CN104097688B - A kind of trailing wheel active steering apparatus and control system thereof - Google Patents
A kind of trailing wheel active steering apparatus and control system thereof Download PDFInfo
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- CN104097688B CN104097688B CN201410380781.1A CN201410380781A CN104097688B CN 104097688 B CN104097688 B CN 104097688B CN 201410380781 A CN201410380781 A CN 201410380781A CN 104097688 B CN104097688 B CN 104097688B
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Abstract
The invention discloses a kind of trailing wheel active steering apparatus and control system thereof, comprise torque amplification device assembly, rear-wheel steering system assembly, steering swivel and Wheeling System assembly, steering swivel is fixed on the motor shaft of the wheel hub motor of Wheeling System assembly, the steering track rod of rear-wheel steering system assembly is connected with the steering trapezoidal arm of steering swivel, and the support of torque amplification device assembly lower end is connected with the steering inner articulated shaft of rear-wheel steering system assembly.The present invention is applied on the electronlmobil of employing wheel hub motor individual drive, can be amplified rear-axle steering moment by torque amplification device, to be adapted to the occasion turning to difficulty, simultaneously, ECU (Electrical Control Unit), by regulating the differential of rear wheel hub motors, can be assisted and realize rear-axle steering.
Description
Technical field
The present invention relates to electronlmobil field, particularly a kind of trailing wheel active steering apparatus of electronlmobil and control system thereof.
Background technology
Along with auto-industry sharply increasing and the negative effect serious to environment oil resources demand, the research with the electronlmobil of the advantage such as energy-saving and environmental protection, low noise becomes inherence requirement and the development tendency of current auto-industry.Wherein, wheel hub motor individual drive electronlmobil is integrated at motor and wheel hub, wheel hub motor direct drive of wheel rotates, eliminate traditional driving system, eliminate the parts such as power-transfer clutch, change-speed box, improve driving efficiency, save motor space simultaneously, improve the alerting ability of automobile design.
Meanwhile, along with the progress of expanding economy and auto technology, highway communication presents the trend of highspeed running, wagon flow densification and chaufeur deprofessionaliztion.Motor traffic accidents brings great threat also to the lives and properties of people, and it is directly connected to the safety of people's life and property.How to improve the casualties in vehicle safety, minimizing traffic accident, day by day become the hot issue of automotive research and design field.
As a kind of method of raising vehicle dynamic performance newly, four-wheel steering technology has obtained increasing attention and application.Research shows, when automobile turns under steam, due to the effect by side force, front-wheel has the characteristic of understeering, and trailing wheel has the tendency of oversteer.The latter can cause automobile to lose the stability of Turning travel, and the higher problem of the speed of a motor vehicle is more obvious, even occurs breakking away overturning.Solution is generally compensate by making trailing wheel rotate 1 ° ~ 2 ° in the direction identical with front-wheel.
Current automobile back wheel active steering apparatus, mainly adopts linear stepping motor, the gear rack type steering engine structure under the adjustment of control system on Direct driver rear-wheel steering system assembly, and then realizes the Small-angle Rotation of trailing wheel by pulling round pull bar.But for current trailing wheel active steering apparatus, only rely on linear stepping motor to drive steering track rod transverse shifting, need the occasion of larger steering torque at some, such as muddy road surface or when needing larger angle to turn to, often there is certain limitation.
Summary of the invention
The technical matters solved: for the deficiencies in the prior art, the present invention proposes a kind of trailing wheel active steering apparatus, solves existing automobile back wheel active steering apparatus and drives the mode of steering track rod cross travel cannot provide the technical matters of larger steering torque by means of only performing stepping motor.
Technical scheme: for solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of trailing wheel active steering apparatus, for adopting the electronlmobil of wheel hub motor individual drive, comprises linear stepping motor, torque amplification device assembly, rear-wheel steering system assembly, steering swivel and trailing wheel Wheeling System assembly;
Described steering swivel is fixed on trailing wheel Wheeling System assembly, described rear-wheel steering system assembly is provided with steering inner articulated shaft, described linear stepping motor will be delivered on the steering inner articulated shaft of rear-wheel steering system assembly by torque amplification device assembly after moment amplification, rear-wheel steering system assembly and then be delivered on steering swivel.
