CN106080754B - For the line traffic control independent steering manipulation device and its method of operating of unilateral electrical fault - Google Patents
For the line traffic control independent steering manipulation device and its method of operating of unilateral electrical fault Download PDFInfo
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- CN106080754B CN106080754B CN201610532548.XA CN201610532548A CN106080754B CN 106080754 B CN106080754 B CN 106080754B CN 201610532548 A CN201610532548 A CN 201610532548A CN 106080754 B CN106080754 B CN 106080754B
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- combined cover
- steering
- rack
- planet carrier
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/12—Steering gears mechanical of rack-and-pinion type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/043—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
- B62D5/0433—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type
- B62D5/0436—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear the clutch being of on-off type the clutch being a controlled emergency clutch, e.g. for disconnecting at motor break-down
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
- B62D5/0478—Clutches
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses the line traffic control independent steering manipulation device and its method of operating for unilateral electrical fault, the device includes steering motor, clutch, planetary gear, change-speed gearing, linkage shift fork and rack and pinion drive mechanism, the wherein both ends of clutch and connected respectively on the motor shaft of steering motor and the gear shaft of planetary gear sun gear；Linkage shift fork is connected on the first combined cover, the second combined cover and the 3rd combined cover, and the first combined cover and the 3rd combined cover are socketed in fixing axle, and the second combined cover is socketed on the gear shaft of the 3rd gear；First gear and second gear empty set are on the gear shaft of the 3rd gear, first gear and planet carrier gear engagement, second gear and the engagement of planetary gear ring.The present invention is by changing gearratio so that the certain steering motor of stand-by power can provide enough steering forces for Liang Ge steering mechanism in case of a fault, so as to ensure that the vehicle of unilateral steering motor failure has enough Turning travel self-saving abilities.
Description
Technical field
The invention belongs to automobile line traffic control independent steering technical field, and in particular to independent for the line traffic control of unilateral electrical fault
Steering apparatus and its method of operating.
Background technology
With the continuous development of automotive electronic technology and integrated, the electric line control technology (X-by-wire) of automotive system
Obtain increasingly extensive attention.Line traffic control independent steering technology makes it possible vehicle multi-wheel independent steering, carries to greatest extent
The high handling maneuver performance of vehicle.Compared to traditional steering, line traffic control independent steering system can accelerate turning for system
Ensure the stability of vehicle to response, during high speed, reduce the turning radius of automobile during low speed.But due to each steering-by-wire car
Wheel is independent of one another, without the mechanical connection on ordinary meaning, if the steering of some wheel breaks down and causes and turn
To out of control, whole line traffic control independent steering system will certainly be made to paralyse.
Chinese patent " a kind of fault diagnosis system of automobile steer-by-wire system (B of CN 101559746) " discloses one
Kind uses the fault diagnosis system of the automobile steer-by-wire system of embedded layer architecture.The system is based on controller local area network
(Cont-roller Area Network, CAN) is communicated, there is provided breakdown judge strategy, so as to judge that wire-controlled steering system is
It is no to break down.Chinese patent " is applied to the redundant fault-tolerant control method (CN 102320325 of double-motor steering-by-wire system
B the redundant fault-tolerant control method of the wire-controlled steering system applied to bi-motor) " is provided.This method is mainly controlled by center
The working condition of fault diagnostic program monitoring angle electrical machinery and secondary main motor in device judges whether failure.
Compared to mechanical system, the probability that motor breaks down can be much larger.For the failure of motor, Chinese patent is " solely
Vertical steering motor fault control system (CN100467327C) " discloses a kind of fault control system of independent steering motor.When turn
When there is electric fault to motor, the system is carried out the power of other steering motors mainly by controlling electromagnetic clutch
Redistribute, and then recover the basic Turning travel function of vehicle, so as to which there is support vehicles enough Turning travels to save oneself energy
Power.But there is no the function of variable ratio in the art solutions.Motor is chosen in practical application to be needed after considering motor
Standby power.If some steering motor breaks down, a part of power drive failure is distributed using other normal motors
Steering, then the stand-by power of motor needs to choose very big.However, the cost of motor it is basic with the power of motor into
Direct ratio, that is to say, that the cost of excessive stand-by power meeting lifting motor, while can also increase the size and weight of motor.
, can be with the standby motor power-up magnetic clutch of each line traffic control independent steering system multi-configuration one for the failure of motor
Device can also add one towards electrical fault as Redundancy Design merely with stand-by power motor as small as possible
Line traffic control independent steering manipulation device realize the reparation of failure.Redundancy Design side is used as one standby motor of multi-configuration
Case, because motor permanent-magnet material is rare, belong to strategic material, its development can be subject to certain restrictions.For using only one
Motor adds a line traffic control independent steering manipulation device scheme towards electrical fault, and it can increase the complexity of mechanical system.
