CN107297998A - Automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods - Google Patents
Automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods Download PDFInfo
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- CN107297998A CN107297998A CN201710663296.9A CN201710663296A CN107297998A CN 107297998 A CN107297998 A CN 107297998A CN 201710663296 A CN201710663296 A CN 201710663296A CN 107297998 A CN107297998 A CN 107297998A
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- master control
- height
- control ecu
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- 230000003028 elevating effect Effects 0.000 title claims abstract description 45
- 230000006641 stabilisation Effects 0.000 title claims abstract description 24
- 238000011105 stabilization Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 42
- 241000237858 Gastropoda Species 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 15
- 230000005484 gravity Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- DOSMHBDKKKMIEF-UHFFFAOYSA-N 2-[3-(diethylamino)-6-diethylazaniumylidenexanthen-9-yl]-5-[3-[3-[4-(1-methylindol-3-yl)-2,5-dioxopyrrol-3-yl]indol-1-yl]propylsulfamoyl]benzenesulfonate Chemical compound C1=CC(=[N+](CC)CC)C=C2OC3=CC(N(CC)CC)=CC=C3C(C=3C(=CC(=CC=3)S(=O)(=O)NCCCN3C4=CC=CC=C4C(C=4C(NC(=O)C=4C=4C5=CC=CC=C5N(C)C=4)=O)=C3)S([O-])(=O)=O)=C21 DOSMHBDKKKMIEF-UHFFFAOYSA-N 0.000 description 4
- 239000006096 absorbing agent Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/22—Braking, stopping
- B60G2800/222—Braking, stopping during collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
- B60G2800/248—Neutral steering behaviour
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods, vehicle wheel lifting mechanism includes wheel rim, knuckle assembly, swing arm, plane scroll spring, oscillating arm bracket, servomotor worm decelerating machine, clutch shaft bearing and second bearing；Chassis dynamic stabilization system includes the left front portion's lowering or hoisting gear in chassis, chassis right front portion lowering or hoisting gear, the left back portion's lowering or hoisting gear in chassis, the right rear portion lowering or hoisting gear in chassis, master control ECU modules and the middle part electrical module in the middle of roof；Under the different driving cycle of automobile, each controller controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate according to control command, upwardly or downwardly swung with the plane scroll spring swing arm of torsion driving forward or backwards, reach the dynamic stabilizing function to chassis.The present invention can make automobile keep stable in the process of moving, improve vehicle safety.
Description
Technical field
The invention belongs to automobile chassis field, and in particular to a kind of automotive wheel elevating mechanism, chassis dynamic stabilization system
And dynamic stabilization methods.
Background technology
With the continuous renewal and progress of Automotive Applied Technology, the stability and security of running car are increasingly by people
Attention, automobile can run into various complicated situations under steam, such as road surface is uneven, it is quick it is excessively curved, blow out, its
To the stability requirement more and more higher of automobile chassis.
CN203543575U discloses a kind of passenger-car chassis lowering or hoisting gear, and it can be in rugged road surface or mire, ditch
When bad etc. road conditions, chassis height is raised, so that automobile passes through the section；When road conditions are preferable, chassis height is reduced, with
It is more stable when making running car；But it can not make vehicle chassis keep stable, vehicle traveling quick excessively curved or when blowing out
Security is not high.
The content of the invention
It is an object of the invention to provide a kind of automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stability side
Method, so that automobile keeps stable in the process of moving, improves vehicle safety.
Automotive wheel elevating mechanism of the present invention, including wheel rim, the knuckle assembly that is fixedly connected with wheel rim, are also wrapped
Include swing arm, plane scroll spring, oscillating arm bracket, servomotor worm decelerating machine, clutch shaft bearing and outer wall are cased with damping ring
Two bearings, the bottom of the knuckle assembly is provided with swing arm connecting seat, and oscillating arm bracket is in doorframe shape, and its top is fixedly connected on car
On frame, both sides offer clutch shaft bearing mounting hole, and clutch shaft bearing is arranged in clutch shaft bearing mounting hole, and servomotor worm screw subtracts
Fast machine, which is fixedly connected on the outside of oscillating arm bracket, the output shaft of servomotor worm decelerating machine, offers notch, and the one of swing arm
End is formed with two linking arms, linking arm by way of avoidance breach is opened in centre and offers second bearing mounting hole, described
Second bearing is arranged in second bearing mounting hole, and the other end of swing arm rolls up bullet provided with connection journal stirrup, and below the end provided with snail
Spring connecting seat；The snail volume part of plane scroll spring is located in oscillating arm bracket, and output shaft passes through notch and plane scroll spring
The inner connection, and be supported on by clutch shaft bearing on oscillating arm bracket, the end of two linking arms is located in oscillating arm bracket, passes through institute
The snail volume part for avoiding breach avoidance plane scroll spring is stated, and is enclosed on by second bearing on output shaft, plane scroll spring
Outer end be fixed in volute spring connecting seat, connection journal stirrup and swing arm connecting seat, which coordinate, makes swing arm with knuckle assembly above and below
Direction is relatively fixed.The output shaft of servomotor worm decelerating machine is rotated forward, and acts on plane scroll spring, plane snail volume bullet
Spring, which is deformed upon, makes swing arm to lower swing, wheel height reduction, the height rise of corresponding vehicle frame connecting portion；Servomotor snail
The output shaft of bar reductor is reversely rotated, and acts on plane scroll spring, plane scroll spring, which is deformed upon, makes swing arm put upwards
Dynamic, wheel is highly raised, the height reduction of corresponding vehicle frame connecting portion.
In the first vehicle wheel lifting mechanism, offer and be movably installed with ball, ball on bulb, bulb on connection journal stirrup
Offer and offer vertically extending screw on vertically extending bulb connecting hole, the swing arm connecting seat,
Bolt passes through bulb connecting hole, screw along the vertical direction, and is fixedly connected with bulb with swing arm connecting seat by nut, makes steering
Saving assembly can be relative to swing arm left-right rotation.
