CN107176205A - A kind of four wheels of electric automobile steering and control method - Google Patents
A kind of four wheels of electric automobile steering and control method Download PDFInfo
- Publication number
- CN107176205A CN107176205A CN201710469132.2A CN201710469132A CN107176205A CN 107176205 A CN107176205 A CN 107176205A CN 201710469132 A CN201710469132 A CN 201710469132A CN 107176205 A CN107176205 A CN 107176205A
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- Prior art keywords
- steering
- wheel
- axle
- axle steering
- controller
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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
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1581—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by comprising an electrical interconnecting system between the steering control means of the different axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Abstract
The present invention relates to a kind of four wheels of electric automobile steering and control method.The four-wheel steering system includes nose wheel steering and rear-wheel steering system；Wherein, the nose wheel steering includes steering wheel, angular transducer, entire car controller, electric power steering pump, foresteerage gear；The rear-wheel steering system includes steering wheel, angular transducer, vehicle speed sensor, entire car controller, rear-axle steering controller, rear-axle steering motor, position sensor, rear-axle steering mechanism.The control method includes nose wheel steering control method and rear-wheel steering system control method, in wherein described rear-wheel steering system control method, can be according to the different control action of speed selection, can also be according to feedback information amendment steering angle, both turning precision can be ensured, and security when turning can be lifted.
Description
Technical field
It is to be related to a kind of electric automobile four specifically the present invention relates to electric automobile parts and control system field
Take turns steering and control method.
Background technology
Traditional automobile steering system is front-wheel steer, and trailing wheel is not involved in turning to；Electric automobile has largely also continued to use this
A kind of steering of sample.Such steering cause automobile turning when radius of turn it is larger, turn to it is dumb, especially exist
The business district or parking lot of narrow space, the steering of vehicle are limited by than larger.
In order to overcome the shortcomings of nose wheel steering, electric automobile part field occurs in that a kind of four-wheel steering system.
Application No. 200510071886.X patent document discloses a kind of four-wheel steering device of electric vehicle, its technology
Scheme includes steering unit for front wheels, electronic control unit, apparatus for rear wheel steering, confirms as immediate prior art；But should
Scheme is not provided with velocity sensor, it is impossible to different replies is used according to speed difference, when being turned in the case of speed is faster
The synchronous steering mode that flexibility is larger is still taken, danger is larger when causing to turn；
Therefore, a kind of new four wheels of electric automobile steering is designed so that four-wheel steering system is meeting the work(of prior art
Outside energy, additionally it is possible to use the steering pattern being more suitable for improve security during turning according to speed difference, be this area skill
Art personnel technical problem urgently to be resolved hurrily.
In order to coordinate with the new four wheels of electric automobile steering, realization automatically selects control model according to speed
Purpose of design, those skilled in the art also need to propose a kind of new four wheels of electric automobile steering control method.
The content of the invention
The technical problem to be solved in the present invention is：Design a kind of new four wheels of electric automobile steering so that steering system
System is when turning outside the controlled rotation of front-and-rear-wheel steering system, additionally it is possible to different according to speed, using different reply patterns；
A kind of new four wheels of electric automobile steering control method of design is also needed to, control model is automatically selected according to speed to realize
Function.
To solve aforementioned technical problem, technical scheme proposed by the present invention is as follows：
A kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system, it is characterised in that：
Wherein, the nose wheel steering includes steering wheel, angular transducer, entire car controller, electric power steering pump, front-wheel
Steering mechanism；
The rear-wheel steering system includes steering wheel, angular transducer, vehicle speed sensor, entire car controller, rear-axle steering control
Device, rear-axle steering motor, position sensor, rear-axle steering mechanism；
The steering wheel is connected by power transmission shaft and drives foresteerage gear, and the angular transducer is arranged on steering wheel,
Entire car controller is connected by CAN and the steering angle signal measured is transmitted；The vehicle speed sensor is arranged at wheel
On, entire car controller is connected by CAN and the rate signal measured is transmitted；The entire car controller passes through CAN
Electric power steering pump, rear-axle steering controller are connected respectively and transmit signal；Rotated before the electric power steering pump connection
Power-assisted is provided to mechanism and when foresteerage gear is acted；The rear-axle steering controller is electrically connected with rear-axle steering motor,
Rear-axle steering controller can calculate the control signal of needs according to the angle signal of reception, rate signal and default formula,
And rear-axle steering motor is sent control signals to by the circuit of connection；The rear-axle steering electromechanics connects rear-axle steering
Mechanism, is acted according to the control signal received and drives rear-axle steering mechanism；The position sensor is arranged at trailing wheel
Inside steering motor, connect rear-axle steering controller and transmit the position quantity signal that the rear-axle steering motor measured is rotated.