Both schemes can all increase the cost of system, and which kind of specific solution is good, need further to verify.
The content of the invention
For the failure of line traffic control independent steering system motor, the present invention proposes the line traffic control independence for unilateral electrical fault
Steering apparatus and its method of operating, realizing motor, to the deceleration of output end three-level, (planetary gear speed-reduction, change-speed gearing slow down
Slow down with rack-and-pinion) on the premise of, change the gearratio of drive line, and then steering mechanism is had enough steering forces, protect
Barrier vehicle has enough Turning travel self-saving abilities.It is as follows with reference to Figure of description, technical scheme：
For the line traffic control independent steering manipulation device of unilateral electrical fault, the line traffic control independent steering manipulation device by it is left,
Right two structure identical independent steering manipulation devices are arranged symmetrically composition；The independent steering manipulation device by steering motor,
Clutch, epicyclic train, change gear mechanism, linkage shift fork and rack and pinion drive mechanism composition；The planetary gear
System is made up of sun gear, gear ring, planetary gear and planet carrier gear；The steering motor, clutch and sun gear are sequentially coaxially
Connection；
The change gear mechanism is combined by the first combined cover, first gear, the second combined cover, second gear and the 3rd
Set sequentially coaxially arrangement composition；First combined cover and the 3rd combined cover are installed in fixing axle, the first gear with
The planet carrier gear engagement, second combined cover and the 3rd gear in rack and pinion drive mechanism are coaxially connected, described
Second gear engages with the gear ring；
The linkage shift fork is fixedly connected with the first combined cover, the second combined cover and the 3rd combined cover, stirs three combinations
Set slides vertically；
It is driven between left and right independent steering manipulation device by the planet carrier gear of both sides with middle synchronous transmission device
Connection.
For the line traffic control independent steering manipulation device of unilateral electrical fault, wherein, the synchronous transmission device is by timing belt
Formed with two the 4th gears, two the 4th gears are coaxially connected with two belt wheels of timing belt respectively, described two 4th teeth
Wheel engages with the planet carrier gear of arranged on left and right sides respectively.
For the method for operating of the line traffic control independent steering manipulation device of unilateral electrical fault, the method for operating is for one side
Electrical fault, by manipulate left and right two be arranged symmetrically and the selector fork of structure identical independent steering manipulation device with from
Clutch, realize normal, left steering electrical fault transition, the work of left steering electrical fault, the transition of right turn electrical fault and right-hand rotation
Switching between electrical fault five kinds of patterns of work, specific method of operating are as follows：
(1) the specific method of operating under normal mode is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to bottom, and left first combined cover fixes left first gear, with a left side first
The left lateral gear rack of gear engagement is fixed, and the gear of a left side the 4th engaged with left lateral gear rack is fixed, and timing belt is motionless,
Left second combined cover is coaxially connected by left second gear and left 3rd gear, and power exports through left steering motor, via the left sun
Wheel, left planetary gear, left gear ring, left second gear, left second combined cover, left 3rd gear and left rack transmit successively；
Right clutch combines, and right linkage shift fork is allocated to bottom, and right first combined cover fixes right first gear, with the right side first
The right planet carrier gear that gear is meshed is fixed, and the gear of the right side the 4th engaged with right planet carrier gear is fixed, right second knot
Trap is coaxially connected by right second gear and right 3rd gear, and power exports through right turn motor, via right sun gear, right lateral star
Gear, right gear ring, right second gear, right second combined cover, right 3rd gear and right rack transmit successively；
(2) the specific method of operating under right turn electrical fault transition mode is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to bottom, and left first combined cover fixes left first gear, with a left side first
The left lateral gear rack of gear engagement is fixed, and the gear of a left side the 4th engaged with left lateral gear rack is fixed, and timing belt is motionless,
Left second combined cover is coaxially connected by left second gear and left 3rd gear, and power exports through left steering motor, via the left sun
Wheel, left planetary gear, left gear ring, left second gear, left second combined cover, left 3rd gear and left rack transmit successively；
Right clutch separates, and power can not export through right turn motor, and right linkage shift fork is allocated to upper, right second combined cover
Right first gear and right 3rd gear is coaxially connected, and right 3rd combined cover fixes right second gear, is nibbled with right second gear
The right gear ring closed is fixed, and right 3rd combined cover, right second gear, right gear ring are locked successively；Timing belt is motionless, right 4th gear
Fixed with right planet carrier gear, the right first gear engaged with right planet carrier gear is fixed, timing belt, right 4th gear, the right side
Planet carrier gear, right first gear, right second combined cover, right 3rd gear, right rack are locked successively；