In second of vehicle wheel lifting mechanism, bolt hole, connection journal stirrup and pendulum are all offered on connection journal stirrup, swing arm connecting seat
Arm connecting seat is fixedly connected by the cooperation of bolts and nuts, swing arm is fixed on the bottom of knuckle assembly.
Automobile chassis dynamic stabilization system of the present invention, including the left front portion's lowering or hoisting gear in chassis, chassis right front portion liter
Falling unit, the left back portion's lowering or hoisting gear in chassis, the right rear portion lowering or hoisting gear in chassis, master control ECU modules and in the middle of roof in
Portion's electrical module.
The left front portion's lowering or hoisting gear in chassis includes the near front wheel elevating mechanism and left front electrical module, the near front wheel lifting
Mechanism uses the first vehicle wheel lifting mechanism, and the left front electrical module includes left front controller and electrically connected with left front controller
Left front gyroscope, left front accelerometer, left front motor servo driver, left front CAN, the driving of left front servomotor
Servomotor worm speed-down mechatronics in device and the near front wheel elevating mechanism, the servomotor worm decelerating machine again with left front control
Device electrical connection processed, left front controller carries out CAN communication by left front CAN, CAN and master control ECU modules, left front
Controller obtains the angle of pitch and acceleration in the left front portion in chassis, and is sent to master control ECU modules, and left front controller is according to master control
The control command of ECU modules, controls left front motor servo driver to drive the servomotor worm decelerating machine to rotate.
Electrical module before the chassis right front portion lowering or hoisting gear includes off-front wheel elevating mechanism and be right, the off-front wheel lifting
Mechanism uses the first vehicle wheel lifting mechanism, and the right preceding electrical module is electrically connected including controller before the right side and with controller before the right side
The right side before gyroscope, right preacceleration meter, it is right before motor servo driver, it is right before CAN, it is right before servomotor driving
Device and the servomotor worm speed-down mechatronics in off-front wheel elevating mechanism, the servomotor worm decelerating machine before the right side again with controlling
Device electrical connection processed, right preceding controller is carried out before CAN communication, the right side by CAN, CAN and master control ECU modules before the right side
Controller obtains the angle of pitch and acceleration of chassis right front portion, and is sent to master control ECU modules, and right preceding controller is according to master control
The control command of ECU modules, motor servo driver drives the servomotor worm decelerating machine to rotate before control is right.
The left back portion's lowering or hoisting gear in chassis includes left rear wheel elevating mechanism and left back electrical module, the left rear wheel lifting
Mechanism is using second of vehicle wheel lifting mechanism, and the left back electrical module includes left back controller and electrically connected with left back controller
Left back gyroscope, left back accelerometer, left back motor servo driver, left back CAN, the driving of left back servomotor
Servomotor worm speed-down mechatronics in device and left rear wheel elevating mechanism, the servomotor worm decelerating machine again with left back control
Device electrical connection processed, left back controller carries out CAN communication by left back CAN, CAN and master control ECU modules, left back
Controller obtains the angle of pitch and acceleration in the left back portion in chassis, and is sent to master control ECU modules, and left back controller is according to master control
The control command of ECU modules, controls left back motor servo driver to drive the servomotor worm decelerating machine to rotate.
Electrical module after the right rear portion lowering or hoisting gear in chassis includes off hind wheel elevating mechanism and be right, the off hind wheel lifting
Mechanism uses electrical module behind second of vehicle wheel lifting mechanism, the right side to electrically connect including controller behind the right side and with controller behind the right side
It is right after gyroscope, right post-acceleration meter, it is right after motor servo driver, it is right after CAN, it is right after servomotor drive
Device and the servomotor worm speed-down mechatronics in off hind wheel elevating mechanism, the servomotor worm decelerating machine behind the right side again with controlling
Controller is carried out behind CAN communication, the right side by CAN, CAN and master control ECU modules behind the right side behind device electrical connection processed, the right side
Controller obtains the angle of pitch and acceleration at the right rear portion in chassis, and is sent to master control ECU modules, it is right after controller according to master control
The control command of ECU modules, motor servo driver drives the servomotor worm decelerating machine to rotate after control is right.
The middle part electrical module includes middle part controller and the middle part gyroscope electrically connected with middle part controller, middle part add
Speedometer, middle part CAN, middle part controller are carried out by middle part CAN, CAN and master control ECU modules
CAN communication, middle part controller obtains automotive pitch angle and acceleration, and is sent to by middle part CAN, CAN
Master control ECU modules.
The master control ECU modules are connected by CAN with car running computer, obtain speed, engine speed, steering wheel angle
Degree, throttle position and the near front wheel tire pressure, off-front wheel tire pressure, left rear wheel tire pressure, off hind wheel tire pressure.
The automobile chassis dynamic stabilization system also includes touch display module, the touch display module and master control ECU
Module is electrically connected, and automobile chassis lifting button, the left front portion's lifting button in chassis, chassis right front portion are integrated with touch display module
Lifting button, the right rear portion lifting button of the left back portion's lifting button in chassis and chassis, and show the correlation-like of each electrical module
State information.