In the prior art, adopt the rear-wheel steering system assembly of the electronlmobil of wheel hub motor individual drive comprise steering inner articulated shaft, with steering inner articulated shaft the gear rack type steering engine structure be fixedly connected with and the steering track rod be connected with described gear rack type steering engine structure by steering ball end, steering track rod and then be connected with the steering trapezoidal arm of steering swivel thus be applied on Wheeling System assembly.But, in prior art, directly utilize linear stepping motor to drive rear-wheel steering system assembly, difference with the prior art of the present invention is, increase a torque amplification device assembly as the attaching parts between linear stepping motor and rear-wheel steering system assembly, by the rotary motion that the transform linear motion of linear stepping motor is steering inner articulated shaft on rear-wheel steering system assembly, torque amplification device assembly carries out moment amplification by the steering hardware pipe link increasing action arm of force on it, is finally applied on steering swivel and is with motor car wheel to turn to.
Further, in the present invention, described torque amplification device assembly comprises motor pipe link, intermediate connector and steering hardware pipe link, described steering swivel system pipe link one end is connected with universal-joint, and intermediate connector is enclosed within steering swivel system pipe link and forms guide rail slide block mechanism, described motor pipe link one end is fixed with motor adapter sleeve, and the other end of motor pipe link is connected on intermediate connector.
Further, in the present invention, described steering inner articulated shaft is provided with trailing wheel rotary angle transmitter.Adopt the electronlmobil of wheel hub motor individual drive, 4 wheels of vehicle body are all provided with wheel hub motor and realize individual drive; And existing general automobile all can be provided with wheel steering sensor, for detecting the corner that bearing circle is also front-wheel, for the situation that there will be trailing wheel corner during automobile turning and excessively easily turn on one's side, increase now the trailing wheel rotary angle transmitter for detecting trailing wheel corner newly, can in real time to control system feedback trailing wheel corner situation and then adjust the rotating speed of wheel hub motor on trailing wheel by control system and then adjustment trailing wheel corner carries out assisted diversion.
Further, in the present invention, described motor adapter sleeve and motor pipe link are fixed by pin.By motor adapter sleeve, motor pipe link and linear stepping motor are coupled together.
Further, in the present invention, described motor pipe link and intermediate connector are by being connected pin-hinges.Motor pipe link and intermediate connector become overall, there is not relative motion therebetween.
Further, in the present invention, the other end of described steering swivel system pipe link is provided with nut back-up ring.Steering swivel system pipe link is followed and can be prevented steering swivel system pipe link from coming off from intermediate connector in motion process.
Further, in the present invention, the below of described universal-joint is provided with support, described support is provided with fixing device, described rear-wheel steering system assembly is provided with steering inner articulated shaft, fixing device is provided with the holes for clamping mated with steering inner articulated shaft, and described steering inner articulated shaft is connected on universal-joint by fixing device.Holes for clamping and steering inner articulated shaft contact surface can being made comparatively large by tightening up fixing device, not easily producing slip, connecting steering inner articulated shaft solid and reliable.
A kind of control system of trailing wheel active steering apparatus, the many groups sensor comprising ECU (Electrical Control Unit) and be attached thereto, many groups sensor comprises wheel steering angle transducer, front-wheel wheel speed sensors, car speed sensor, yaw angular transducer, lateral acceleration sensor, trailing wheel rotary angle transmitter, and the vehicle motion parameters detected is passed to ECU (Electrical Control Unit) by these sensors; Described ECU (Electrical Control Unit) calculates linear stepping motor controlling valu according to the vehicle motion parameters received and passes to linear stepping motor, linear stepping motor and then motion progressively drive torque multiplying arrangement assembly, rear-wheel steering system assembly, be applied on trailing wheel Wheeling System assembly eventually through steering swivel, realize controlling the steering torque that front and back wheel synchronously turned to, regulated trailing wheel and the wheel hub motor rotating speed assisted diversion changed on trailing wheel.
Vehicle motion parameters record is passed to ECU (Electrical Control Unit) by sensor by this control system, the comprehensive various vehicle motion parameters of ECU (Electrical Control Unit), calculate on the one hand steering torque that trailing wheel needs to reach and then driving linear stepping motor is supplied to the enough steering torques of trailing wheel, the opposing party calculates the corner difference of front and back wheel, the wheel hub motor on trailing wheel Wheeling System assembly is driven to change corner, keep trailing wheel synchronous with front-wheel, prevent trailing wheel oversteer and make vehicle body unstability.This control system lays particular emphasis on the explanation of design philosophy, and the concrete software and hardware realized involved by above-mentioned control system is prior art, those skilled in the art have the ability only just can reappear this control system according to the existing knowledge grasped, therefore are not repeated herein.