(3) the specific method of operating under right turn electrical fault mode of operation is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is by left first gear and left 3rd gear
Coaxially connected, left 3rd combined cover fixes left second gear, and the left gear ring engaged with left second gear is fixed, and power is through a left side
Steering motor exports, via left sun gear, left planetary gear, left planet carrier gear, left first gear, left second combined cover, a left side
3rd gear and left rack transmit successively；
Right clutch separates, and right linkage shift fork is allocated to upper, and right second combined cover is by right first gear and right 3rd gear
Coaxially connected, right 3rd combined cover fixes right second gear, and the right gear ring engaged with right second gear is fixed；
Power exports through left steering motor, via left sun gear, left planetary gear, left planet carrier gear, left 4th gear,
Timing belt, right 4th gear, right planet carrier gear, right first gear, right second combined cover, right 3rd gear shaft, right 3rd tooth
Wheel and right rack transmit successively, realize that right turn motor is nonserviceabled lower work；
(4) the specific method of operating under left steering electrical fault transition mode is：
Right clutch combines, and right linkage shift fork is allocated to bottom, and right first combined cover fixes right first gear, with the right side first
The right lateral gear rack of gear engagement is fixed, and the gear of the right side the 4th engaged with right lateral gear rack is fixed, and timing belt is motionless,
Right second combined cover is coaxially connected by right second gear and right 3rd gear, and power exports through right turn motor, via the right sun
Wheel, right planetary gear, right gear ring, right second gear, right second combined cover, right 3rd gear and right rack transmit successively；
Left clutch separates, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is by left first gear and left 3rd gear
Coaxially connected, left 3rd combined cover fixes left second gear, and the left gear ring engaged with left second gear is fixed, a left side the 3rd
Combined cover, left second gear, left gear ring are locked successively；Timing belt is motionless, and left 4th gear is fixed with left planet carrier gear, with a left side
The left first gear of planet carrier gear engagement is fixed, timing belt, left 4th gear, left planet carrier gear, left first gear, a left side
Second combined cover, left 3rd gear, left rack are locked successively；
(5) the specific method of operating under left steering electrical fault mode of operation is：
Right clutch combines, and right linkage shift fork is allocated to upper, and right second combined cover is by right first gear and right 3rd gear
Coaxially connected, right 3rd combined cover fixes right second gear, and the right gear ring engaged with right second gear is fixed, and power is through the right side
Steering motor exports, via right sun gear, right planetary gear, right planet carrier gear, right first gear, right second combined cover, the right side
3rd gear and right rack transmit successively；
Left clutch separates, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is by left first gear and left 3rd gear
Coaxially connected, left 3rd combined cover fixes left second gear, and the left gear ring engaged with left second gear is fixed, and power is through the right side
Steering motor exports, via right sun gear, right planetary gear, right planet carrier gear, right 4th gear, timing belt, left 4th tooth
Wheel, left planet carrier gear, left first gear, left second combined cover, left 3rd gear and left rack transmit successively.
The beneficial effects of the present invention are：
To the deceleration of output end three-level, (planetary gear speed-reduction, change-speed gearing slows down and rack-and-pinion realizing motor by the present invention
Slow down) on the premise of, change the gearratio of drive line so that the certain steering motor of a stand-by power is in case of a fault
Enough steering forces can be provided for Liang Ge steering mechanism, the locking of failure deflecting roller and non-event are realized using failure transition mode
Hinder the amendment of wheel turning angle, when non-faulting wheel turning angle is equal with the steering angle of failure deflecting roller, be switched to list
Side electrical fault mode of operation, ensure that vehicle has basic turning function, so as to which support vehicles have enough Turning travels
Self-saving ability.
Brief description of the drawings
Fig. 1 is the structural representation of the line traffic control independent steering manipulation device of the present invention for unilateral electrical fault；
Fig. 2 is the line traffic control independent steering manipulation device of the present invention for unilateral electrical fault in normal mode of operation
Under power transmission line figure；
Fig. 3 is the line traffic control independent steering manipulation device right turn electrical fault of the present invention for unilateral electrical fault
Power transmission line figure under transition mode；
Fig. 4 is the line traffic control independent steering manipulation device right turn electrical fault of the present invention for unilateral electrical fault
Power transmission line figure under mode of operation；
Fig. 5 is the line traffic control independent steering manipulation device left steering electrical fault of the present invention for unilateral electrical fault
Power transmission line figure under transition mode；
Fig. 6 is the line traffic control independent steering manipulation device left steering electrical fault of the present invention for unilateral electrical fault
Power transmission line figure under mode of operation.
