CN107458457A - Low damage control system and 360 degree of low damage body chassis and its control method - Google Patents
Low damage control system and 360 degree of low damage body chassis and its control method Download PDFInfo
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- CN107458457A CN107458457A CN201710545405.7A CN201710545405A CN107458457A CN 107458457 A CN107458457 A CN 107458457A CN 201710545405 A CN201710545405 A CN 201710545405A CN 107458457 A CN107458457 A CN 107458457A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 230000006870 function Effects 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 10
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 235000021384 green leafy vegetables Nutrition 0.000 claims description 6
- 238000009987 spinning Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 7
- 230000009975 flexible effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
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- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0409—Electric motor acting on the steering column
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of low damage control system and 360 degree of low damage body chassis and its control method, the wherein low damage control system includes signal sensing module, control module and execution module；The signal sensing module is made up of several rotary angle transmitters and torque sensor, for obtaining corner and dtc signal；The control module is used for 360 degree of power steering control, wheel active rotary transform tensor and four wheels course changing controls；The execution module realizes 360 degree of two-way telescopic linear electric motors assemblies turned to and the wheel hub motor in four wheels including the 4WS EPS assist motors assembly on column assy, on vehicle frame；The execution module and the sensing module are connected with the control module；The system is to arrange automatically controlled steering that is convenient, occupying little space.
Description
Technical field
The present invention relates to automobile steering system and its control method, more particularly to a kind of low damage control system and 360 degree
Low damage body chassis and its control method.
Background technology
Active Driving control technology is automated driving system corn module, and automobile Active Steering Technique is to realize actively
An important ring for driving technology.360 degree of low damage chassis technologies, transverse movement control technology are to realize automobile Active Steering Technique
Effective way.
Traditional two-wheeled steering mode turning radius is larger, and automobile maneuverability is not high.360 degree of low damage chassis can
The pivot stud that turning radius is zero is realized, substantially increases the maneuverability of automobile.
With the development of science and technology automobile gradually develops to intelligent direction, there is cost height in existing automatic parking technology,
High to parking stall space requirement, parking manoeuvres are dumb, time length of parking, it is easily affected by environment the shortcomings of.
Therefore, it is now necessary to develop a kind of four-wheel steering system of high efficient and flexible, it is possible to achieve 360 degree of the original place of automobile
The low damage control system of auto-steering and 360 degree of low damage body chassis and its control method.
The content of the invention
The technical problem to be solved in the present invention is to develop a kind of four-wheel steering system of high efficient and flexible, it is possible to achieve automobile
360 degree of original place auto-steering low damage control system.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：The low damage control system includes signal
Sensing module, control module and execution module；The signal sensing module is by several rotary angle transmitters and torque sensor group
Into for obtaining corner and dtc signal；The control module is used for power steering control, wheel active rotary transform tensor and four
Individual 360 degree of course changing controls of wheel；The 4WS-EPS assist motors that the execution module includes being arranged on column assy are total
Into, realize on vehicle frame the two-way telescopic linear electric motors assemblies of 360 degree of steerings and the wheel hub electricity in four wheels
Machine；The execution module and the sensing module are connected with the control module.Using above-mentioned technical proposal, pass through installation
Signal control loop, Ke Yishi are formed in the execution module of the signal sensing module of diverse location, control module and diverse location
The low damage control of existing four wheels, so can more be accurately controlled the steering of wheel.
The present invention further improvement is that, the signal sensing module include be arranged on steering column in 4WS-EPS side
To disk rotary angle transmitter, torque sensor and the wheel steering angle sensor being separately mounted at four wheel steering sections.
The present invention further improvement is that, the control module is 4WS-EPS controllers, the 4WS-EPS controllers bag
Include MCU, signal processing circuit, relay drive circuit, house dog, communication control circuit, mu balanced circuit and diagnostics port circuit group
Into the signal processing circuit, relay drive circuit, diagnostics port circuit, serial port circuit, mu balanced circuit and communication control circuit
It is connected with MCU, wherein, the serial port circuit, diagnostics port circuit form bi-directional data with MCU and are connected, the mu balanced circuit
Output end and the MCU be electrically connected, the signal processing circuit transmits data to the MCU, and the MCU passes through described logical
Letter control circuit receives the GES of vehicle speed sensor input.