It is preferred that, the vehicle speed sensor is magneto-electric vehicle speed sensor, and the position sensor passes for photoelectric type position
Sensor.
A kind of control method of four wheels of electric automobile steering, comprises the following steps：
1. nose wheel steering control method：
Step 101：Steering wheel is rotated, and drives foresteerage gear action, while angular transducer measures steering wheel to angle simultaneously
Entire car controller is passed to by CAN；
Step 102：Entire car controller is calculated according to the steering angle information of acquisition, needed for drawing electric power steering pump
Actuating quantity, and corresponding control signal is sent to electric power steering pump by CAN；
Step 103：Electric power steering pump obtains steering controling signal, starts working, the go to action to foresteerage gear
Power-assisted is provided；
2. rear-wheel steering system control method：
Step 201：The GES that the angle signal and vehicle speed sensor that entire car controller sends angular transducer are sent leads to
Cross CAN and pass to rear-axle steering controller；
Step 202：Rear-axle steering controller is judged GES；When speed is more than 20km/h, step 203 is performed；
When speed is less than or equal to 20km/h, step 204 is performed；
Step 203：Rear-axle steering controller is not powered to rear-axle steering motor, and rear-axle steering motor is not worked, and trailing wheel is not turned to,
Only front-wheel follows the rotation of steering wheel and rotated, as shown in Figure 4；Then perform step 209；
Step 204：Rear-axle steering controller subtracts angle signal the deviation for calculating and determining, obtains the target steering angle of trailing wheel
Degree；The deviation is drawn by front and back wheel position and front-wheel steer angle according to algorithm；
Step 205：The position quantity that rear-axle steering motor is rotated is fed back to rear-axle steering controller, rear-axle steering by position sensor
Controller calculates trailing wheel actual steering angle；
Step 206：Trailing wheel target diversion angle reference value is made the difference and drawn by rear-axle steering controller with trailing wheel actual steering angle
Trailing wheel target diversion angle error amount；
Step 207：It is trailing wheel accordingly that rear-axle steering controller, which is converted to the trailing wheel target diversion angle error amount calculated,
The time signal that steering motor is powered, it is corresponding that rear-axle steering motor drives rear-axle steering mechanism to rotate within period that must be electric
Angle；Provide that steering angle turns left for just, it is negative to turn right, rear-axle steering controller to rear-axle steering motor voltage signal on a left side
Just, during right-hand rotation to be negative when turning, to control rear-axle steering motor to be rotated to different directions；
Step 208：Rear-axle steering controller is judged trailing wheel target diversion angle error amount, when rear wheel steering angle error
When value is equal to 0, now trailing wheel has reached target diversion angle, is not required to turn again to, and performs step 209；Work as rear wheel steering angle
When error amount is not equal to 0, returns and perform step 205；
Step 209：Terminate.
Compared with the prior art, the beneficial effects of the invention are as follows：
1. the four wheels of electric automobile steering in the present invention, pass through the setting of vehicle speed sensor and rear-axle steering controller
Effect so that the system can be according to speed selection more appropriate trailing wheel pattern when turning, and security is higher.
2. the control method of the four wheels of electric automobile steering in the present invention, passes through new control method flow so that
Greater security in the four wheels of electric automobile steering design is achieved.
Brief description of the drawings
Fig. 1 is the structural representation of four wheels of electric automobile steering embodiment of the present invention；
Fig. 2 is the operation principle block diagram of rear-wheel steering system in four wheels of electric automobile steering of the present invention；
Fig. 3 is operating diagram when four wheels of electric automobile steering embodiment speed of the present invention is less than 20km/h；
Fig. 4 is operating diagram when four wheels of electric automobile steering embodiment speed of the present invention is higher than 20km/h；
Fig. 5 is rear-wheel steering system control flow chart in four wheels of electric automobile steering of the present invention.