Beneficial effect:
The present invention is applicable to the electronlmobil adopting wheel hub motor individual drive, there are 2 innovations: one is add torque amplification device assembly between linear stepping motor and rear-wheel steering system assembly, the Design of Hardware Architecture of torque amplification device assembly is the maximum innovative point of the present invention; Another is fed back by the detection of sensor, can realize the control to trailing wheel corner;
Torque amplification device assembly wherein, by the rotation that the transform linear motion of linear stepping motor is steering inner articulated shaft on rear-wheel steering system assembly, finally being applied on steering swivel drives trailing wheel to rotate, the method of rear-wheel steering system assembly was driven compared to originally directly utilizing linear stepping motor, torque amplification device assembly can provide larger steering torque for turning to of trailing wheel, is applicable to the occasion that some turn to difficulty;
In addition, the kinematic parameter in automobile sport process is known by multiple sensor, the corner of the front and back wheel especially in motor turning process, can by these information feed back in the control system of automobile, control system is according to automobile sport demand and actual motion situation, calculate the corner value of front and back wheel, the different rotating speeds of 2 wheel hub motors of active adjustment trailing wheel, thus change trailing wheel corner carries out assisted diversion;
The realization of above-mentioned functions, also all depend on control system, the formation of control system is inseparable with sensor, control system is that hardware configuration completes the auxiliary of complete function, wherein sensor is as the detecting device of kinematic parameter, coordinates with ECU (Electrical Control Unit), forms feedback, according to the moment of torsion and angle etc. of the automatic vehicles trailing wheel of vehicle travel situations, automobile dynamic property and safety in the process of moving is all protected.
Accompanying drawing explanation
Fig. 1 is that structural representation of the present invention is always schemed;
Fig. 2 is the structural representation turning to torque amplification device in the present invention;
Fig. 3 is a kind of schematic diagram of trailing wheel active steering control system.
Have in figure: foresteerage gear 1, front-wheel 2, front-wheel hub motor 3, wheel speed sensors 4, wheel steering angle transducer 5, bearing circle 6, car speed sensor 7, yaw-rate sensor 8, lateral acceleration sensor 9, linear stepping motor 10, ECU (Electrical Control Unit) 11, trailing wheel 12, rear wheel hub motors 13, torque amplification device assembly 20, motor adapter sleeve 21, motor pipe link 22, connect pin 23, nut back-up ring 24, intermediate connector 25, steering swivel system pipe link 26, universal-joint 27, rear-wheel steering system assembly 30, trailing wheel rotary angle transmitter 31, steering inner articulated shaft 32, steering hardware 33, steering track rod 34, steering swivel 40, trailing wheel Wheeling System assembly 50, wheel hub motor 51, wheel hub 52, tire 53.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, be a kind of trailing wheel active steering apparatus, comprise linear stepping motor 10, torque amplification device assembly 20, rear-wheel steering system assembly 30, steering swivel 40 and trailing wheel Wheeling System assembly 50;
Described trailing wheel Wheeling System assembly 50 comprises tire 53, wheel hub 52 and wheel hub motor 51, described wheel hub motor 51 is arranged on the center of wheel hub 52 for driving vehicle wheel rotation, and lay respectively at the rotating speed of two wheel hub motors 51 on two rear wheels by active adjustment, outside when making to turn to, wheel speed is higher than inner side wheel speed.Described steering swivel 40 is arranged on by key connection mode on the motor shaft of wheel hub motor 51, one of parts important when being motor turning, impact load changeable under being mainly used in bearing motoring condition, support and drive wheel flutter rotate around stub and make motor turning, there is very high intensity, vehicle steadily can be made to travel and sensitive transmission travel direction.
Rear-wheel steering system assembly 30 comprises steering inner articulated shaft 32, steering hardware 33 and steering track rod 34.Described steering hardware 33 is pinion and-rack structure, steering inner articulated shaft 32 drives the pinion rotation on steering hardware 33 and then band carry-over bar to move, tooth bar is connected by steering ball end one end with steering track rod 34, steering track rod 34 other end is connected with the steering trapezoidal arm of steering swivel 40, and steering track rod 34 pulls round joint 40 and drives trailing wheel Wheeling System assembly 50 to rotate.
A kind of important spare part that linear stepping motor 10 needs when being and turning to is the power resources of vehicle wheel rotation required torque.The present invention passes through to increase torque amplification device assembly 20 between linear stepping motor 10 and rear-wheel steering system assembly 30, to be delivered on rear-wheel steering system assembly 30 after moment amplification, in order to provide larger moment, meet the demand of the needs high-torque situations such as muddy highway.