In figure：
1st, left 4th gear；2nd, left sun gear；3rd, left gear ring；4th, left lateral star-wheel；
5th, left second combined cover；6th, left 3rd combined cover；7th, left 3rd gear；8th, left rack；
9th, left second gear；10th, shift fork moves in the Left-wing Federation；11st, left first gear；12nd, left first combined cover；
13rd, spline is moved left；14th, left planet carrier gear；15th, left steering motor；16th, left clutch；
17th, timing belt；18th, right planet carrier gear；19th, right turn motor；20th, right clutch；
21st, right first gear；22nd, right first combined cover；23rd, spline is moved right；24th, right second combined cover；
25th, right linkage shift fork；26th, right rack；27th, right 3rd gear；28th, right 3rd combined cover；
29th, right second gear；30th, right sun gear；31st, right gear ring；32nd, right lateral star-wheel；
33rd, right 4th gear.
Embodiment
In order to further illustrate technical scheme, with reference to Figure of description, embodiment of the invention is such as
Under：
Refering to Fig. 1, for the one of situation about breaking down of left and right independent steering wheel, the invention provides for list
The line traffic control independent steering manipulation device of side electrical fault, the line traffic control independent steering manipulation device are identical by left and right two structures
Independent steering manipulation device be arranged symmetrically composition；
Left independent steering manipulation device includes left steering motor 15, left clutch 16, left planetary gear, left change-speed gearing
Shift fork 10, left gear rack gear are moved by group, the Left-wing Federation；Wherein, left planetary gear is by left sun gear 2, left gear ring 3, left lateral star
Wheel 4 and left planet carrier gear 14 are formed, and left change-speed gearing group is made up of left first gear 11 and the parallel arrangement of left second gear 9,
Left gear rack gear is made up of left 3rd gear 7 and left rack 8.
Right independent steering manipulation device include right turn motor 19, right clutch 20, right planetary gear, right change-speed gearing,
Right linkage shift fork 10, right gear rack gear；Wherein, right planetary gear is by right sun gear 30, right gear ring 31, right lateral star-wheel
32 and right planet carrier gear 18 form, right gear rack gear is made up of right 3rd gear 27 and right rack 26.
Left independent steering manipulation device and right independent steering manipulation device are by left 4th gear 1, timing belt 17 and the right side
4th gear 33 is connected, and the left end belt wheel of left 4th gear 1 and timing belt 17 is coaxially connected, the 4th gear 33 of the right side with it is synchronous
Coaxially connected with 17 right-hand member belt wheel, left 4th gear 1 engages with left planet carrier gear 14, the gear 33 of the right side the 4th and right lateral carrier
Gear 18 engages.
One end of left clutch 16 and the motor shaft of left steering motor 15 are coaxially connected, the other end and the left side of left clutch 16
The gear shaft of sun gear 2 is coaxially connected.One end of right clutch 20 and the motor shaft of right turn motor 19 are coaxially connected, right clutch
The gear shaft of the other end of device 20 and left sun gear 30 is coaxially connected.
The gear mesh of left first gear 11 and the engagement composition of left planet carrier gear 14 with a fixed drive ratio；A left side second
The gear mesh of gear 9 and the composition of left gear ring 3 with another fixed drive ratio.The first combined cover of a left side 12 and left 3rd combined cover 6
It is socketed in fixing axle, can not rotates.Left second combined cover 5 is socketed on the gear shaft of left 3rd gear 7.Shift fork 10 moves in the Left-wing Federation
It is connected on left first combined cover 12, left second combined cover 5 and left 3rd combined cover 6, the Left-wing Federation moves shift fork 10 and may be at two
Location status, i.e., it is upper and the next.
The gear mesh of right first gear 21 and the engagement composition of right planet carrier gear 18 with a fixed drive ratio；The right side second
The gear mesh of gear 29 and the composition of right gear ring 31 with another fixed drive ratio.The first combined cover of the right side 22 and right 3rd combined cover
28 are socketed in fixing axle, can not rotate.Right second combined cover 24 is socketed on the gear shaft of right 3rd gear 27.Right linkage is dialled
Fork 25 is connected on right first combined cover 22, right second combined cover 24 and right 3rd combined cover 28, and right linkage shift fork 25 can be located
It is in two location status, i.e., upper and the next.
Present invention also offers the method for operating of the line traffic control independent steering manipulation device for unilateral electrical fault, the behaviour
Vertical method is directed to unilateral electrical fault, is arranged symmetrically and structure identical independent steering manipulation device by manipulating left and right two
Selector fork and clutch, realize normal, left steering electrical fault transition, the work of left steering electrical fault, right turn motor
Switching between failure transition and right turn electrical fault five kinds of patterns of work.