In figure：101. steering wheel, 102. electric power steering pumps, 103. angular transducers, 104. vehicle speed sensor,
105. entire car controller, 106. rear-axle steering controllers, 107. rear-axle steering motors, 108. position sensors, after 109.
Take turns steering mechanism, 110. foresteerage gears.
Embodiment
Below in conjunction with drawings and examples, embodiments of the present invention are described in detail as follows：
As shown in Figure 1, a kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system.
The nose wheel steering includes：Steering wheel 101, angular transducer 103, entire car controller 105, electric boosted turn
To pump 102, foresteerage gear 103；
The rear-wheel steering system includes：Steering wheel 101, angular transducer 103, vehicle speed sensor 104, entire car controller 105,
Rear-axle steering controller 106, rear-axle steering motor 107, position sensor 108, rear-axle steering mechanism 109.
The entire car controller 105 can be also simply referred to as VCU.
The foresteerage gear 103 and rear-axle steering mechanism 109 include steering wheel, and the steering wheel includes worm gear snail
Lever apparatus, the change in the worm gear device control wheel direction.
The steering wheel 101 connects the steering wheel worm gear in foresteerage gear 103 and turning for worm gear by power transmission shaft
It is dynamic that initial driving force is provided；The angular transducer 103 is arranged at the tubing string bottom of steering wheel 101, and vehicle is connected by CAN
Controller 105 simultaneously transmits the steering angle signal measured；The vehicle speed sensor 104 is arranged on wheel, passes through CAN
Connection entire car controller 105 simultaneously transmits the rate signal measured；The entire car controller 105 is connected respectively by CAN
Electric power steering pump 102, rear-axle steering controller 106 simultaneously transmit signal；The electric power steering pump 102 is mechanically
Connect the steering wheel worm gear in foresteerage gear 103 and provide power-assisted for the rotation of worm gear；The rear-axle steering controller 106
Electrically connected with rear-axle steering motor 107, rear-axle steering controller 106 can be according to the angle signal of reception, rate signal and default
Formula calculate the control signal of needs, and rear-axle steering motor 107 is sent control signals to by the circuit of connection；Institute
Rear-axle steering motor 107 is stated mechanically to connect rear-axle steering mechanism 109 and drive rear-axle steering mechanism 109 to do corresponding move
Make；The foresteerage gear 103 and rear-axle steering mechanism 109 are mechanical structure, connect wheel, pass through steering mechanism
Action and with the change in motor car wheel direction；Position sensor 108, institute's rheme are additionally provided with inside the rear-axle steering motor 107
Put the connection rear-axle steering of sensor 108 controller 106 and transmit the position quantity letter that the rear-axle steering motor 107 measured is rotated
Number.
The vehicle speed sensor 104 is magneto-electric vehicle speed sensor rather than common photo-electric, is because magneto-electric speed
Degree sensor does not need power supply to power, and just rate signal can be converted into electric signal output by electromagnetic induction, can simplify this
The circuit of a part, reduces circuit interface；And magnetoelectric velocity transducer output power, strong antijamming capability, work can
It is high by property, there is its benefit for the more complicated electric automobile of the more conventional automobile of electric field environment；Vehicle speed sensor 104 is arranged on
Inside wheel position rather than vehicle mileage table, be in order to safeguard, it is easy for installation, reduce with the infiltrations of other systems, reduce into
This, it is to avoid the replacing of steering can cause the replacing of the other systems exterior part such as revolution counter.The position sensor 108 is light
Electric-type position sensor, the position signalling is determined by measuring the angle of the output shaft rotation of rear-axle steering motor 107.
During Vehicular turn, the course of work of nose wheel steering is as follows：
When driver's steering wheel rotation 101, the steering wheel 101 connects the direction in foresteerage gear 103 by power transmission shaft
Machine, will turn to the worm gear that strength is acted in steering wheel, make worm gear wheel and in the same direction by worm screw band motor car wheel and steering wheel 101
Rotate；Angular transducer 103 measures the steering angle of steering wheel 101, and steering angle then is transferred into vehicle control by CAN
Device 105 processed；Entire car controller 105 is calculated according to the steering angle information of acquisition, needed for drawing electric power steering pump 102
Steering controling signal, electric power steering pump 102 is transferred to by CAN；Electric power steering pump 102 obtains turning to control
Signal processed, starts working, and provides auxiliary strength for the steering wheel worm gear wheel in foresteerage gear 110, further passes through snail
Bar drives wheel steering, is turned to for driver and provides power-assisted.