Automobile chassis dynamic stabilization methods of the present invention, are realized using above-mentioned automobile chassis dynamic stabilization system, should
Method is：Master control ECU modules are according to speed, engine speed, steering wheel angle, throttle position and the near front wheel tire pressure, off-front wheel
Tire pressure, left rear wheel tire pressure, off hind wheel tire pressure judge the driving cycle of automobile：
In galloping, master control ECU modules send the control command for making chassis reduce setting height to each controller,
Each controller controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to turn according to control command
It is dynamic, each position of chassis is all reduced setting height, chassis integrally keeps stable；
When running car and some wheel are abnormal, master control ECU modules according to automotive pitch angle and acceleration and chassis each
The angle of pitch and acceleration at position（I.e. the angle of pitch and acceleration in the left front portion in chassis, the angle of pitch of chassis right front portion and acceleration,
The angle of pitch and acceleration at the right rear portion of the angle of pitch and acceleration and chassis in the left back portion in chassis）, calculate the wheel corresponding
Chassis location needs elevated height, then needs elevated height to be sent out as control command the corresponding chassis location of the wheel
Corresponding controller is given, corresponding controller controls corresponding motor servo driver to drive corresponding servomotor worm screw to subtract
Fast machine is rotated, and the corresponding chassis location of the wheel is raised the height of needs, and chassis integrally keeps stable；
When automobile is quickly through bend, master control ECU modules are according to automotive pitch angle and acceleration and each position of chassis
The angle of pitch and acceleration, calculating chassis corresponding site needs elevated height or needs the height of reduction, then by chassis
Corresponding site needs the height that elevated height or needs are reduced as control command and is sent respectively to corresponding controller, phase
The controller answered controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, and makes chassis corresponding
The height that the height or reduction that position rise needs need；
When automobile is knocked, master control ECU modules are according to automotive pitch angle and acceleration and the angle of pitch at each position of chassis
And acceleration, calculating chassis corresponding site needs elevated height or needs the height of reduction, then by the corresponding portion in chassis
Position needs the height that elevated height or needs are reduced as control command and is sent respectively to corresponding controller, corresponding control
Device processed controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, and makes chassis corresponding site liter
The height that the height or reduction that height needs need, chassis center of gravity is offset to direction is knocked, it is to avoid overturned.
In addition, in vehicle stationary or when running at a low speed：Clicking on automobile chassis lifting button makes chassis raise setting height
Or reduction setting height, master control ECU modules, which are sent, to be made chassis raise setting height or reduces the control command of setting height
Each controller is given, each controller controls corresponding motor servo driver to drive corresponding servomotor according to control command
Worm decelerating machine is rotated, and each position of chassis is all raised setting height or is all reduced setting height, chassis integrally keeps steady
It is fixed；Some position lifting button of click automobile chassis makes chassis corresponding position rise setting height or reduction setting height, main
Control ECU modules, which are sent, to be made chassis corresponding position rise setting height or reduces the control command of setting height to corresponding control
Device, corresponding controller controls corresponding motor servo driver to drive corresponding servomotor worm speed-down according to control command
Machine is rotated, and makes chassis corresponding position rise setting height or reduction setting height.
The present invention has the effect that：
（1）It is cased with subtracting using swing arm, plane scroll spring, oscillating arm bracket, servomotor worm decelerating machine, clutch shaft bearing and outer wall
Shake the second bearing of circle, coordinate wheel rim, knuckle assembly, realize the lifting of wheel, and then realize the lifting of chassis corresponding site,
It does not interfere with the realization of other structures function on chassis, and simple in construction, easy to control, cost is low.
（2）Using the left front portion's lowering or hoisting gear in chassis, chassis right front portion lowering or hoisting gear, the left back portion's lowering or hoisting gear in chassis, chassis
Right rear portion lowering or hoisting gear, master control ECU modules and middle part electrical module, galloping, it is quick it is excessively curved, blow out when
Can automatic dynamic adjust the stability on chassis, automobile is kept stable, improve vehicle safety, Consumer's Experience is good.
（3）When automobile is knocked, by adjusting the height of chassis corresponding site, chassis center of gravity can be made to being knocked direction
Skew, it is to avoid overturn, vehicle safety is high.
Brief description of the drawings
Fig. 1 is left front, right front wheel elevating mechanism the structural representation in the present invention.
Fig. 2 is Fig. 1 decomposing schematic representation.
Fig. 3 is left back, right rear wheel elevating mechanism the structural representation in the present invention.
Fig. 4 is Fig. 3 decomposing schematic representation.
Fig. 5 for the present invention in automobile chassis dynamic stabilization system circuit block diagram.
Embodiment
The present invention is elaborated below in conjunction with the accompanying drawings.
The knuckle that left front, right front wheel elevating mechanism as shown in Figure 1 and Figure 2 includes wheel rim 1, be fixedly connected with wheel rim 1
Assembly 2, swing arm 3, plane scroll spring 4, oscillating arm bracket 5, servomotor worm decelerating machine 6, shaft-cup 11, two clutch shaft bearings 7
Two second bearings 8 of damping ring 9 are cased with outer wall, shock absorber 9 is made by polyurethane material, servomotor worm speed-down
Servomotor and the worm gear box coordinated with servomotor are integrated with machine 6, servomotor is the high-power nothing of high-performance
Brush motor, the SERVO CONTROL of closed loop is realized with encoder pulse amount, and worm gear box can reduce output speed, can also be realized and be watched
Take the function that motor stalls torsion position self-locking.The portion integral of knuckle assembly 2 forms swing arm connecting seat 21, oscillating arm bracket
5 be in doorframe shape, and its top is welded on vehicle frame, and both sides offer clutch shaft bearing mounting hole 51, and two clutch shaft bearings 7 are pacified respectively
In two clutch shaft bearing mounting holes 51, servomotor worm decelerating machine 6 is fixedly connected on by the cooperation of bolts and nuts
Notch is offered on the outside of oscillating arm bracket 5, the output shaft 61 of servomotor worm decelerating machine 6, one end of swing arm 3 passes through centre
Open and avoid the mode of breach and be formed with two linking arms 31, each linking arm 31 and offer a second bearing mounting hole
32, two second bearings 8 are arranged in two second bearing mounting holes 32, and the other end of swing arm 3 is somebody's turn to do provided with connection journal stirrup 33
End lower section is provided with volute spring connecting seat 34；The snail volume part of plane scroll spring 4 is located in oscillating arm bracket 5, and output shaft 61 leads to
Cross notch to be connected with the inner of plane scroll spring 4, and be supported on by clutch shaft bearing 7 on oscillating arm bracket 5, shaft-cup 11 passes through spiral shell
Nail is arranged on outside clutch shaft bearing mounting hole 51, blocks the end of clutch shaft bearing 7 and output shaft 61, the end position of two linking arms 31
In in oscillating arm bracket 5, the snail that plane scroll spring 4 is avoided by avoiding breach rolls up part, and is enclosed on output by second bearing 8
On axle 61, the outer end of plane scroll spring 4 is arranged in volute spring connecting seat 34 by the cooperation of bolts and nuts, connection
Offered on journal stirrup 33 be movably installed with ball 35, ball 35 on bulb 10, bulb 10 offer it is vertically extending
Vertically extending screw 22 is offered on bulb connecting hole 101, swing arm connecting seat 21, bolt passes through ball along the vertical direction
Head connecting hole 101, screw 22, and be fixedly connected with bulb 10 with swing arm connecting seat 21 by nut, make knuckle assembly 2 and pendulum
Arm 3 is relatively fixed in above-below direction, and knuckle assembly 2 can be relative to the left-right rotation of swing arm 3.Servomotor worm decelerating machine 6
Output shaft 61 is rotated forward, and acts on plane scroll spring 4, plane scroll spring 4, which is deformed upon, makes swing arm 3 to lower swing, car
Take turns height reduction, the height rise of corresponding vehicle frame connecting portion；The output shaft 61 of servomotor worm decelerating machine 6 reversely revolves
Turn, act on plane scroll spring 4, plane scroll spring 4, which is deformed upon, is swung up swing arm 3, wheel is highly raised, correspondence
Vehicle frame connecting portion height reduction.