First, refering to Fig. 2, under normal mode, i.e., when left and right two steering motor all normal works, specific manipulation process
It is as follows；
Left clutch 16 and right clutch 20 are in bonding state, and the motor shaft of left steering motor 15 is connected to the left sun
On the gear shaft of wheel 2, the motor shaft of right turn motor 19 is connected on the gear shaft of right sun gear 30；
Now, the Left-wing Federation moves shift fork 10 and dials to bottom, and left first gear 11 is fixed on axle by left first combined cover 12, with
The left lateral gear rack 14 that left first gear 11 is meshed is fixed, and then the left side the 4th being meshed with left lateral gear rack 14
Gear 1 is fixed, and timing belt 17 is in motionless state, and left second combined cover 5 is by left second gear 9 and left 3rd gear 7
Axis connection；
Right linkage shift fork 25 is in bottom, and right first gear 21 is fixed on axle by right first combined cover 22, with the right side first
The right planet carrier gear 18 that gear 21 is meshed is fixed, and then the gear 33 of the right side the 4th being meshed with right planet carrier gear 18
It is fixed, right second combined cover 24 is coaxially connected by right second gear 29 and right 3rd gear 27；
The power transmission route of the pattern bottom left independent steering manipulation device is：The power exported by left steering motor 15,
Successively by the gear shaft of left sun gear 2, left sun gear 2, left planetary gear 4, left gear ring 3, left second gear 9, left second knot
Trap 5, the left axle of 3rd gear 7, left 3rd gear 7, left rack 8；
The power transmission route of the pattern bottom right independent steering manipulation device is：The power exported by right turn motor 19,
Successively by the gear shaft of right sun gear 30, right sun gear 30, right planetary gear 32, right gear ring 31, right second gear 29, right the
Two combined covers 24, the right axle of 3rd gear 27, right 3rd gear 27, right rack 26.
2nd, refering to Fig. 3 and Fig. 4, when left steering motor all normal works, right turn electrical fault, specific manipulation process
It is as follows；
1st, refering to Fig. 3, under right turn electrical fault transition mode：
Left clutch 16 combines, and right clutch 20 separates, and manipulates the dynamic shift fork 10 of the Left-wing Federation and is allowed to, in bottom, manipulate right linkage
Shift fork 25 is allowed to be in upper, now left independent steering manipulation device normal use, right independent steering manipulation device (failure side)
It is locked out, whole steering is in right turn electrical fault transition mode.
Left clutch 16 is in bonding state, and the motor shaft of left steering motor 15 is connected on the gear shaft of left sun gear 2,
Power is provided by left steering motor 15.Right clutch 20 is in released state, the motor shaft of right turn motor 19 and right sun gear
30 gear shaft separation, prevent due to the stuck caused adverse effect of motor internal.
The Left-wing Federation moves shift fork 10 and is in bottom, and left first gear 11 is connected in fixing axle by left first combined cover 12, with a left side
The left lateral gear rack 14 that first gear 11 is meshed is fixed, and then the tooth of a left side the 4th being meshed with left lateral gear rack 14
Wheel 1 is fixed, and timing belt 17 is in motionless state, and left second combined cover 5 is coaxial by left second gear 9 and left 3rd gear 7
Connection, left independent steering manipulation device normal use.
Right linkage shift fork 25 is in upper, and right second combined cover 24 connects the axle of right first gear 21 and right 3rd gear 27
Connect, right second gear 29 is connected on fixed axle by right 3rd combined cover 28, the right gear ring being meshed with right second gear 29
31 are fixed, and right independent steering manipulation device (failure side) is locked out.
Now the power transmission route of left independent steering manipulation device is：The power exported by left steering motor 15, pass through
The gear shaft of left sun gear 2, left sun gear 2, left planetary gear 4, left gear ring 3, left second gear 9, left second combined cover 5, a left side
The axle of 3rd gear 7, left 3rd gear 7, left rack 8；
Now the power transmission route of right independent steering manipulation device is：In motionless state synchronized band 17 via the right side the 4th
Gear 33 fixes right planet carrier gear 18, and the right first gear 21 being meshed with right planet carrier gear 18 is fixed, right
Gear ring 31 is connected on fixed axle by right 3rd combined cover 28, and the right second gear 29 being meshed with right gear ring 31 is fixed
Firmly, right rack 26 is locked out.
In such a mode, left steering motor 15 is controlled to be locked out in the steering angle tracking of left steering wheel (fault-free side)
Right turn wheel (failure side) steering angle.Left and right turn wheel steering angle is identical, although can not strictly meet theoretical steering
Steering geometry, according to Chinese patent " fault control system of independent steering motor (CN100467327C) ", for recovering vehicle
Basic Turning travel ability, is acceptable.