During Vehicular turn, the course of work of rear-wheel steering system is as follows：
When driver's steering wheel rotation 101, angular transducer 103 measures the steering angle of steering wheel 101, is transferred to entire car controller
105；Meanwhile, the vehicle speed sensor 104 collects current vehicle speed information from wheel, after being transferred to through entire car controller 105
Take turns steering controller 106.
Rear-axle steering controller 106 is judged speed, when speed is less than or equal to 20km/h, rear-axle steering controller
Angle signal is subtracted target diversion angle of certain deviation as trailing wheel by 106 so that the steering angle of trailing wheel is less than front-wheel
Steering angle, in order to the turning center of front wheels and rear wheels is maintained in same point, can so be ensured
Wheel keeps pure rolling to run in steering procedure, keeps control stability；Front wheels and rear wheels are turned to simultaneously effectively to be subtracted
The radius of turn of small vehicle, is easy to vehicle to be turned in narrow space；Rear-axle steering controller 106 is by the rear rotation calculated
It is the time signal that rear-axle steering motor 107 is acted to angular transition, rear-axle steering motor 107 drives within the corresponding period
Rear-axle steering mechanism 109 rotates corresponding angle；Provide that steering angle turns left for just, it is negative to turn right in the present embodiment, rear rotation
It just, during right-hand rotation is being negative to be when turning left to the voltage signal of rear-axle steering motor 107 to controller 106, to control rear-axle steering
Motor 107 is rotated to different directions.When speed is more than 20km/h, rear-axle steering controller 106 issues rear-axle steering motor
107 target diversion angle is 0, and trailing wheel is not turned to, only front-wheel steer, so can reduce speed it is very fast when Vehicular turn
Degree of flexibility, strengthens the stability of vehicle, it is ensured that the driving safety of vehicle.
During rear-axle steering, after the position sensor 108 feeds back to the position quantity that rear-axle steering motor 107 is rotated
Steering controller 106 is taken turns, a closed loop negative feedback system is formed；Ensure the steering angle and rear-axle steering controller of trailing wheel with this
The 106 trailing wheel target diversion angles calculated are consistent.
Four wheels of electric automobile steering control method step described in the present embodiment is as follows：
1. nose wheel steering control method：
Step 101：Steering wheel 101 is rotated, and drives foresteerage gear 103 to act, while angular transducer 103 measures steering wheel
101 steering angles simultaneously pass to entire car controller 105 by CAN.
Step 102：Entire car controller 105 is calculated according to the steering angle information of acquisition, draws electric power steering
Actuating quantity needed for pump 102, and corresponding control signal is sent to electric power steering pump 102 by CAN.
Step 103：Electric power steering pump 102 obtains steering controling signal, starts working, is foresteerage gear 110
Go to action provide power-assisted.
2. rear-wheel steering system control method：
Step 201：The car that the angle signal and vehicle speed sensor 104 that entire car controller 105 sends angular transducer 103 are sent
Fast signal passes to rear-axle steering controller 106 by CAN.
Step 202：Rear-axle steering controller 106 is judged GES；When speed is more than 20km/h, step is performed
Rapid 203；When speed is less than or equal to 20km/h, step 204 is performed.
Step 203：Rear-axle steering controller 106 is not powered to rear-axle steering motor 107, the not work of rear-axle steering motor 107
Make, trailing wheel is not turned to, and only front-wheel follows the rotation of steering wheel 101 and rotated, as shown in Figure 4；Then perform step 209.
Step 204：Rear-axle steering controller 106 subtracts angle signal the deviation for calculating and determining, obtains the mesh of trailing wheel
Mark steering angle；The deviation is drawn by front and back wheel position and front-wheel steer angle according to algorithm.
Step 205：The position quantity that rear-axle steering motor 107 is rotated is fed back to rear-axle steering control by position sensor 108
Device 106, rear-axle steering controller 106 calculates trailing wheel actual steering angle.