The knuckle that left back, right rear wheel elevating mechanism as shown in Figure 3, Figure 4 includes wheel rim 1, be fixedly connected with wheel rim 1
Assembly 2, swing arm 3, plane scroll spring 4, oscillating arm bracket 5, servomotor worm decelerating machine 6, shaft-cup 11, two clutch shaft bearings 7
Two second bearings 8 of damping ring 9 are cased with outer wall, shock absorber 9 is made by polyurethane material, servomotor worm speed-down
Servomotor and the worm gear box coordinated with servomotor are integrated with machine 6, servomotor is the high-power nothing of high-performance
Brush motor, the SERVO CONTROL of closed loop is realized with encoder pulse amount, and worm gear box can reduce output speed, can also be realized and be watched
Take the function that motor stalls torsion position self-locking.The portion integral of knuckle assembly 2 forms swing arm connecting seat 21, swing arm connection
Two the second bolts hole 23 extended along the longitudinal direction are offered on seat 21, oscillating arm bracket 5 is in doorframe shape, and its top is welded on car
On frame, both sides offer clutch shaft bearing mounting hole 51, and two clutch shaft bearings 7 are separately mounted to two clutch shaft bearing mounting holes 51
Interior, servomotor worm decelerating machine 6 is fixedly connected on the outside of oscillating arm bracket 5, servomotor by the cooperation of bolts and nuts
Notch is offered on the output shaft 61 of worm decelerating machine 6, one end of swing arm 3 is formed with two by way of avoidance breach is opened in centre
A second bearing mounting hole 32 is offered on individual linking arm 31, each linking arm 31, two second bearings 8 are arranged on two
In second bearing mounting hole 32, the other end of swing arm 3 is provided with volute spring connecting seat provided with connection journal stirrup 33, and below the end
34；The snail volume part of plane scroll spring 4 is located in oscillating arm bracket 5, and output shaft 61 passes through in notch and plane scroll spring 4
End connection, and be supported on by clutch shaft bearing 7 on oscillating arm bracket 5, shaft-cup 11 is arranged on clutch shaft bearing mounting hole 51 by screw
Outside, the end of clutch shaft bearing 7 and output shaft 61 is blocked, the end of two linking arms 31 is located in oscillating arm bracket 5, lacked by avoiding
Mouth avoids the snail volume part of plane scroll spring 4, and is enclosed on by second bearing 8 on output shaft 61, outside plane scroll spring 4
End is arranged in volute spring connecting seat 34 by the cooperation of bolts and nuts, is offered along the longitudinal direction on connection journal stirrup 33
First bolt hole 36 of extension, bolt passes through the second bolt hole 23, the first bolt hole 36, the second bolt hole 23 along the longitudinal direction,
And be fixedly connected by nut by journal stirrup 33 is connected with swing arm connecting seat 21, so that swing arm 3 is fixed under knuckle assembly 2
Portion.The output shaft 61 of servomotor worm decelerating machine 6 is rotated forward, and acts on plane scroll spring 4, and plane scroll spring 4 is sent out
Raw deformation makes swing arm 3 to lower swing, wheel height reduction, the height rise of corresponding vehicle frame connecting portion；Servomotor worm screw
The output shaft 61 of reductor 6 is reversely rotated, and acts on plane scroll spring 4, plane scroll spring 4 deform upon make swing arm 3 to
Upper to swing, wheel is highly raised, the height reduction of corresponding vehicle frame connecting portion.
Before automobile chassis dynamic stabilization system as shown in Figures 1 to 5, including the left front portion's lowering or hoisting gear in chassis, the chassis right side
Portion's lowering or hoisting gear, the left back portion's lowering or hoisting gear in chassis, the right rear portion lowering or hoisting gear in chassis, touch display module, master control ECU modules and peace
Middle part electrical module in the middle of roof.
The left front portion's lowering or hoisting gear in chassis includes the near front wheel elevating mechanism（As shown in Figure 1 and Figure 2）With left front electrical module, a left side
Preceding electrical module includes left front controller and the left front gyroscope electrically connected with left front controller, left front accelerometer, left front watched
Take motor driver, left front CAN, left front motor servo driver and the servomotor snail in the near front wheel elevating mechanism
Bar reductor 6 is electrically connected, and the servomotor worm decelerating machine 6 is electrically connected with left front controller again, and left front controller passes through left front
CAN, CAN and master control ECU modules carry out CAN communication, and left front controller obtains the angle of pitch in the left front portion in chassis
And acceleration, and master control ECU modules are sent to, left front controller controls left front servo according to the control command of master control ECU modules
Motor driver drives corresponding servomotor worm decelerating machine 6 to rotate.