The present invention further improvement is that, the signal sensing module also include installed in vehicle body barycenter at yaw angle
Velocity sensor, it exports vehicle yaw rate signal to 4WS-EPS controllers.
The present invention further improvement is that, the 4WS-EPS controllers convey signal to in-vehicle display, and set in the car
Functional select button, carry out the selection of driving model；The communication control circuit includes CAN communication controller and LIN communicates
Controller.
The technical problem to be solved in the present invention is to develop a kind of four-wheel steering system of high efficient and flexible, it is possible to achieve automobile
360 degree of original place auto-steering 360 degree of low damage body chassis using low damage control system.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：This utilizes the 360 of low damage control system
Spend low damage body chassis, including left front steering wheel hub motor assembly, right front steering wheel hub motor assembly, left back steering wheel hub electricity
Machine assembly and right rear steering wheel hub motor assembly, the left front steering wheel hub motor assembly and right front steering wheel hub motor assembly lead to
Cross left front track rod, right front steering drag link is connected with front axle two-way telescopic linear electric motors assembly, described left front turn
Left front car is installed to wheel rotary angle transmitter on to the knuckle of wheel hub motor assembly；The right front steering wheel hub motor assembly
Right front truck is installed to wheel rotary angle transmitter on knuckle；The left back steering wheel hub motor assembly and right rear steering wheel hub motor
Assembly is connected by left back track rod, right rear steering drag link with rear axle two-way telescopic linear electric motors assembly；It is described
Left back car is installed to wheel rotary angle transmitter on the knuckle of left back steering wheel hub motor assembly；The right rear steering wheel hub motor
Right rear car is installed to wheel rotary angle transmitter on the knuckle of assembly；The front axle two-way telescopic linear electric motors assembly leads to successively
Cross pitman arm, single armed steering gear, column assy are connected with steering wheel, be also associated with the column assy
4WS-EPS assist motor assemblies.
The present invention further improvement is that, front axle two-way telescopic linear electric motors assembly and rear axle two-way telescopic straight-line electric
Machine assembly includes two ball screws, one, ball screw two, the total shelling of linear electric motors and servomotor, the servo electricity
Machine is arranged on the centre of the total shelling of the linear electric motors, the output shaft gear of the servomotor and the middle part of ball screw two
Gear composition worm-and-wheel gear, two ball screws one insert respectively the ball screw two both ends formed can stretch
Contracting screw body；The column assy also includes torque sensor and 4WS-EPS steering wheel angle sensors, the 4WS-
EPS steering wheel angle sensors and torque sensor are arranged on steering column；The single armed steering gear is by turning to horizontal drawing
Bar is connected with the pitman arm and drives pitman arm.
The technical problem to be solved in the present invention is to develop a kind of four-wheel steering system of high efficient and flexible, it is possible to achieve automobile
The 360 degree of auto-steerings in original place 360 degree of low damage body chassis control method.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：The control of 360 degree of low damage body chassis
Method processed, comprises the following steps：
(1) after vehicle launch, 4WS-EPS controllers gather steering wheel angle signal and GES in real time；The 4WS-
Steering is defined as normal direction of rotation pattern and 360 degree of four-wheel steering patterns by EPS controllers according to function is driven；At vehicle
When normal direction of rotation pattern, pilot control steering wheel carries out wheel steering, and front-wheel rotates with steering wheel, and trailing wheel is not with steering wheel
Rotate；
(2) when vehicle enters 360 degree of four-wheel steering patterns, if failure, 360 degree of turn signal lamps be present in steering
Display is red；If system failure, 4WS-EPS controllers confirm whether speed is zero, and speed is not zero then 360 degree of turn signals
Lamp shows bright orange, then 360 degree of turn signal lamp bright greens after speed is zero；
(3) after 4WS-EPS controllers confirm system failure, and speed is zero, 360 degree of turn signal lamp bright greens,
4WS-EPS controllers export rotary transform tensor signal and give 4WS-EPS assist motors, so as to drive 4WS-EPS assist motors to make direction
Disk and wheel return just, and the rotary angle transmitter at knuckle detects back positive-angle and feeds back to the 4WPS-EPS controllers,
When wheel time positive-angle error, then 4WS-EPS controllers export 4WS-EPS assist motor latch signals in error allowed band,
4WS-EPS assist motor self-lockings, driver then can not carry out wheel steering by steering wheel；
(4) and then the 4WS-EPS controllers export 360 spinning driving instruction, drive front axle two-way telescopic straight line
Motor work makes left and right front axle wheel symmetrically towards interior rotation, with Center Symmetry Plane into stopping operating simultaneously after 59 ° of acute angles
Self-locking, rear axle two-way telescopic linear electric motors work left and right rear axle wheel is symmetrically turned out, with Center Symmetry Plane into 59 °
Stop operating simultaneously self-locking after acute angle；During as turning clockwise, left front wheel hub motor and off hind wheel hub motor work；As
Rotate counterclockwise formula, off-front wheel hub motor and the work of left back wheel hub motor；So that four wheels rotate around chassis pivot.