Step 206：Rear-axle steering controller 106 does trailing wheel target diversion angle reference value and trailing wheel actual steering angle
Difference draws trailing wheel target diversion angle error amount.
Step 207：Rear-axle steering controller 106 is converted to the trailing wheel target diversion angle error amount calculated accordingly
The time signal powered for rear-axle steering motor 107, rear-axle steering motor 107 is in the drive rear-axle steering machine in the electric period that obtains
Structure 109 rotates corresponding angle；Provide that steering angle turns left for just, it is negative to turn right, rear-axle steering controller 106 gives rear-axle steering
It just, during right-hand rotation is being negative that the voltage signal of motor 107 is when turning left, to control rear-axle steering motor 107 to turn to different directions
It is dynamic.
Step 208：Rear-axle steering controller 106 is judged trailing wheel target diversion angle error amount, works as rear-axle steering
When angle error value is equal to 0, now trailing wheel has reached target diversion angle, is not required to turn again to, and performs step 209；Work as trailing wheel
When steering angle error amount is not equal to 0, returns and perform step 205.
Step 209：Terminate.
Speed criterion is obtained after being considered according to tire adhesion force curve generalization in step 202；According to experiment number
According to when speed is higher than 20km/h, tire can be than larger, because rear-wheel steering system is to the amplitude that the adhesive force on ground declines
One servomechanism, can be because decline of the tire to traction be rotated after causing if rear-wheel steering system is interfered
Increase to error, be easily caused steering uncontrolled.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to embodiment will be apparent for those skilled in the art, as defined herein general
Principle can be realized in other embodiments without departing from the spirit or scope of the present invention, is not described in detail
The part presented with partial enlargement, is prior art, herein without repeating.Therefore, the present invention is not intended to be limited to herein
These shown embodiments, and it is to fit to the most wide scope consistent with feature with principles disclosed herein.
Claims (3)
1. a kind of four wheels of electric automobile steering, including nose wheel steering and rear-wheel steering system, it is characterised in that：
Wherein, the nose wheel steering includes steering wheel（101）, angular transducer（103）, entire car controller（105）, it is electronic
Power-assisted steering pump（102）, foresteerage gear（110）；
The rear-wheel steering system includes steering wheel（101）, angular transducer（103）, entire car controller（105）, rear-axle steering
Controller（106）, rear-axle steering motor（107）, position sensor（108）, rear-axle steering mechanism（109）；
The steering wheel（101）Connected by power transmission shaft and drive foresteerage gear（110）, the angular transducer（103）
It is arranged at steering wheel（101）On, entire car controller is connected by CAN（105）And transmit the steering angle signal measured；
The vehicle speed sensor（104）It is arranged on wheel, entire car controller is connected by CAN（105）And transmit what is measured
Rate signal；The entire car controller（105）Connect electric power steering pump respectively by CAN（102）, rear-axle steering control
Device processed（106）And transmit signal；The electric power steering pump（102）Connect foresteerage gear（110）And in front-wheel steer
Mechanism（110）Power-assisted is provided during action；The rear-axle steering controller（106）With rear-axle steering motor（107）Electrical connection, trailing wheel
Steering controller（106）The control signal of needs can be calculated according to the angle signal of reception, rate signal and default formula,
And rear-axle steering motor is sent control signals to by the circuit of connection（107）；The rear-axle steering motor（107）Machinery is even
Meet rear-axle steering mechanism（109）, acted according to the control signal received and drive rear-axle steering mechanism（109）；It is described
Position sensor（108）It is arranged at rear-axle steering motor（107）Inside, connects rear-axle steering controller（106）And transmit measurement
The rear-axle steering motor arrived（107）The position quantity signal of rotation.
2. four wheels of electric automobile steering according to claim 1, it is characterised in that the vehicle speed sensor（104）
For magneto-electric vehicle speed sensor, the position sensor（108）For photoelectric position sensor.