Chassis right front portion lowering or hoisting gear includes off-front wheel elevating mechanism（As shown in Figure 1 and Figure 2）With electrical module before the right side, the right side
Preceding electrical module before gyroscope, right preacceleration meter, the right side before right preceding controller and the right side electrically connected with controller before the right side including watching
Take motor driver, right preceding CAN, right preceding motor servo driver and the servomotor snail in off-front wheel elevating mechanism
Bar reductor 6 is electrically connected, and the servomotor worm decelerating machine 6 is electrically connected with controller before the right side again, before right preceding controller is by the right side
CAN, CAN and master control ECU modules carry out CAN communication, and right preceding controller obtains the angle of pitch of chassis right front portion
And acceleration, and master control ECU modules are sent to, right preceding controller is according to the control command of master control ECU modules, servo before control is right
Motor driver drives corresponding servomotor worm decelerating machine 6 to rotate.
The left back portion's lowering or hoisting gear in chassis includes left rear wheel elevating mechanism（As shown in Figure 3, Figure 4）With left back electrical module, a left side
Electrical module includes left back controller and the left back gyroscope electrically connected with left back controller, left back accelerometer, left back watched afterwards
Take motor driver, left back CAN, left back motor servo driver and the servomotor snail in left rear wheel elevating mechanism
Bar reductor 6 is electrically connected, and the servomotor worm decelerating machine 6 is electrically connected with left back controller again, and left back controller passes through left back
CAN, CAN and master control ECU modules carry out CAN communication, and left back controller obtains the angle of pitch in the left back portion in chassis
And acceleration, and master control ECU modules are sent to, left back controller controls left back servo according to the control command of master control ECU modules
Motor driver drives corresponding servomotor worm decelerating machine 6 to rotate.
The right rear portion lowering or hoisting gear in chassis includes off hind wheel elevating mechanism（As shown in Figure 3, Figure 4）With electrical module behind the right side, the right side
Electrical module behind gyroscope, right post-acceleration meter, the right side after controller behind the right side and the right side electrically connected with controller behind the right side including watching afterwards
Take motor servo driver and the servomotor snail in off hind wheel elevating mechanism behind CAN behind motor driver, the right side, the right side
Bar reductor 6 is electrically connected, and the servomotor worm decelerating machine 6 is electrically connected with controller behind the right side again, after controller is by the right side behind the right side
CAN, CAN and master control ECU modules carry out the angle of pitch that controller behind CAN communication, the right side obtains the right rear portion in chassis
And acceleration, and be sent to master control ECU modules, it is right after controller according to the control command of master control ECU modules, servo after control is right
Motor driver drives corresponding servomotor worm decelerating machine 6 to rotate.
Middle part electrical module includes middle part controller and the middle part gyroscope, the middle part acceleration that are electrically connected with middle part controller
Meter, middle part CAN, middle part controller carry out CAN by middle part CAN, CAN and master control ECU modules
Communication, middle part controller obtains automotive pitch angle and acceleration, and is sent to master control ECU modules.
Master control ECU modules are connected by CAN with car running computer, obtain speed, engine speed, steering wheel angle,
Throttle position and the near front wheel tire pressure, off-front wheel tire pressure, left rear wheel tire pressure, off hind wheel tire pressure.
Touch display module is electrically connected with master control ECU modules, be integrated with touch display module automobile chassis lifting button,
The left front portion's lifting button in chassis, chassis right front portion lifting button, the right rear portion lifting button of the left back portion's lifting button in chassis and chassis,
And show the related status information of each electrical module.
Automobile chassis dynamic stabilization methods of the present invention, are realized using above-mentioned automobile chassis dynamic stabilization system, should
Method is：
Master control ECU modules are according to speed, engine speed, steering wheel angle, throttle position and the near front wheel tire pressure, right front fire
Pressure, left rear wheel tire pressure, off hind wheel tire pressure judge the driving cycle of automobile：
In vehicle stationary or when running at a low speed, clicking on automobile chassis lifting button makes chassis raise setting height, master control ECU moulds
Block receives the control command that rise setting height in chassis is sent after the signal of chassis rise setting height to left front controller, the right side
Controller behind preceding controller, left back controller, the right side, left front controller controls left front motor servo driver to drive according to control command
Move corresponding servomotor worm decelerating machine 6 to rotate forward, servomotor worm decelerating machine 6 makes pendulum by plane scroll spring 4
Arm 3 is reduced to lower swing, the near front wheel（Move downward）, the left front portion's rise setting height in chassis；Before simultaneously right controller according to
Motor servo driver drives corresponding servomotor worm decelerating machine 6 to rotate forward before control command control is right, servomotor
Worm decelerating machine 6 makes swing arm 3 to lower swing by plane scroll spring 4, and off-front wheel reduction, chassis right front portion rise setting is high
Degree；Left back controller controls left back motor servo driver to drive corresponding servomotor worm speed-down according to control command simultaneously
Machine 6 is rotated forward, and servomotor worm decelerating machine 6 makes swing arm 3 to lower swing, left rear wheel reduction, bottom by plane scroll spring 4
Face left rear portion rise setting height；Controller controls motor servo driver behind the right side to drive correspondence according to control command after simultaneously right
Servomotor worm decelerating machine 6 rotate forward, servomotor worm decelerating machine 6 makes swing arm 3 downward by plane scroll spring 4
Swing, off hind wheel reduction, the right rear portion rise setting height in chassis, chassis integrally keeps stable.