The present invention further improvement is that, in addition to step (5) is when vehicle enters normal mode, 4WS-EPS controllers
Latch signal is exported to front axle two-way telescopic linear electric motors assembly and rear axle two-way telescopic linear electric motors assembly, then front axle is double
Self-locking is completed to telescopic linear electric motors and rear axle two-way telescopic linear electric motors；Pilot control steering wheel, passes through steering tube
Post assembly, the spur rack transverse movement of single armed steering gear, then the driving of the track rod by being connected with single armed steering gear is driven to turn
It is final to realize steering wheel to rocking arm, front axle two-way telescopic linear electric motors assembly, the slider-crank mechanism of vehicle body frames composition
The overall left and right along body support guide rail for being converted to front axle two-way telescopic linear electric motors assembly move along a straight line, then lead to
Cross the left front track rod for being connected in both ends, right front steering drag link realizes the normal direction of rotation function of wheel；Wheel steering angle senses
Device gathers signal with torque sensor and transmitted to the 4WS-EPS controllers in real time, and the 4WS-EPS controllers are according to receiving
Angular signal and dtc signal, driving 4WS-EPS assist motors realize steering reversal and power steering function.
The present invention further improvement is that, in addition to step (5) is if after vehicle launch and remain static, human pilot
360 ° of turning functions can be selected according to functional requirement, system enters corresponding pattern according to corresponding command signal is inputted, if
Driver does not select corresponding function, and then system default is normal driving pattern.
Compared with prior art, the invention has the advantages that：The present invention low damage control system and 360 degree oneself
It is a kind of automatically controlled steering for arranging and facilitating, occupy little space, being mainly made up of motor etc. to turn to body chassis, is fully examined
The coupled relation between each sensor is considered, has improved the degree of integration of the system, compared with traditional two-wheeled steering, had
Advantages below：
(1) high reliability：Because the present invention is using mechanical system structure and ripe motor driven systems device, machinery system
It is stable that technical maturity is made in controlling；
(2) it is intelligent：Function is actively driven by what 4WPS-EPS controllers can realize steering；It is effectively improved simultaneously
The dynamic performance of vehicle；
(3) flexible property：Rotated in place because the present invention can be achieved 360, radius of turn zero；With very high flexible
Property, it is suitable for automobile, is especially suitable for the less minicar of size.
Brief description of the drawings
Technical scheme is further described below in conjunction with the accompanying drawings：
Fig. 1 is 360 degree of low damage body chassis overall construction drawings；
Fig. 2 is the two-way telescopic linear electric motors assembly structure schematic diagram of 360 degree of low damage body chassis；
Fig. 3 is the control principle drawing of 360 degree of low damage body chassis；
Fig. 4 is the 4WS-EPS controller hardware architecture principle figures of 360 degree of low damage control systems；
Wherein：The left front steering wheel hub motor assemblies of 1-；The left front steering wheel angle sensors of 2-；The left front track rods of 3-；
4- vehicle body fixed supports；5- front axle two-way telescopic linear electric motors assemblies；501- ball screws one；502- ball screws two；
The total shelling of 503- linear electric motors；504- servomotors；The right front steering drag links of 6-；The right front steering wheel hub motor assemblies of 7-；8- is right
Steering front wheel rotary angle transmitter；9- pitman arms；10- single armed steering gears；11- column assys；12- steering wheels；13- is left back
Steering wheel hub motor assembly；The left back steering wheel angle sensors of 14-；The left back track rods of 15-；16- rear axle two-way telescopics
Linear electric motors assembly；The right rear steering drag links of 17-；The right rear steering wheel hub motor assemblies of 18-；The right rear steering wheel rotation angular sensings of 19-
Device.