When the steering angle of right turn wheel (failure side) being locked out in the steering angle tracking of left steering wheel (non-faulting side), i.e.,
Left and right turn wheel steering angle is identical, now by the Left-wing Federation move shift fork 10 push it is upper, as shown in figure 4, whole steering is in the right side
Steering motor fail operation pattern.Under right turn electrical fault mode of operation, from left steering motor 15 to left rack 8 and right tooth
The gearratio of bar 26 is big compared to the gearratio under normal mode of operation so that the certain left steering motor 15 of a stand-by power
Enough steering forces can be provided in the case of the failure of right turn motor 19 for Liang Ge steering mechanism, but it may be noted that
It is that under this electrical fault pattern, motor needs to work under larger electric current, belongs to light overload work, it is impossible to hold for a long time
Continuous work, but the steering capability repaired nearby can be provided for driver.
2nd, refering to Fig. 4, under right turn electrical fault mode of operation：
Left clutch 16 is in bonding state, and the motor shaft of left steering motor 15 is connected to the gear shaft of left sun gear 2
On, power is provided by left steering motor 15；
Right clutch 20 is in released state, and the motor shaft of right turn motor 19 separates with the gear shaft of left sun gear 30,
Prevent due to the stuck caused adverse effect of motor internal；
The Left-wing Federation moves shift fork 10 and is in upper, and left second combined cover 5 coaxially connects left first gear 11 and left 3rd gear 7
Connect, left second gear 9 is connected on fixed axle by left 3rd combined cover 6, the quilt of left gear ring 3 being meshed with left second gear 9
Fix；
Right linkage shift fork 25 is in upper, and right second combined cover 24 coaxially connects right first gear 21 and right 3rd gear 27
Connect, right second gear 29 is connected on fixed axle by right 3rd combined cover 28, the right gear ring being meshed with right second gear 29
31 are fixed；
Now the power transmission route of left independent steering manipulation device is：The power exported by left steering motor 15, successively
By the gear shaft of left sun gear 2, left sun gear 2, left planetary gear 4, left planet carrier gear 14, left first gear 11, left the
Two combined covers 5, the left axle of 3rd gear 7, left 3rd gear 7, left rack 8；
Now the power transmission route of right independent steering manipulation device is：The power exported by left steering motor 15, successively
By the gear shaft of left sun gear 2, left sun gear 2, left planetary gear 4, left planet carrier gear 14, left 4th gear 1, timing belt
17th, right 4th gear 33, right planet carrier gear 18, right first gear 21, right second combined cover 24, the right axle of 3rd gear 27, the right side
3rd gear 27, right rack 26.
3rd, refering to Fig. 5 and Fig. 6, when right turn motor all normal works, left steering electrical fault, specific manipulation process
It is as follows；
Transition and mode of operation and foregoing right turn electrical fault in the case of left steering electrical fault provided by the invention
In the case of transition it is identical with mode of operation principle, here is omitted, now by left steering electrical fault transition mode and left-hand rotation
Following elaboration is done to the implementation process of electrical fault mode of operation.
1st, refering to Fig. 5, under left steering electrical fault transition mode：
Right clutch 20 combines, and right linkage shift fork 25 is allocated to bottom, and right first combined cover 22 fixes right first gear 21,
The right planet carrier gear 18 engaged with right first gear 21 is fixed, the right quilt of 4th gear 33 engaged with right planet carrier gear 18
Fixed, timing belt 17 is motionless, and right second combined cover 24 is coaxially connected by right second gear 29 and right 3rd gear 27, and power is through the right side
Steering motor 19 exports, via right sun gear 30, right planetary gear 32, right gear ring 31, right second gear 29, right second combined cover
24th, right 3rd gear 27 and right rack 26 transmit successively；
Left clutch 16 separates, and the Left-wing Federation moves shift fork 10 and is allocated to upper, and left second combined cover 5 is by left first gear 11 and left the
Three gears 7 are coaxially connected, and left 3rd combined cover 6 fixes left second gear 9, and the left gear ring 3 engaged with left second gear 9 is consolidated
Live calmly, left 3rd combined cover 5, left second gear 9, left gear ring 3 are locked successively；Timing belt 17 is motionless, left 4th gear 1 and left lateral
Carrier gear 14 is fixed, and the left first gear 1 engaged with left planet carrier gear 14 is fixed, timing belt 17, left 4th gear 1,
Left planet carrier gear 14, left first gear 11, left second combined cover 5, left 3rd gear 7, left rack 8 are locked successively.