In vehicle stationary or when running at a low speed, clicking on automobile chassis lifting button makes chassis reduce setting height, master control
ECU modules receive the control command that reduction setting height in chassis is sent after the signal of chassis reduction setting height to left front control
Controller behind device, right preceding controller, left back controller, the right side, left front controller controls left front servomotor to drive according to control command
Dynamic device drives corresponding servomotor worm decelerating machine 6 to reversely rotate, and servomotor worm decelerating machine 6 passes through plane scroll spring
4 are swung up swing arm 3, the near front wheel rise（That is motion upwards）, the left front portion's reduction setting height in chassis；Controller before simultaneously right
Corresponding servomotor worm decelerating machine 6 is driven to reversely rotate according to motor servo driver before the control command control right side, servo
Motor worm reductor 6 is swung up swing arm 3 by plane scroll spring 4, off-front wheel rise, the reduction setting of chassis right front portion
Highly；Left back controller controls left back motor servo driver to drive corresponding servomotor worm screw to subtract according to control command simultaneously
Fast machine 6 is reversely rotated, and servomotor worm decelerating machine 6 is swung up swing arm 3 by plane scroll spring 4, drives left rear wheel
Motion upwards（I.e. left rear wheel is raised）, the left back portion's reduction setting height in chassis；Controller is according to control command control after simultaneously right
Motor servo driver drives corresponding servomotor worm decelerating machine 6 to reversely rotate behind the right side, and servomotor worm decelerating machine 6 leads to
Crossing plane scroll spring 4 is swung up swing arm 3, off hind wheel rise, the right rear portion reduction setting height in chassis, and chassis is integrally kept
It is stable.
In vehicle stationary or when running at a low speed, clicking on automobile chassis some position lifting button makes chassis corresponding position liter
High setting height or reduction setting height, master control ECU modules, which are sent, makes chassis corresponding position rise setting height or reduction
The control command of setting height gives corresponding controller, and corresponding controller controls corresponding servomotor to drive according to control command
Dynamic device drives corresponding servomotor worm decelerating machine to rotate, and makes chassis corresponding position rise setting height or reduction setting high
Degree.Such as clicking on chassis right front portion lifting button makes chassis right front portion reduction setting height, and master control ECU modules, which are sent, makes chassis right
Front portion reduces the control command of setting height to right preceding controller, and right preceding controller reduces setting height according to chassis right front portion
Motor servo driver drives corresponding servomotor worm decelerating machine 6 to reversely rotate before control command control is right, servomotor
Worm decelerating machine 6 is swung up swing arm 3 by plane scroll spring 4, and off-front wheel rise, chassis right front portion reduction setting is high
Degree.
In galloping, master control ECU modules send the control command for making chassis reduce setting height to left front control
Controller behind device processed, right preceding controller, left back controller, the right side, left front controller controls left front servomotor according to control command
Driver drives corresponding servomotor worm decelerating machine 6 to reversely rotate, and servomotor worm decelerating machine 6 rolls up bullet by plane snail
Spring 4 is swung up swing arm 3, the near front wheel rise（That is motion upwards）, the left front portion's reduction setting height in chassis；Controlled before simultaneously right
Device controls motor servo driver before the right side to drive corresponding servomotor worm decelerating machine 6 to reversely rotate according to control command, watches
Take motor worm reductor 6 is swung up swing arm 3 by plane scroll spring 4, and off-front wheel rise, chassis right front portion reduction is set
Fixed height；Left back controller controls left back motor servo driver to drive corresponding servomotor worm screw according to control command simultaneously
Reductor 6 is reversely rotated, and servomotor worm decelerating machine 6 is swung up swing arm 3 by plane scroll spring 4, left rear wheel liter
Height, the left back portion's reduction setting height in chassis；Controller controls motor servo driver behind the right side to drive according to control command after simultaneously right
Move corresponding servomotor worm decelerating machine 6 to reversely rotate, servomotor worm decelerating machine 6 makes pendulum by plane scroll spring 4
Arm 3 is swung up, off hind wheel rise, the right rear portion reduction setting height in chassis, and chassis integrally keeps stable.
In running car and some abnormal wheel, master control ECU modules are according to automotive pitch angle and acceleration and chassis
The angle of pitch and acceleration at each position（I.e. the angle of pitch and acceleration in the left front portion in chassis, the angle of pitch of chassis right front portion and add
The angle of pitch and acceleration of speed, the angle of pitch in the left back portion in chassis and the right rear portion of acceleration and chassis）, calculate the wheel pair
The chassis location answered needs elevated height, then needs elevated height to be ordered as control the corresponding chassis location of the wheel
Order is sent to corresponding controller, and corresponding controller controls corresponding motor servo driver to drive corresponding servomotor snail
Bar reductor is rotated, and the corresponding chassis location of the wheel is raised the height of needs, and chassis integrally keeps stable.Such as off-front wheel
When tire is blown out, the control command that master control ECU modules send the height for making chassis right front portion rise needs gives the right side preceding controller, before the right side
Controller controls motor servo driver before the right side to drive corresponding servomotor worm decelerating machine 6 is positive to revolve according to control command
Turn, servomotor worm decelerating machine 6 makes swing arm 3 to lower swing, off-front wheel reduction by plane scroll spring 4（Transport downwards
It is dynamic）, the height that right front portion rise in chassis needs.
When automobile is quickly through bend, master control ECU modules are according to automotive pitch angle and acceleration and each portion of chassis
The angle of pitch and acceleration of position, calculating chassis corresponding site needs elevated height or needs the height of reduction, then will
Chassis corresponding site needs elevated height or needs the height reduced to be sent respectively to control accordingly as control command
Device, corresponding controller controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, and makes bottom
The height that the height or reduction that the rise of disk corresponding site needs need., it is necessary to car when such as 80km/h is travelled and bent to right
The inclined right travel of center of gravity, then master control ECU modules, which are sent, makes chassis right front portion, the control command of the height of right rear portion reduction needs
To controller behind controller, the right side before the right side, right preceding controller controls motor servo driver driving correspondence before the right side according to control command
Servomotor worm decelerating machine 6 reversely rotate, servomotor worm decelerating machine 6 makes swing arm 3 upward by plane scroll spring 4
Swing, off-front wheel rise（That is motion upwards）, the height that right front portion reduction in chassis needs；Controller is ordered according to control after simultaneously right
Motor servo driver drives corresponding servomotor worm decelerating machine 6 to reversely rotate after order control is right, and servomotor worm screw subtracts
Fast machine 6 is swung up swing arm 3 by plane scroll spring 4, off hind wheel rise, the height that the right rear portion reduction in chassis needs, car
Keep stable traveling.