Embodiment
In order to deepen the understanding of the present invention, the present invention is done below in conjunction with drawings and examples and further retouched in detail
State, the embodiment is only used for explaining the present invention, and protection scope of the present invention is not formed and limited.
Embodiment 1：As shown in Figure 3-4, the low damage control system includes signal sensing module, control module and performs mould
Block；The sensing module is made up of several rotary angle transmitters and torque sensor, for obtaining corner and dtc signal；It is described
Control module is used for 360 degree of power steering control, wheel active rotary transform tensor and four wheels course changing controls；The execution mould
Block realizes pair of 360 degree of steerings including the 4WS-EPS assist motors assembly on column assy, on vehicle frame
Wheel hub motor to telescopic linear electric motors assembly and in four wheels, it is for realizing that the steering of normal direction of rotation function passes
Motivation structure, the execution module and the sensing module are connected with the control module；The signal sensing module includes
4WS-EPS steering wheel angle sensors, torque sensor in steering column and it is separately mounted to four wheel steerings
Wheel steering angle sensor at section；The control module is 4WS-EPS controllers (abbreviation ECU), the 4WS-EPS controllers bag
Include MCU, signal processing circuit, relay drive circuit, house dog, communication control circuit, mu balanced circuit and diagnostics port circuit group
Into the signal processing circuit, relay drive circuit, diagnostics port circuit, serial port circuit, mu balanced circuit and communication control circuit
It is connected with MCU, wherein, the serial port circuit, diagnostics port circuit form bi-directional data with MCU and are connected, the mu balanced circuit
Output end and the MCU be electrically connected, the signal processing circuit transmits data to the MCU, and the MCU passes through described logical
Believe the GES of control circuit transmission vehicle speed sensor output；The signal sensing module also includes the barycenter installed in vehicle body
The yaw-rate sensor at place, it exports vehicle yaw rate signal to 4WS-EPS controllers；The 4WS-EPS controls
Device conveys signal to in-vehicle display, and is provided with function select button in the car, carries out the selection of driving model；The communication control
Circuit processed includes CAN communication controller and LIN communication controlers；4WS-EPS controllers receive the driving model of driver's input
Control instruction, into corresponding driving model, output control signal realizes the inclined of wheel angle to assist motor and linear electric motors
Turn, wherein 4WS-EPS controllers use Infineon's XC2300B single-chip microcomputers as core MUC；Whole system is supplied by external power source
Electricity, i.e. Vehicular accumulator cell；The 4WS-EPS controllers also include 360 degree of turn signal lamps, 360 degree of turn signal lamps directly with
MCU is connected, for showing the state of 360 degree of steering patterns.
The control principle of the low damage control system：4WS-EPS controllers by control instruction be divided into EPS Power assisted controls and
EPS-4WS function controls.Wherein EPS is returned just and Power assisted control is by the output rotary transform tensor instruction of 4WS-EPS controllers or power-assisted control
EPS assist motors are given in system instruction, the work of EPS assist motors, driving steering column rotation, realize returning just for steering wheel and wheel,
4WS-EPS steering wheel angle sensors detect steering wheel actual rotational angle, and feed back to 4WS-EPS controllers, and controller will be actual
Corner compares with theoretical corner, according to corner deviation, exports EPS control instructions again to assist motor, travel direction disk and
Wheel steering angle is modified, until reaching wheel desired angle.EPS-4WS function controls：360 degree of 4WS-EPS outputs four-wheel is certainly
Steering order is to front axle two-way telescopic linear electric motors and rear axle two-way telescopic linear electric motors, front axle two-way telescopic straight-line electric
Machine works simultaneously with rear axle two-way telescopic linear electric motors, and driving moment rotates, the wheel steering angle being installed at wheel steering section
Sensor detects the actual rotational angle of wheel, and feeds back 4WS-EPS controllers, 4WS-EPS controllers by the actual rotational angle of wheel with
Theoretical corner compares, and according to corner deviation, exports 4WS control instructions again to front axle two-way telescopic linear electric motors, rear axle
Two-way telescopic linear electric motors, front-wheel and trailing wheel corner are modified, until reaching preferable wheel angle.
