U (en) * | 2011-06-11 | 2012-01-04 | 安徽工程大学 | Electrically-controlled electric four-wheel steering system |
| CN203094172U (en) * | 2012-12-24 | 2013-07-31 | 中国科学院深圳先进技术研究院 | Steer-by-wire device capable of independent steering and driving electric automobile and suspension system thereof |
| CN203581090U (en) * | 2013-11-12 | 2014-05-07 | 安徽工程大学 | Four-wheel steering system |
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