When automobile is knocked, master control ECU modules are bowed according to automotive pitch angle and acceleration and each position of chassis
The elevation angle and acceleration, calculating chassis corresponding site needs elevated height or needs the height of reduction, then by chassis phase
Answer position to need the height that elevated height or needs are reduced as control command and be sent respectively to corresponding controller, accordingly
Controller control corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, make the corresponding portion in chassis
The height that the height or reduction that position rise needs need, chassis center of gravity is offset to direction is knocked, it is to avoid overturned.
Claims (7)
1. a kind of automotive wheel elevating mechanism, including wheel rim（1）, the knuckle assembly that is fixedly connected with wheel rim（2）, its feature exists
In：Also include swing arm（3）, plane scroll spring（4）, oscillating arm bracket（5）, servomotor worm decelerating machine（6）, clutch shaft bearing
（7）Damping ring is cased with outer wall（9）Second bearing（8）, the knuckle assembly（2）Bottom be provided with swing arm connecting seat
（21）, oscillating arm bracket（5）In doorframe shape, its top is fixedly connected on vehicle frame, and both sides offer clutch shaft bearing mounting hole
（51）, clutch shaft bearing（7）In clutch shaft bearing mounting hole, servomotor worm decelerating machine（6）It is fixedly connected on swing arm branch
Frame（5）Outside, servomotor worm decelerating machine（6）Output shaft（61）On offer notch, swing arm（3）One end in
Between open avoid breach mode be formed with two linking arms（31）, second bearing mounting hole is offered on linking arm（32）, it is described
Second bearing（8）In second bearing mounting hole, swing arm（3）The other end provided with connection journal stirrup（33）, and below the end
Provided with volute spring connecting seat（34）；Plane scroll spring（4）Snail volume part be located at oscillating arm bracket（5）It is interior, output shaft（61）
Pass through notch and plane scroll spring（4）Inner connection, and pass through clutch shaft bearing（7）It is supported on oscillating arm bracket（5）On, two
Linking arm（31）End be located at oscillating arm bracket（5）It is interior, plane scroll spring is avoided by the avoidance breach（4）Snail volume portion
Point, and pass through second bearing（8）It is enclosed on output shaft（61）On, plane scroll spring（4）Outer end be fixed on volute spring connection
Seat（34）It is interior, connect journal stirrup（33）With swing arm connecting seat（21）Cooperation makes swing arm（3）With knuckle assembly（2）In above-below direction phase
To fixation.
2. automotive wheel elevating mechanism according to claim 1, it is characterised in that：The connection journal stirrup（33）On offer
Ball（35）, bulb is movably installed with ball（10）, vertically extending bulb connecting hole is offered on bulb
（101）, the swing arm connecting seat（21）On offer vertically extending screw（22）, bolt is along the vertical direction through ball
Head connecting hole（101）, screw（22）, and by nut by bulb（10）With swing arm connecting seat（21）It is fixedly connected, makes knuckle
Assembly（2）Can be relative to swing arm（3）Left-right rotation.
3. automotive wheel elevating mechanism according to claim 1, it is characterised in that：The connection journal stirrup（33）, swing arm connect
Joint chair（21）On all offer bolt hole, connect journal stirrup（33）With swing arm connecting seat（21）Consolidated by the cooperation of bolts and nuts
Fixed connection, makes swing arm（3）It is fixed on knuckle assembly（2）Bottom.
4. a kind of automobile chassis dynamic stabilization system, it is characterised in that：
Including the left front portion's lowering or hoisting gear in chassis, chassis right front portion lowering or hoisting gear, the left back portion's lowering or hoisting gear in chassis, the right rear portion liter in chassis
Falling unit, master control ECU modules and the middle part electrical module in the middle of roof；
The left front portion's lowering or hoisting gear in chassis includes the near front wheel elevating mechanism and left front electrical module, the near front wheel elevating mechanism
Using automotive wheel elevating mechanism as claimed in claim 2, the left front electrical module include left front controller and with it is left front
The left front gyroscope of controller electrical connection, left front accelerometer, left front motor servo driver, left front CAN, it is left front
Motor servo driver and the servomotor worm decelerating machine in the near front wheel elevating mechanism（6）Electrical connection, the servomotor worm screw
Reductor（6）Electrically connected again with left front controller, left front controller passes through left front CAN, CAN and master control ECU
Module carries out CAN communication, and left front controller obtains the angle of pitch and acceleration in the left front portion in chassis, and is sent to master control ECU modules,
Left front controller controls left front motor servo driver to drive the servomotor snail according to the control command of master control ECU modules
Bar reductor（6）Rotate；
Electrical module, the off-front wheel elevating mechanism before the chassis right front portion lowering or hoisting gear includes off-front wheel elevating mechanism and be right
Using automotive wheel elevating mechanism as claimed in claim 2, it is described it is right before electrical module include it is right before controller and with before the right side
Before the right preceding gyroscope of controller electrical connection, right preacceleration meter, right preceding motor servo driver, right preceding CAN, the right side
Motor servo driver and the servomotor worm decelerating machine in off-front wheel elevating mechanism（6）Electrical connection, the servomotor worm screw
Reductor（6）Electrically connected again with controller before the right side, right preceding controller passes through CAN, CAN and master control ECU before the right side
Module carries out CAN communication, it is right before controller obtain the angle of pitch and acceleration of chassis right front portion, and be sent to master control ECU modules,
Controller is according to the control command of master control ECU modules before right, and motor servo driver drives the servomotor snail before control is right
Bar reductor（6）Rotate；
The left back portion's lowering or hoisting gear in chassis includes left rear wheel elevating mechanism and left back electrical module, the left rear wheel elevating mechanism
Using automotive wheel elevating mechanism as claimed in claim 3, the left back electrical module include left back controller and with it is left back
The left back gyroscope of controller electrical connection, left back accelerometer, left back motor servo driver, left back CAN, it is left back
Motor servo driver and the servomotor worm decelerating machine in left rear wheel elevating mechanism（6）Electrical connection, the servomotor worm screw
Reductor（6）Electrically connected again with left back controller, left back controller passes through left back CAN, CAN and master control ECU
Module carries out CAN communication, and left back controller obtains the angle of pitch and acceleration in the left back portion in chassis, and is sent to master control ECU modules,