2nd, refering to Fig. 6, under left steering electrical fault mode of operation：
Right clutch 20 combines, and right linkage shift fork 25 is allocated to upper, and right second combined cover 24 is by right first gear 21 and the right side
3rd gear 27 is coaxially connected, and right 3rd combined cover 28 fixes right second gear 29, the right tooth engaged with right second gear 29
Circle 31 is fixed, and power exports through right turn motor 19, via right sun gear 30, right planetary gear 32, right planet carrier gear 18,
Right first gear 21, right second combined cover 24, right 3rd gear 27 and right rack 26 transmit successively；
Left clutch 16 separates, and the Left-wing Federation moves shift fork 10 and is allocated to upper, and left second combined cover 5 is by left first gear 11 and left the
Three gears 7 are coaxially connected, and left 3rd combined cover 6 fixes left second gear 9, and the left gear ring 3 engaged with left second gear 9 is consolidated
Fixed, power exports through right turn motor 19, via right sun gear 30, right planetary gear 32, right planet carrier gear 18, right 4th tooth
Wheel 33, timing belt 17, left 4th gear 1, left planet carrier gear 14, left first gear 11, left second combined cover 5, left 3rd tooth
Wheel 7 and left rack 8 transmit successively.
Claims (1)
1. the method for operating of the line traffic control independent steering manipulation device for unilateral electrical fault, the line traffic control independent steering manipulates dress
Put to be arranged symmetrically by left and right two structures identical independent steering manipulation device and form；
The independent steering manipulation device by steering motor, clutch, epicyclic train, change gear mechanism, linkage shift fork with
And rack and pinion drive mechanism composition；
The epicyclic train is made up of sun gear, gear ring, planetary gear and planet carrier gear；
The steering motor, clutch and sun gear sequentially coaxially connect；
The change gear mechanism by the first combined cover, first gear, the second combined cover, second gear and the 3rd combined cover according to
Secondary coaxially arranged composition；First combined cover and the 3rd combined cover are installed in fixing axle, the first gear with it is described
Planet carrier gear engages, and second combined cover and the 3rd gear in rack and pinion drive mechanism are coaxially connected, and described second
Gear engages with the gear ring；
The linkage shift fork is fixedly connected with the first combined cover, the second combined cover and the 3rd combined cover, stirs three combined cover edges
Axial slip；
It is driven and is connected with middle synchronous transmission device by the planet carrier gear of both sides between left and right independent steering manipulation device
Connect, it is characterised in that：
The method of operating is directed to unilateral electrical fault, is arranged symmetrically and structure identical independently turns by manipulating left and right two
The selector fork and clutch of fore-and-aft motion, realize normal, left steering electrical fault transition, the work of left steering electrical fault,
Switching between the transition of right turn electrical fault and right turn electrical fault five kinds of patterns of work, specific method of operating are as follows：
(1) the specific method of operating under normal mode is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to bottom, and left first combined cover fixes left first gear, with left first gear
The left lateral gear rack of engagement is fixed, and the gear of a left side the 4th engaged with left lateral gear rack is fixed, and timing belt is motionless, and left the
Two combined covers are coaxially connected by left second gear and left 3rd gear, and power exports through left steering motor, via left sun gear, a left side
Planetary gear, left gear ring, left second gear, left second combined cover, left 3rd gear and left rack transmit successively；
Right clutch combines, and right linkage shift fork is allocated to bottom, and right first combined cover fixes right first gear, with right first gear
The right planet carrier gear being meshed is fixed, and the gear of the right side the 4th engaged with right planet carrier gear is fixed, right second combined cover
Right second gear and right 3rd gear is coaxially connected, and power exports through right turn motor, via right sun gear, right lateral star tooth
Wheel, right gear ring, right second gear, right second combined cover, right 3rd gear and right rack transmit successively；
(2) the specific method of operating under right turn electrical fault transition mode is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to bottom, and left first combined cover fixes left first gear, with left first gear
The left lateral gear rack of engagement is fixed, and the gear of a left side the 4th engaged with left lateral gear rack is fixed, and timing belt is motionless, and left the
Two combined covers are coaxially connected by left second gear and left 3rd gear, and power exports through left steering motor, via left sun gear, a left side
Planetary gear, left gear ring, left second gear, left second combined cover, left 3rd gear and left rack transmit successively；
Right clutch separates, and power can not export through right turn motor, and right linkage shift fork is allocated to upper, and the second combined cover of the right side is by the right side
First gear and right 3rd gear are coaxially connected, and right 3rd combined cover fixes right second gear, is engaged with right second gear
Right gear ring is fixed, and right 3rd combined cover, right second gear, right gear ring are locked successively；Timing belt is motionless, right 4th gear and the right side