As shown in Figure 2, described torque amplification device assembly 20 comprises motor pipe link 22, steering swivel system pipe link 26 and intermediate connector 25, described steering swivel system pipe link 26 one end is connected with universal-joint 27, the other end is provided with nut back-up ring 24, and intermediate connector 25 is enclosed within steering swivel system pipe link 26 and forms guide rail slide block mechanism, nut back-up ring 24 can prevent steering swivel system pipe link 26 landing from intermediate connector 25 in motion process, described motor pipe link 22 one end is fixed with motor adapter sleeve 21 for being connected with the motor shaft of linear stepping motor by motor pipe link 22 by pin, the other end of motor pipe link 22 is connected on intermediate connector 25 by connecting pin 23.
The straight-line motion of linear stepping motor 10 is passed to motor pipe link 22 by motor adapter sleeve 21, pull round system pipe link 26 by intermediate connector 25 to rotate around intermediate connector 25, because steering hardware pipe link 26 is fixedly connected with universal-joint 27, and universal-joint 27 and steering inner articulated shaft 32 are connected, so rotated by the steering inner articulated shaft 32 rotarily driven in rear-wheel steering system assembly 30 of universal-joint 27.
As shown in Figure 3, be a kind of schematic diagram of trailing wheel active steering control system.
Fig. 3 schematically illustrates the control part of the electronlmobil by wheel hub motor individual drive.Wherein front-wheel 2 is provided with wheel speed sensors 4, front-wheel hub motor 3, and also have foresteerage gear 1 between front-wheel 2, this foresteerage gear 1 is directly connected with bearing circle 6, and can detect front-wheel 2 corner by wheel steering angle transducer 5; Control part on back wheels of vehicle 12 shown in middle introduction, repeats no more as shown in Figure 1, Figure 2; Also have car speed sensor 7, yaw-rate sensor 8, lateral acceleration sensor 9 in addition for detecting the correlation parameter in driving conditions.Various sensor and linear stepping motor 10 are all formed interconnected with electric-control system 11, and the information detected is passed to electric-control system 11 by sensor, and electric-control system 11 moves according to the controlled reset linear stepping motor 10 of sensor.
This control system is when automobile operation turns to, steering wheel angle sensor 5 and wheel speed sensors 4 send the information that front-wheel 2 turns to ECU (Electrical Control Unit) 11, simultaneously, the vehicle motion parameters monitored separately is also passed to ECU (Electrical Control Unit) 11 by car speed sensor 7, yaw-rate sensor 8 and lateral acceleration sensor 9, in addition, the corner information of trailing wheel 12 is also passed to ECU (Electrical Control Unit) 11 by trailing wheel rotary angle transmitter 31 in the lump; The information of the comprehensive all the sensors of ECU (Electrical Control Unit) 11 carries out the control of analytical calculation realization to vehicle body.
Concrete, when vehicle be in low-angle turn to time, ECU (Electrical Control Unit) 11 Real-Time Monitoring condition of the vehicle, difference between the deflection angle (i.e. the deflection angle of front-wheel 2) that calculated direction dish rotary angle transmitter 5 is measured and trailing wheel 12 actual steering angle, drag torque multiplying arrangement assembly 20, drive rear-wheel steering system assembly 30 and then drive trailing wheel 12 to realize low-angle and turn to, achieve synchronously turning to of front and back wheel;
When automobile is in the larger steering torque of needs, ECU (Electrical Control Unit) 11 can calculate required steering torque according to the feedback of each sensor, and then drives linear stepping motor 10 by torque amplification device assembly 20 amplifying moment and then pass to trailing wheel Wheeling System assembly 50 to meet the demand of large steering torque.
In addition, only take turns active steering apparatus rearward cannot realize when vehicle needs wide-angle to turn to, now ECU (Electrical Control Unit) 11 directly regulates the rotating speed of 2 rear wheel hub motors 13 to carry out trailing wheel differential according to the feedback of sensor to carry out assisted diversion, and then ensures that trailing wheel active steering apparatus can meet the needs of Vehicular turn as much as possible.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. a trailing wheel active steering apparatus, for adopting the electronlmobil of wheel hub motor individual drive, it is characterized in that: comprise linear stepping motor (10), torque amplification device assembly (20), rear-wheel steering system assembly (30), steering swivel (40) and trailing wheel Wheeling System assembly (50);
Described steering swivel (40) is fixed on trailing wheel Wheeling System assembly (50), described rear-wheel steering system assembly (30) is provided with steering inner articulated shaft (32), described linear stepping motor (10) will be delivered on the steering inner articulated shaft (32) of rear-wheel steering system assembly (30) by torque amplification device assembly (20) after moment amplification, rear-wheel steering system assembly (30) and then be delivered on steering swivel (40);
Described torque amplification device assembly (20) comprises motor pipe link (22), steering swivel system pipe link (26) and intermediate connector (25), described steering swivel system pipe link (26) one end is connected with universal-joint (27), and intermediate connector (25) is enclosed within, and steering swivel system pipe link (26) is upper forms guide rail slide block mechanism, described motor pipe link (22) one end is fixed with motor adapter sleeve (21), and the other end of motor pipe link (22) is connected on intermediate connector (25).