Left back controller controls left back motor servo driver to drive the servomotor snail according to the control command of master control ECU modules
Bar reductor（6）Rotate；
Electrical module, the off hind wheel elevating mechanism after the right rear portion lowering or hoisting gear in chassis includes off hind wheel elevating mechanism and be right
Using automotive wheel elevating mechanism as claimed in claim 3, it is described it is right after electrical module include it is right after controller and with behind the right side
Controller electrical connection it is right after gyroscope, right post-acceleration meter, it is right after motor servo driver, it is right after CAN, it is right after
Motor servo driver and the servomotor worm decelerating machine in off hind wheel elevating mechanism（6）Electrical connection, the servomotor worm screw
Reductor（6）Electrically connected again with controller behind the right side, controller passes through CAN, CAN and master control ECU behind the right side behind the right side
Module carries out CAN communication, it is right after controller obtain the angle of pitch and acceleration at the right rear portion in chassis, and be sent to master control ECU modules,
Controller is according to the control command of master control ECU modules behind the right side, and motor servo driver drives the servomotor snail after control is right
Bar reductor（6）Rotate；
The middle part electrical module includes middle part controller and the middle part gyroscope, the middle part acceleration that are electrically connected with middle part controller
Meter, middle part CAN, middle part controller carry out CAN by middle part CAN, CAN and master control ECU modules
Communication, middle part controller obtains automotive pitch angle and acceleration, and is sent to master control ECU modules；
The master control ECU modules are connected by CAN with car running computer, obtain speed, engine speed, steering wheel angle,
Throttle position and the near front wheel tire pressure, off-front wheel tire pressure, left rear wheel tire pressure, off hind wheel tire pressure.
5. automobile chassis dynamic stabilization system according to claim 4, it is characterised in that：The systems stabilisation also includes touching
Display module, the touch display module is electrically connected with master control ECU modules, and automobile chassis lifting is integrated with touch display module
Button, the left front portion's lifting button in chassis, chassis right front portion lifting button, the right rear portion lifting of the left back portion's lifting button in chassis and chassis
Button.
6. a kind of automobile chassis dynamic stabilization methods, using the automobile chassis dynamic stabilization system as described in claim 4 or 5,
Characterized in that,
Master control ECU modules are according to speed, engine speed, steering wheel angle, throttle position and the near front wheel tire pressure, right front fire
Pressure, left rear wheel tire pressure, off hind wheel tire pressure judge the driving cycle of automobile：
In galloping, master control ECU modules send the control command for making chassis reduce setting height to each controller,
Each controller controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to turn according to control command
It is dynamic, each position of chassis is all reduced setting height, chassis integrally keeps stable；
When running car and some wheel are abnormal, master control ECU modules according to automotive pitch angle and acceleration and chassis each
The angle of pitch and acceleration at position, calculating the corresponding chassis location of the wheel needs elevated height, then by the wheel pair
The chassis location answered needs elevated height as control command and is sent to corresponding controller, corresponding controller control correspondence
Motor servo driver drive corresponding servomotor worm decelerating machine to rotate, need the corresponding chassis location rise of the wheel
The height wanted, chassis integrally keeps stable；
When automobile is quickly through bend, master control ECU modules are according to automotive pitch angle and acceleration and each position of chassis
The angle of pitch and acceleration, calculating chassis corresponding site needs elevated height or needs the height of reduction, then by chassis
Corresponding site needs the height that elevated height or needs are reduced as control command and is sent respectively to corresponding controller, phase
The controller answered controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, and makes chassis corresponding
The height that the height or reduction that position rise needs need；
When automobile is knocked, master control ECU modules are according to automotive pitch angle and acceleration and the angle of pitch at each position of chassis
And acceleration, calculating chassis corresponding site needs elevated height or needs the height of reduction, then by the corresponding portion in chassis
Position needs the height that elevated height or needs are reduced as control command and is sent respectively to corresponding controller, corresponding control
Device processed controls corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, and makes chassis corresponding site liter
The height that the height or reduction that height needs need, chassis center of gravity is offset to direction is knocked.
7. automobile chassis dynamic stabilization methods according to claim 6, it is characterised in that
In vehicle stationary or when running at a low speed：
Clicking on automobile chassis lifting button makes chassis raise setting height or reduction setting height, and master control ECU modules, which are sent, to be made
Chassis raises the control command of setting height or reduction setting height to each controller, and each controller is according to control command
Control corresponding motor servo driver to drive corresponding servomotor worm decelerating machine to rotate, each position of chassis is all raised
Setting height all reduces setting height, and chassis integrally keeps stable；
Some position lifting button of click automobile chassis makes chassis corresponding position rise setting height or reduction setting height, main
Control ECU modules, which are sent, to be made chassis corresponding position rise setting height or reduces the control command of setting height to corresponding control
Device, corresponding controller controls corresponding motor servo driver to drive corresponding servomotor worm speed-down according to control command
Machine is rotated, and makes chassis corresponding position rise setting height or reduction setting height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710663296.9A CN107297998A (en) | 2017-08-05 | 2017-08-05 | Automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods |
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| CN201710663296.9A CN107297998A (en) | 2017-08-05 | 2017-08-05 | Automotive wheel elevating mechanism, chassis dynamic stabilization system and dynamic stabilization methods |
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Application publication date: 20171027 |