Contain three relays and 12V mu balanced circuits in relay drive circuit in 4WS-EPS controllers, three after
Electrical equipment drives 4WS-EPS assist motors and front axle two-way telescopic linear electric motors, rear axle two-way telescopic linear electric motors respectively；Help
Force motor and front axle two-way telescopic linear electric motors, rear axle two-way telescopic linear electric motors are respectively via drive circuit and H bridges
And signal data and MCU are formed transmission loop by current sensor input circuit；Signal processing circuit is divided into two-way, wraps all the way
Enabling signal and GES are included, another way includes torque signal sensor, steering wheel angle signal and four-wheel angular signal.
Embodiment 2：As shown in Figure 1-2,360 degree of low damage body chassis for utilizing low damage control system, including a left side
Front steering wheel hub motor assembly 1, right front steering wheel hub motor assembly 7, left back steering wheel hub motor assembly 13 and right rear steering wheel
Hub motor assembly 18, the left front steering wheel hub motor assembly 1 and right front steering wheel hub motor assembly 7 turn to horizontal drawing by left front
Bar 3, right front steering drag link 6 are connected with front axle two-way telescopic linear electric motors assembly 5, and the left front steering wheel hub motor is total
Left front car is installed to wheel rotary angle transmitter 2 on into 1 knuckle；On the knuckle of the right front steering wheel hub motor assembly 7
Right front truck is installed to wheel rotary angle transmitter 8；The left back steering wheel hub motor assembly 13 and right rear steering wheel hub motor assembly
18 are connected by left back track rod 15, right rear steering drag link 17 with rear axle two-way telescopic linear electric motors assembly 16；
Left back car is installed to wheel rotary angle transmitter 14 on the knuckle of the left back steering wheel hub motor assembly 13；The right rear steering
Right rear car is installed to wheel rotary angle transmitter 19 on the knuckle of wheel hub motor assembly 18；The front axle two-way telescopic straight-line electric
Machine assembly 5 passes sequentially through pitman arm 9, single armed steering gear 10, column assy 11 are connected with steering wheel 12, the steering
4WS-EPS assist motor assemblies are also associated with tubing string assembly 11；Front axle two-way telescopic linear electric motors assembly 5 is embedded in vehicle body
On fixed support 4, rear axle two-way telescopic linear electric motors assembly 16 is rigidly connected with vehicle body, and front axle two-way telescopic straight-line electric
Machine assembly 5 and rear axle two-way telescopic linear electric motors assembly 16 include two ball screws, one 501, ball screws two
502nd, the total shelling 503 of linear electric motors and servomotor 504, the servomotor 504 are arranged on the total shelling 503 of the linear electric motors
Centre, the output shaft gear of the servomotor 504 and the gear composition worm and gear machine at the middle part of the ball screw 2 502
Structure, the inward at both ends depression of the ball screw 2 502 is in opposite direction provided with internal thread and the internal thread at both ends, described in two
Ball screw 1 inserts in the internal thread at the both ends of the ball screw 2 502 and forms scalable silk by screw thread respectively
Linkage；The column assy 11 also includes torque sensor and 4WS-EPS steering wheel angle sensors, the 4WS-
EPS steering wheel angle sensors and torque sensor are arranged on steering column；The column assy 11 with it is described
4WS-EPS controllers are connected, and the transmission of column assy 11 is controlled by 4WS-EPS controllers；Wherein 4WS-EPS power-assisteds electricity
Machine assembly is a kind of power steering system that torque is directly provided by brshless DC motor, and different types of EPS's is substantially former
Reason is identical, and torque sensor is connected with steering spindle, and when steering wheel rotation so that during steering axes, torque sensor is opened
Beginning work, input shaft and output shaft, caused relative rotation displacement becomes electric signal and is transmitted to EPS controllers under torsion bar effect,
EPS controllers are big according to the direction of rotation and power-assisted electric current of vehicle speed sensor and the signal deciding assist motor of torque sensor
It is small, help steering so as to complete control in real time；Therefore it can be realized with fast assist function, ensure that automobile is light when running at a low speed
Flexibly, in the inventive solutions, 4WS-EPS assist motors assembly can be achieved on the steering transmission of normal direction of rotation function
Mechanism, the energy can be saved security is provided and is advantageous to environmental protection.