2. trailing wheel active steering apparatus according to claim 1, is characterized in that: described steering inner articulated shaft (32) is provided with trailing wheel rotary angle transmitter (31).
3. trailing wheel active steering apparatus according to claim 1, is characterized in that: described motor adapter sleeve (21) and motor pipe link (22) are fixed by pin.
4. trailing wheel active steering apparatus according to claim 1, is characterized in that: described motor pipe link (22) is hinged by being connected pin (23) with intermediate connector (25).
5. trailing wheel active steering apparatus according to claim 1, is characterized in that: the other end of described steering swivel system pipe link (26) is provided with nut back-up ring (24).
6. trailing wheel active steering apparatus according to claim 1, it is characterized in that: the below of described universal-joint (27) is provided with support (28), described support (28) is provided with fixing device, fixing device is provided with the holes for clamping mated with steering inner articulated shaft (32), and described steering inner articulated shaft (32) is connected on universal-joint (27) by fixing device.
7. the control system of a trailing wheel active steering apparatus, it is characterized in that: the many groups sensor comprising ECU (Electrical Control Unit) (11) and be attached thereto, many groups sensor comprises wheel steering angle transducer (5), front-wheel wheel speed sensors (4), car speed sensor (7), yaw angular transducer (8), lateral acceleration sensor (9), trailing wheel rotary angle transmitter (31), and the vehicle motion parameters detected is passed to ECU (Electrical Control Unit) by these sensors; Described ECU (Electrical Control Unit) (11) calculates linear stepping motor controlling valu according to the vehicle motion parameters received and passes to linear stepping motor (10), linear stepping motor (10) and then motion progressively drive torque multiplying arrangement assembly (20), rear-wheel steering system assembly (30), be applied on trailing wheel Wheeling System assembly (50) eventually through steering swivel (40), realize controlling the steering torque that front and back wheel synchronously turned to, regulated trailing wheel and the wheel hub motor rotating speed assisted diversion changed on trailing wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410380781.1A CN104097688B (en) | 2014-08-04 | 2014-08-04 | A kind of trailing wheel active steering apparatus and control system thereof |
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| CN201410380781.1A CN104097688B (en) | 2014-08-04 | 2014-08-04 | A kind of trailing wheel active steering apparatus and control system thereof |
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| CN104097688A CN104097688A (en) | 2014-10-15 |
| CN104097688B true CN104097688B (en) | 2016-04-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107351913B (en) * | 2017-07-17 | 2023-09-05 | 中通客车股份有限公司 | Active steering device for rear wheel |
| CN109557836B (en) * | 2017-09-26 | 2021-05-14 | 比亚迪股份有限公司 | Controller circuit board, controller and vehicle of rear wheel follow-up steering system |
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|---|---|---|---|---|
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| KR20110081608A (en) * | 2010-01-08 | 2011-07-14 | (주)브이이엔에스 | Electric power steering and control method thereof |
| CN102574541A (en) * | 2009-12-08 | 2012-07-11 | 本田技研工业株式会社 | Method of manufacturing motorized power steering device |
| CN203974929U (en) * | 2014-08-04 | 2014-12-03 | 东南大学 | A kind of trailing wheel active steering apparatus and control system thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3660635B2 (en) * | 2002-03-05 | 2005-06-15 | 三菱電機株式会社 | Electric power steering control device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201484168U (en) * | 2009-08-21 | 2010-05-26 | 山东大学 | Integrative wheel assembly with independent driving, steering, hanging and braking |
| CN102574541A (en) * | 2009-12-08 | 2012-07-11 | 本田技研工业株式会社 | Method of manufacturing motorized power steering device |
| KR20110081608A (en) * | 2010-01-08 | 2011-07-14 | (주)브이이엔에스 | Electric power steering and control method thereof |
| CN203974929U (en) * | 2014-08-04 | 2014-12-03 | 东南大学 | A kind of trailing wheel active steering apparatus and control system thereof |
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