Planet carrier gear is fixed, and the right first gear engaged with right planet carrier gear is fixed, timing belt, right 4th gear, right lateral star
Frame gear, right first gear, right second combined cover, right 3rd gear, right rack are locked successively；
(3) the specific method of operating under right turn electrical fault mode of operation is：
Left clutch combines, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is coaxial by left first gear and left 3rd gear
Connection, left 3rd combined cover fix left second gear, and the left gear ring engaged with left second gear is fixed, and power is through left steering
Motor exports, via left sun gear, left planetary gear, left planet carrier gear, left first gear, left second combined cover, a left side the 3rd
Gear and left rack transmit successively；
Right clutch separates, and right linkage shift fork is allocated to upper, and right second combined cover is coaxial by right first gear and right 3rd gear
Connection, right 3rd combined cover fix right second gear, and the right gear ring engaged with right second gear is fixed；
Power exports through left steering motor, via left sun gear, left planetary gear, left planet carrier gear, left 4th gear, synchronization
Band, right 4th gear, right planet carrier gear, right first gear, right second combined cover, right 3rd gear shaft, right 3rd gear and
Right rack transmits successively, realizes that right turn motor is nonserviceabled lower work；
(4) the specific method of operating under left steering electrical fault transition mode is：
Right clutch combines, and right linkage shift fork is allocated to bottom, and right first combined cover fixes right first gear, with right first gear
The right lateral gear rack of engagement is fixed, and the gear of the right side the 4th engaged with right lateral gear rack is fixed, and timing belt is motionless, and right the
Two combined covers are coaxially connected by right second gear and right 3rd gear, and power exports through right turn motor, via right sun gear, the right side
Planetary gear, right gear ring, right second gear, right second combined cover, right 3rd gear and right rack transmit successively；
Left clutch separates, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is coaxial by left first gear and left 3rd gear
Connection, left 3rd combined cover fix left second gear, and the left gear ring engaged with left second gear is fixed, and a left side the 3rd combines
Set, left second gear, left gear ring are locked successively；Timing belt is motionless, and left 4th gear is fixed with left planet carrier gear, with left lateral star
The left first gear of frame gear engagement is fixed, timing belt, left 4th gear, left planet carrier gear, left first gear, a left side second
Combined cover, left 3rd gear, left rack are locked successively；
(5) the specific method of operating under left steering electrical fault mode of operation is：
Right clutch combines, and right linkage shift fork is allocated to upper, and right second combined cover is coaxial by right first gear and right 3rd gear
Connection, right 3rd combined cover fix right second gear, and the right gear ring engaged with right second gear is fixed, and power is through right turn
Motor exports, via right sun gear, right planetary gear, right planet carrier gear, right first gear, right second combined cover, the right side the 3rd
Gear and right rack transmit successively；
Left clutch separates, and the Left-wing Federation moves shift fork and is allocated to upper, and left second combined cover is coaxial by left first gear and left 3rd gear
Connection, left 3rd combined cover fix left second gear, and the left gear ring engaged with left second gear is fixed, and power is through right turn
Motor exports, via right sun gear, right planetary gear, right planet carrier gear, right 4th gear, timing belt, left 4th gear, a left side
Planet carrier gear, left first gear, left second combined cover, left 3rd gear and left rack transmit successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610532548.XA CN106080754B (en) | 2016-07-07 | 2016-07-07 | For the line traffic control independent steering manipulation device and its method of operating of unilateral electrical fault |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610532548.XA CN106080754B (en) | 2016-07-07 | 2016-07-07 | For the line traffic control independent steering manipulation device and its method of operating of unilateral electrical fault |
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| CN106080754B true CN106080754B (en) | 2018-03-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112572058B (en) | 2019-09-30 | 2022-04-15 | 比亚迪股份有限公司 | Drive axle assembly for vehicle |
| CN112572057B (en) * | 2019-09-30 | 2022-08-09 | 比亚迪股份有限公司 | Drive axle assembly for vehicle |
| CN112721894B (en) * | 2021-01-21 | 2022-01-11 | 江苏大学 | Three-motor integrated high-reliability intelligent linear control system and control method thereof |
| CN115447665B (en) * | 2022-10-24 | 2023-11-28 | 吉林大学 | Safe and redundant electric automobile dual-motor steering system and control method thereof |
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| DE10055160A1 (en) * | 2000-11-08 | 2002-05-23 | Bayerische Motoren Werke Ag | Steer-by-wire vehicle steering system has linear motor with single movable carriage, electrically separate windings in series in transverse housing next to left and right wheels |
| CN1727241A (en) * | 2004-07-29 | 2006-02-01 | 上海燃料电池汽车动力系统有限公司 | Fault control system of independent steering motor |
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| CN106080754A (en) | 2016-11-09 |
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