Embodiment 3：The control method of 360 degree of low damage body chassis, comprises the following steps：
(1) after vehicle launch, 4WS-EPS controllers gather steering wheel angle signal and GES in real time；The 4WS-
Steering is defined as normal direction of rotation pattern and 360 degree of four-wheel steering patterns by EPS controllers according to function is driven；At vehicle
When normal direction of rotation pattern, pilot control steering wheel carries out wheel steering, and front-wheel rotates with steering wheel, and trailing wheel is not with steering wheel
Rotate；
(2) when vehicle enters 360 degree of four-wheel steering patterns, if failure, 360 degree of turn signal lamps be present in steering
Display is red；If system failure, 4WS-EPS controllers confirm whether speed is zero, and speed is not zero then 360 degree of turn signals
Lamp shows bright orange, then 360 degree of turn signal lamp bright greens after speed is zero；
(3) after 4WS-EPS controllers confirm system failure, and speed is zero, 360 degree of turn signal lamp bright greens,
4WS-EPS controllers export rotary transform tensor signal and give 4WS-EPS assist motors, so as to drive 4WS-EPS assist motors to make direction
Disk and wheel return just, and the rotary angle transmitter at knuckle detects back positive-angle and feeds back to the 4WPS-EPS controllers,
When wheel time positive-angle error, then 4WS-EPS controllers export 4WS-EPS assist motor latch signals in error allowed band,
4WS-EPS assist motor self-lockings, driver then can not carry out wheel steering by steering wheel；
(3) and then the 4WS-EPS controllers export 360 spinning driving instruction, drive front axle two-way telescopic straight line
Motor work makes left and right front axle wheel symmetrically towards interior rotation, with Center Symmetry Plane into stopping operating simultaneously after 59 ° of acute angles
Self-locking, rear axle two-way telescopic linear electric motors work left and right rear axle wheel is symmetrically turned out, with Center Symmetry Plane into 59 °
Stop operating simultaneously self-locking after acute angle；During as turning clockwise, left front wheel hub motor and off hind wheel hub motor work；As
Rotate counterclockwise formula, off-front wheel hub motor and the work of left back wheel hub motor；So that four wheels rotate around chassis pivot；
(4) when vehicle enters normal mode, 4WS-EPS controllers export latch signal to front axle two-way telescopic straight line
Motor assembly 5 and rear axle two-way telescopic linear electric motors assembly 16, then front axle two-way telescopic linear electric motors and rear axle is two-way stretches
Contracting formula linear electric motors complete self-locking；Pilot control steering wheel, by column assy 11, drive the straight of single armed steering gear 10
Rack transverse movement, then the driving pitman arm 9 of the track rod by being connected with single armed steering gear 10, front axle two-way telescopic are straight
Line motor assembly, the slider-crank mechanism of vehicle body frames composition, final realize are converted to the rotation of steering wheel that front axle is two-way to be stretched
The overall left and right along body support guide rail of contracting formula linear electric motors assembly 5 moves along a straight line, then by being connected in the left front steering at both ends
Drag link 3, right front steering drag link 6 realize the normal direction of rotation function of wheel；Wheel steering angle sensor and torque sensor are real-time
Collection signal is transmitted to the 4WS-EPS controllers, and the 4WS-EPS controllers are according to the wheel steering angle sensor received
The dtc signal of angular signal and torque sensor, driving assist motor realize steering reversal and power steering function；Work as entrance
During normal direction of rotation pattern, front axle two-way telescopic linear electric motors and rear axle two-way telescopic linear electric motors self-locking, do not work；Pass through
EPS assist motors carry out normal power-assisted steering and return positive operation.
(5) if after vehicle launch and remaining static, human pilot can select 360 ° of turning functions according to functional requirement,
System enters corresponding pattern according to corresponding command signal is inputted, if driver does not select corresponding function system default for
Normal driving pattern.