3. the control method of the four wheels of electric automobile steering described in a kind of claim 1, it is characterised in that including following step
Suddenly：
A. nose wheel steering control method：
Step 101：Steering wheel（101）Rotate, drive foresteerage gear（103）Action, while angular transducer（103）Measure
Steering wheel（101）Steering angle simultaneously passes to entire car controller by CAN（105）；
Step 102：Entire car controller（105）Calculated according to the steering angle information of acquisition, draw electric power steering pump
（102）Required actuating quantity, and by CAN to electric power steering pump（102）Send corresponding control signal；
Step 103：Electric power steering pump（102）Steering controling signal is obtained, starts working, is 110 turns of foresteerage gear
To offer power-assisted；
B. rear-wheel steering system control method：
Step 201：Entire car controller（105）By angular transducer（103）The angle signal and vehicle speed sensor sent（104）Hair
The GES come passes to rear-axle steering controller by CAN（106）；
Step 202：Rear-axle steering controller（106）GES is judged；When speed is more than 20km/h, step is performed
203；When speed is less than or equal to 20km/h, step 204 is performed；
Step 203：Rear-axle steering controller（106）Do not give rear-axle steering motor（107）Power supply, rear-axle steering motor（107）No
Work, trailing wheel is not turned to, and only front-wheel follows steering wheel（101）Rotation and rotate, as shown in Figure 4；Then perform step
209；
Step 204：Rear-axle steering controller（106）Angle signal is subtracted to the deviation for calculating and determining, the target of trailing wheel is obtained
Steering angle；The deviation is drawn by front and back wheel position and front-wheel steer angle according to algorithm；
Step 205：Position sensor（108）By rear-axle steering motor（107）The position quantity of rotation feeds back to rear-axle steering control
Device（106）, rear-axle steering controller（106）Calculate trailing wheel actual steering angle；
Step 206：Rear-axle steering controller（106）Trailing wheel target diversion angle reference value and trailing wheel actual steering angle are made the difference
Draw trailing wheel target diversion angle error amount；
Step 207：Rear-axle steering controller（106）The trailing wheel target diversion angle error amount calculated is converted to and is accordingly
Rear-axle steering motor（107）The time signal of power supply, rear-axle steering motor（107）Rear-axle steering is driven obtaining in the electric period
Mechanism（109）Rotate corresponding angle；Provide that steering angle turns left for just, it is negative to turn right, rear-axle steering controller（106）After giving
Take turns steering motor（107）Voltage signal when turning left just, during right-hand rotation to be negative, to control rear-axle steering motor（107）To not
Same direction is rotated；
Step 208：Rear-axle steering controller（106）Trailing wheel target diversion angle error amount is judged, when rear-axle steering angle
When spending error amount equal to 0, now trailing wheel has reached target diversion angle, is not required to turn again to, and performs step 209；When after rotate
When being not equal to 0 to angle error value, return and perform step 205；
Step 209：Terminate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469132.2A CN107176205A (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710469132.2A CN107176205A (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering and control method |
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| Publication Number | Publication Date |
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| CN107176205A true CN107176205A (en) | 2017-09-19 |
Family
ID=59835551
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| CN201710469132.2A Pending CN107176205A (en) | 2017-06-20 | 2017-06-20 | A kind of four wheels of electric automobile steering and control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407883A (en) * | 2018-01-18 | 2018-08-17 | 宁波市鄞州逐新贸易有限公司 | A kind of driven steering of trailing wheel |
| CN108608846A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Front-wheel trailing wheel cooperates with the chassis system for turning to vehicle respectively |
| CN109625082A (en) * | 2018-12-14 | 2019-04-16 | 山海特种装备股份有限公司 | A kind of steering control device and method for packaging cargo loading machine |
| CN113320591A (en) * | 2021-06-03 | 2021-08-31 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
-
2017
- 2017-06-20 CN CN201710469132.2A patent/CN107176205A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407883A (en) * | 2018-01-18 | 2018-08-17 | 宁波市鄞州逐新贸易有限公司 | A kind of driven steering of trailing wheel |
| CN108608846A (en) * | 2018-04-24 | 2018-10-02 | 清华大学 | Front-wheel trailing wheel cooperates with the chassis system for turning to vehicle respectively |
| CN109625082A (en) * | 2018-12-14 | 2019-04-16 | 山海特种装备股份有限公司 | A kind of steering control device and method for packaging cargo loading machine |
| CN113320591A (en) * | 2021-06-03 | 2021-08-31 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
| CN113320591B (en) * | 2021-06-03 | 2022-09-16 | 江苏大学 | Four-wheel steering control system and control method for electric automobile |
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Application publication date: 20170919 |
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