For the ordinary skill in the art, simply the present invention is exemplarily described for specific embodiment,
Obviously present invention specific implementation is not subject to the restrictions described above, and is entered as long as employing the inventive concept and technical scheme of the present invention
The improvement of capable various unsubstantialities, or it is not improved by the present invention design and technical scheme directly apply to other occasions
, within protection scope of the present invention.
Claims (10)
1. a kind of low damage control system, it is characterised in that the low damage control system includes signal sensing module, control module
And execution module；The signal sensing module is made up of several rotary angle transmitters and torque sensor, for obtain corner and
Dtc signal；The control module is used for power steering control, wheel active rotary transform tensor and four 360 degree of wheels and turns to control
System；The execution module include be arranged on column assy on 4WS-EPS assist motors assembly, realized on vehicle frame
360 degree of two-way telescopic linear electric motors assemblies turned to and the wheel hub motor in four wheels；The execution module and institute
Sensing module is stated with the control module to be connected.
2. low damage control system according to claim 1, it is characterised in that the signal sensing module includes being arranged on
4WS-EPS steering wheel angle sensors, torque sensor in column assy and it is separately mounted to four wheel steering sections
The wheel steering angle sensor at place.
3. low damage control system according to claim 2, it is characterised in that the control module controls for 4WS-EPS
Device, the 4WS-EPS controllers include MCU, signal processing circuit, relay drive circuit, house dog, communication control circuit,
Mu balanced circuit and diagnostics port circuit composition, the signal processing circuit, relay drive circuit, diagnostics port circuit, serial port circuit,
Mu balanced circuit and communication control circuit are connected with MCU, wherein, the serial port circuit, diagnostics port circuit and MCU form two-way
Data are connected, and the output end of the mu balanced circuit is electrically connected with the MCU, and the signal processing circuit is transmitted to the MCU
Data, the MCU receive the GES of vehicle speed sensor input by the communication control circuit.
4. low damage control system according to claim 3, it is characterised in that the signal sensing module also includes installation
Yaw-rate sensor at the barycenter of vehicle body, it exports vehicle yaw rate signal to 4WS-EPS controllers.
5. low damage control system according to claim 4, it is characterised in that the 4WS-EPS controllers convey signal
To in-vehicle display, and function select button is provided with the car, carry out the selection of driving model；The communication control circuit includes
CAN communication controller and LIN communication controlers.
6. a kind of 360 degree of low damage body chassis of low damage control system using as described in claim any one of 1-5, its
Be characterised by, including left front steering wheel hub motor assembly, right front steering wheel hub motor assembly, left back steering wheel hub motor assembly and
Right rear steering wheel hub motor assembly, the left front steering wheel hub motor assembly and right front steering wheel hub motor assembly pass through left front turn
It is connected to drag link, right front steering drag link with front axle two-way telescopic linear electric motors assembly, the left front steering wheel hub electricity
Left front car is installed to wheel rotary angle transmitter on the knuckle of machine assembly；On the knuckle of the right front steering wheel hub motor assembly
Right front truck is installed to wheel rotary angle transmitter；The left back steering wheel hub motor assembly and right rear steering wheel hub motor assembly pass through
Left back track rod, right rear steering drag link are connected with rear axle two-way telescopic linear electric motors assembly；The left back steering
Left back car is installed to wheel rotary angle transmitter on the knuckle of wheel hub motor assembly；The right rear steering wheel hub motor assembly turns
Right rear car is installed to wheel rotary angle transmitter on to section；The front axle two-way telescopic linear electric motors assembly passes sequentially through steering and shaken
Arm, single armed steering gear, column assy are connected with steering wheel, and being also associated with 4WS-EPS on the column assy helps
Force motor assembly.
7. 360 degree of low damage body chassis according to claim 6, it is characterised in that front axle two-way telescopic straight-line electric
Machine assembly and rear axle two-way telescopic linear electric motors assembly include two ball screws one, ball screw two, a straight-line electric
The total shelling of machine and servomotor, the servomotor are arranged on the centre of the total shelling of the linear electric motors, the servomotor
Output shaft gear and the gear composition worm-and-wheel gear at the middle part of ball screw two, two ball screws one are inserted respectively
The both ends for entering the ball screw two form retractable screw rod mechanism；The column assy also include torque sensor and
4WS-EPS steering wheel angle sensors, the 4WS-EPS steering wheel angle sensors and torque sensor are arranged at steering tube
On post.
8. a kind of control method of 360 degree of low damage body chassis, it is characterised in that comprise the following steps：
(1) after vehicle launch, 4WS-EPS controllers gather steering wheel angle signal and GES in real time；The 4WS-EPS controls
Steering is defined as normal direction of rotation pattern and 360 degree of four-wheel steering patterns by device processed according to function is driven；When vehicle is in just
During normal steering pattern, pilot control steering wheel carries out wheel steering, and front-wheel rotates with steering wheel, and trailing wheel does not turn with steering wheel
It is dynamic；
(2) when vehicle enters 360 degree of four-wheel steering patterns, if steering has failure, 360 degree of turn signal lamps are shown
It is red；If system failure, 4WS-EPS controllers confirm whether speed is zero, and speed is not zero, and 360 degree of turn signal lamps show
Show bright orange, then 360 degree of turn signal lamp bright greens after speed is zero；
(3) after 4WS-EPS controllers confirm system failure, and speed is zero, 360 degree of turn signal lamp bright greens, 4WS-
EPS controllers export rotary transform tensor signal and give 4WS-EPS assist motors, so as to drive 4WS-EPS assist motors make steering wheel and
Wheel returns just, and the rotary angle transmitter at knuckle detects back positive-angle and feeds back to the 4WPS-EPS controllers, works as car
Then 4WS-EPS controllers export 4WS-EPS assist motor latch signals, 4WS- to samsara positive-angle error in error allowed band
EPS assist motor self-lockings, driver then can not carry out wheel steering by steering wheel；
(4) and then the 4WS-EPS controllers export 360 spinning driving instruction, drive front axle two-way telescopic linear electric motors
Work makes left and right front axle wheel symmetrically towards interior rotation, with Center Symmetry Plane into stopping operating after 59 ° of acute angles and self-locking,
Rear axle two-way telescopic linear electric motors work left and right rear axle wheel is symmetrically turned out, with Center Symmetry Plane into 59 ° of acute angles
Stop operating simultaneously self-locking after angle；During as turning clockwise, left front wheel hub motor and off hind wheel hub motor work；As the inverse time
Pin is rotary, off-front wheel hub motor and the work of left back wheel hub motor；So that four wheels rotate around chassis pivot.
9. the control method of 360 degree of low damage body chassis according to claim 8, it is characterised in that also including step
(5) when vehicle enters normal mode, 4WS-EPS controllers export latch signal to front axle two-way telescopic linear electric motors assembly
With rear axle two-way telescopic linear electric motors assembly, then front axle two-way telescopic linear electric motors and rear axle two-way telescopic linear electric motors
Complete self-locking；Pilot control steering wheel, by column assy, the spur rack transverse movement of single armed steering gear is driven, then
Pitman arm, front axle two-way telescopic linear electric motors assembly, vehicle body car are driven by the track rod being connected with single armed steering gear
Steering wheel is converted to front axle two-way telescopic linear electric motors assembly by the slider-crank mechanism of frame composition, final realize
The overall left and right along body support guide rail moves along a straight line, then by being connected in left front track rod, the horizontal drawing of right front steering at both ends
Bar realizes the normal direction of rotation function of wheel；Wheel steering angle sensor gathers signal with torque sensor and transmitted to the 4WS- in real time
EPS controllers, the 4WS-EPS controllers are according to the angular signal and dtc signal of receiving, driving 4WS-EPS assist motor realities
Turn now to back just and power steering function.
10. the control method of 360 degree of low damage body chassis according to claim 9, it is characterised in that also including step
(5) if after vehicle launch and remaining static, human pilot can according to functional requirement select 360 ° of turning functions, system according to
Input corresponding command signal and enter corresponding pattern, system default is normal driving if driver does not select corresponding function
Pattern.
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| CN201710545405.7A CN107458457A (en) | 2017-07-06 | 2017-07-06 | Low damage control system and 360 degree of low damage body chassis and its control method |
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| CN201710545405.7A CN107458457A (en) | 2017-07-06 | 2017-07-06 | Low damage control system and 360 degree of low damage body chassis and its control method |
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